Interventional robot slave end device adopting convergence driving module and slave end system of interventional robot slave end device

Abstract

The utility model discloses an interventional robot slave end device adopting a convergence driving module, which comprises a linear track group, and a first port control module, the convergence driving module and a first clamping rotating mechanism are sequentially arranged on the linear track group through a plurality of module fixing seats respectively. The first port control modules, the convergence driving modules and the first clamping and rotating mechanisms are sequentially arranged in the length direction of the linear rail set from front to back, and the module fixing seats can drive the corresponding first port control modules or the convergence driving modules or the first clamping and rotating mechanisms to reciprocate during reciprocating motion to achieve delivery of intervention consumables. The convergence driving module converges at least two rear intervention consumables and then penetrates into the front intervention consumables at the same time. Convergence of the guide wires and / or the guide pipes is achieved through the convergence driving module, and therefore the multiple guide wires and the multiple guide pipes cooperatively move in place to enter a target object and work.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, and in particular to an interventional robot slave device and its slave system using a convergence drive module. Background Technology

[0002] Minimally invasive interventional therapy is a major treatment method for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, interventional instruments are used to diagnose and treat diseases through physiological cavities. Compared with traditional surgery, it has significant advantages such as better efficacy, higher safety, smaller incisions, and shorter postoperative recovery time.

[0003] The main steps in vascular interventional surgery include femoral / radial artery puncture, coordinated advancement of the guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of the treatment guidewire and balloon catheter, and placement of the vascular stent. The coordinated advancement of the guidewire, catheter, and balloon catheter is the most time-consuming step and requires X-ray-guided image navigation. Currently, vascular interventional surgery is usually performed manually by a surgeon. During the procedure, because DSA emits X-rays, the surgeon needs to wear a heavy lead apron, which leads to a rapid decline in physical strength, reduced attention, and decreased stability, resulting in decreased operational precision and an increased risk of accidents such as endothelial damage, vascular perforation, and rupture due to improper pushing force, endangering the patient's life. Furthermore, long-term wearing of lead aprons can damage the surgeon's spine. Secondly, the cumulative damage from long-term ionizing radiation significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. Therefore, to protect the health of surgeons and ensure surgical quality, research and development of interventional surgical robots are increasing, and more and more robots are being used clinically.

[0004] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radiation environment. The slave end device of the existing interventional robot needs to hold the slender medical instruments such as catheters and guidewires and move them from the proximal end to the distal end. Through the coordinated movement of the device, the catheters and guidewires are advanced and delivered to the lesion in the patient's body (such as inside the blood vessel), so that doctors can carry out subsequent related treatments such as angiography, embolization of malformed blood vessels, thrombolysis, and dilation of narrowed blood vessels.

[0005] For example, the following patents applied for by Shenzhen Aibo Medical Robot Co., Ltd.: an interventional surgical robot slave end with application number 2022116787026; an interventional surgical robot slave end with application number 202211686818.4; an interventional surgical robot slave end guidewire and catheter control device with application number 202210923132.6; an interventional surgical robot slave end device with application number 202210326352.0, etc.; it splits the power of controlling the catheter / guidewire, controls the delivery of the corresponding catheter through the catheter delivery mechanism, controls the rotation of the corresponding catheter through the catheter rotation mechanism, controls the delivery of the guidewire through the guidewire delivery mechanism, and controls the rotation of the guidewire through the guidewire rotation mechanism. Its shortcomings are: (1) the structure of the catheter rotation mechanism and the guidewire rotation mechanism is relatively complex; (2) it cannot realize the coordinated delivery of multiple catheters and guidewires.

[0006] Therefore, how to provide an interventional surgical robot slave device and its slave system that facilitates the movement and rotation control of one or more sets of catheters and guidewires is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0007] The purpose of this invention is to provide an interventional robot slave device and its slave system using a convergence drive module, so as to solve the existing technical defects and unmet technical requirements.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] An interventional robot slave device employing a convergence drive module includes a linear track assembly. A first port control module, a convergence drive module, and a first clamping rotation mechanism are sequentially mounted on the linear track assembly via multiple module mounting seats. These modules are arranged from front to back along the length of the linear track assembly. The module mounting seats are fixed to the linear track assembly, or they can reciprocate on the linear track assembly. During reciprocating motion, the module mounting seats can drive the corresponding first port control module, convergence drive module, or first clamping rotation mechanism to reciprocate, thereby delivering interventional consumables. The convergence drive module converges at least two rear interventional consumables and simultaneously inserts them into the front interventional consumable. A support component for guiding the movement of the interventional consumables is installed between the convergence drive module and the first clamping rotation mechanism.

[0010] Preferably, a third port control module is also included. The third port control module is mounted on a fixed frame outside the linear track assembly, or on a module fixing seat at the front end of the linear track assembly. The third port control module is located in front of the first port control module. A third clamping and rotating mechanism is mounted on the linear track assembly via a module fixing seat. The third clamping and rotating mechanism is located between the third port control module and the first port control module. When the module fixing seat reciprocates, it can drive the third clamping and rotating mechanism to reciprocate to deliver the interventional consumables. A support component for guiding the movement of the interventional consumables is installed between the third port control module and the third clamping and rotating mechanism.

[0011] Preferably, a second port control module and a second clamping rotation mechanism are sequentially mounted on the linear track assembly and located behind the first clamping rotation mechanism via module mounting seats. The first clamping rotation mechanism and the second port control module constitute a clamping rotation port control module. The second port control module and the second clamping rotation mechanism are mounted on the linear track assembly via module mounting seats a and module mounting seats b, respectively. Alternatively, the first clamping rotation mechanism and the second port control module are both mounted on the linear track assembly via a module mounting seat a, and the second clamping rotation mechanism is mounted on the linear track assembly via module mounting seat b. Module mounting seats a and b can slide independently on the linear track assembly. A support component for guiding the movement of interventional consumables is installed between the second port control module and the second clamping rotation mechanism.

[0012] Preferably, the support assembly can be telescopic or axially translated to restrict the interventional consumables in a fixed axial direction and prevent the interventional consumables from bending during delivery; the support assembly includes at least one of a telescopic sleeve assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, wherein the guide ring assembly is an openable and closable support ring to facilitate the placement and clamping of the interventional consumables from the top.

[0013] Preferably, the first clamping and rotating mechanism includes a locking structure capable of locking or unlocking the interventional consumable, a rotating mechanism capable of driving the locked interventional consumable to rotate, a sensing element capable of detecting the axial force on the interventional consumable, and a torque sensing element capable of detecting the torsional torque on the interventional consumable in the direction around the axis; the locking structure has a self-locking structure, which can maintain the locked state after locking, and the locking structure is disposed outside the housing of the first clamping and rotating mechanism, and the locking structure can be driven directly by hand or external tools to lock or unlock the interventional consumable.

[0014] Preferably, the second or third clamping rotation mechanism includes a locking structure capable of locking or unlocking the interventional consumable, a rotation mechanism capable of driving the locked interventional consumable to rotate, a sensing element capable of detecting the axial force on the interventional consumable, and a torque sensing element capable of detecting the torsional torque on the interventional consumable in the direction around the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is disposed outside the housing of the second or third clamping rotation mechanism, and the locking structure can be directly driven by hand or external tools to lock or unlock the interventional consumable.

[0015] Preferably, the convergence drive module includes a first bifurcation seat, which has a straight channel and at least one branch channel. At least one interventional consumable can be delivered together along the corresponding straight channel and branch channel on the first bifurcation seat. The first bifurcation seat includes a cover and a base. The cover is movably mounted on the base to open or close, facilitating quick replacement of interventional consumables. The branch channel is provided with a friction wheel delivery mechanism for delivering interventional consumables, or the branch channel is connected to a friction wheel delivery mechanism for delivering interventional consumables via a pipe. The bifurcation channel locks the front end of the pipe.

[0016] Preferably, the friction wheel delivery mechanism includes at least two oppositely arranged friction wheels or friction belts. The friction wheels or friction belts can clamp the interventional consumables and drive the interventional consumables to move back and forth through friction. The friction wheels or friction belts are driven by a motor fixed on the convergence drive module. The two oppositely arranged friction wheels or friction belts are respectively set on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the interventional consumables.

[0017] A slave system of an interventional robot slave device employing a convergence drive module further includes a first catheter, a first guidewire, and a second catheter. The rear end of the first catheter is installed in a first port control module, the middle part of the first guidewire is installed in a first clamping and rotating mechanism, and the front end of the first guidewire passes through the straight channel of the convergence drive module. The middle part of the second catheter is installed in the branch channel of the convergence drive module. The second catheter is a quick-change type catheter with a guide port on its side. The first guidewire and the quick-change type catheter are converged by the convergence drive module and simultaneously inserted into the first catheter. The first guidewire passes through the guide port on the side of the quick-change type catheter and extends out from the front end of the quick-change type catheter.

[0018] A slave system of an interventional robot slave device employing a convergence drive module further includes a first catheter, a first guidewire, and a second guidewire. The rear end of the first catheter is installed in a first port control module, the middle part of the first guidewire is installed in a first clamping and rotating mechanism, the front end of the first guidewire passes through the straight channel of the convergence drive module, and the middle part of the second guidewire is installed in the branch channel of the convergence drive module. The first guidewire and the second guidewire are converged by the convergence drive module and then simultaneously inserted into the first catheter.

[0019] A slave system of an interventional robot slave device employing a convergence drive module further includes a first catheter, a first guidewire, a second catheter, and a fourth catheter. The rear end of the fourth catheter is installed in a third port control module. The first catheter is installed on a third clamping and rotating mechanism, with its front end inserted into the fourth catheter. The first catheter is delivered into the fourth catheter via the third clamping and rotating mechanism. The middle part of the first guidewire is installed in the first clamping and rotating mechanism, and its front end passes through the straight channel of the convergence drive module. The middle part of the second catheter is installed in the branch channel of the convergence drive module. The second catheter is a quick-change type catheter, with a guide port on its side. The first guidewire and the quick-change type catheter converge through the convergence drive module and are simultaneously inserted into the first catheter. The first guidewire passes through the guide port on the side of the quick-change type catheter and extends out from the front end of the quick-change type catheter.

[0020] A slave system of an interventional robot slave device employing a convergence drive module further includes a first catheter, a first guidewire, a second guidewire, and a fourth catheter. The rear end of the fourth catheter is installed in a third port control module. The first catheter is installed on a third clamping and rotating mechanism. The front part of the first catheter is inserted into the fourth catheter. The first catheter is delivered into the fourth catheter through the third clamping and rotating mechanism. The middle part of the first guidewire is installed in the first clamping and rotating mechanism. The front end of the first guidewire passes through the straight channel of the convergence drive module. The middle part of the second guidewire is installed in the branch channel of the convergence drive module. The first guidewire and the second guidewire are converged by the convergence drive module and then simultaneously inserted into the first catheter.

[0021] A slave system of an interventional robot slave device employing a convergence drive module further includes a first catheter, a first guidewire, a second catheter, a third catheter, and a fourth catheter. The rear end of the fourth catheter is installed in a third port control module. The first catheter is installed on a third clamping and rotating mechanism, with its front end inserted into the fourth catheter. The first catheter is delivered into the fourth catheter via the third clamping and rotating mechanism. The rear end of the second catheter is installed on the clamping and rotating port control module, with its front end passing through a straight channel of the convergence drive module. The middle part of the first guidewire is installed in the second clamping and rotating mechanism, with its front end penetrating the second catheter. The middle part of the third catheter is installed in a branch channel of the convergence drive module. The third catheter and the second catheter converge through the convergence drive module and are simultaneously inserted into the first catheter.

[0022] A slave system of an interventional robot slave device employing a convergence drive module further includes a first catheter, a first guidewire, a second catheter, a third guidewire, and a fourth catheter. The rear end of the fourth catheter is installed within a third port control module. The first catheter is installed on a third clamping and rotating mechanism, with its front end inserted into the fourth catheter. The first catheter is delivered into the fourth catheter via the third clamping and rotating mechanism. The rear end of the second catheter is installed on the clamping and rotating port control module, and its front end passes through a straight channel of the convergence drive module. The middle portion of the first guidewire is installed in the second clamping and rotating mechanism, with its front end inserted into the second catheter. The middle portion of the third guidewire is installed in a branch channel of the convergence drive module. The second catheter and the third guidewire converge through the convergence drive module and are simultaneously inserted into the first catheter. The beneficial effects are:

[0023] 1. This invention allows doctors to remotely control multiple port control modules and multiple clamping and rotating mechanisms, enabling forward or backward delivery and / or rotational movement on a linear track. A converging drive module facilitates the convergence of guidewires and / or catheters, allowing multiple guidewires and catheters to move collaboratively into the target area for treatment. Furthermore, the robot's control of guidewire and / or catheter movement is more precise, enabling the performance of more complex surgeries, reducing workload, and minimizing the risk of major errors. This invention also enables the precise delivery of slender medical devices to the appropriate location within the patient's body, while avoiding the health risks associated with prolonged X-ray exposure.

[0024] 2. The clamping and rotating mechanism of this utility model includes a locking structure that can lock or release the interventional consumables, a rotating mechanism that can drive the locked interventional consumables to rotate, an axial force sensing element that can detect the axial force on the interventional consumables, and a torque force sensing element that can detect the torsional torque on the interventional consumables in the direction around the axis, providing strong support for the force feedback technology of the master end.

[0025] 3. The port control module of this utility model can support one side port of the bifurcation valve and / or catheter, making it easy for the clamping and rotating mechanism to clamp another guide wire that extends from the port. When the port control module is used to support the bifurcation valve, the front end of the bifurcation valve is provided with a rotatable catheter connector, and the rear end of the bifurcation valve is provided with a valve connector. The catheter locked by the clamping and rotating mechanism is connected to the catheter connector through a hose or directly. The port control module drives the catheter connector to rotate synchronously with the clamping and rotating mechanism to avoid interference with the force sensing components inside the clamping and rotating mechanism. The port control module drives the valve connector to control the opening and closing of the channel, thereby preventing blood or contrast agent leakage.

[0026] 4. The locking structure of the present invention is installed on the outside of the housing of the clamping and rotating mechanism. Without opening the housing of the clamping and rotating mechanism, the locking structure can be driven directly by hand or external tools, which can quickly connect the interventional consumables to the clamping and rotating mechanism and facilitate quick replacement of interventional consumables. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of Example 1;

[0028] Figure 2 The structure of Example 1 is simplified. Figure 1 ;

[0029] Figure 3 The structure of Example 2 is simplified. Figure 2 ;

[0030] Figure 4 This is a schematic diagram of the structure of Example 3;

[0031] Figure 5 The structure of Example 3 is simplified. Figure 1 ;

[0032] Figure 6 This is a schematic diagram of the structure of Example 3;

[0033] Figure 7 The structure of Example 4 is simplified. Figure 1 ;

[0034] Figure 8 The structure of Example 5 is simplified. Figure 1 ;

[0035] Figure 9 The structure of Example 6 is simplified. Figure 1 ;

[0036] Figure 10 This is a schematic diagram of the structure of Example 7 when the telescopic sleeve is limited by a rope structure;

[0037] Figure 11This is a schematic diagram of the structure of connecting the limiting rope between the connecting blocks on two adjacent sections in Example 7;

[0038] Figure 12 This is a schematic diagram of the structure of Example 7 when the telescopic sleeve is limited by a limiting bellows.

[0039] Figure 13 This is a schematic diagram of the structure of the telescopic sleeve and the connecting block when it is fully retracted in Example 7;

[0040] Figure 14 This is a schematic diagram of the telescopic sleeve and connecting block in Example 7;

[0041] Figure 15 This is a schematic diagram of the connecting block in Example 7;

[0042] Figure 16 This is a schematic diagram of the structure of the first friction wheel delivery mechanism in Example 8;

[0043] Figure 17 This is a schematic diagram of the structure of the second friction wheel delivery mechanism in Example 8;

[0044] Figure 18 This is a schematic diagram of the internal structure of the second friction wheel delivery mechanism in Embodiment 8;

[0045] Figure 19 This is a schematic diagram of the cooperation structure between the drive motor and the second friction wheel in Example 8;

[0046] Figure 20 This is a schematic diagram of the rotating mechanism in Example 9;

[0047] Figure 21 This is a schematic internal cross-sectional view of the rotating mechanism in Example 9;

[0048] Figure 22 This is a schematic diagram of the internal structure of the rotating mechanism in Example 9;

[0049] Figure 23 This is an exploded structural diagram of the rotating mechanism in Example 9;

[0050] Figure 24 This is a schematic diagram of the structure of the rotating shaft and the first connecting part in Embodiment 9;

[0051] Figure 25 This is a schematic diagram of another locking structure in Embodiment 10;

[0052] Figure 26 This is a schematic diagram of the structure of Example 11;

[0053] Figure 27 This is a schematic diagram of structure two of Example 11;

[0054] Figure 28 This is a schematic diagram of the structure of Example 11;

[0055] Figure 29 This is a schematic diagram of the structure of Example 11;

[0056] Figure 30 This is a schematic diagram of another port control module in Embodiment 12. Detailed Implementation

[0057] 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.

[0058] The guidewires mentioned here include, but are not limited to, wire-like interventional medical devices such as guidewires, microguidewires, angiography guidewires, and loach guidewires; the catheters include, but are not limited to, tubular interventional medical devices such as guide tubes, microcatheters, angiography catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters, and balloon dilation stent catheters.

[0059] Example 1

[0060] like Figure 1 and Figure 2As shown, a slave system of an interventional robot slave device employing a convergence drive module includes a linear track assembly 10297. A first port control module 10271, a convergence drive module 10293, and a first clamping rotation mechanism 10272 are sequentially mounted on the linear track assembly 10297 via multiple module mounting seats 10298. The first port control module 10271, the convergence drive module 10293, and the first clamping rotation mechanism 10272 are arranged sequentially from front to back along the length of the linear track assembly 10297. The module mounting seats 10298 are fixed to the linear track assembly 10297, or the module mounting seats 10298 can reciprocate on the linear track assembly 10297. During reciprocating motion, the module mounting seats 10298 can drive the corresponding first port control module 10271, or the convergence drive module 10293, or the first clamping rotation mechanism 10272 to reciprocate, thereby delivering interventional consumables. The interventional consumables include a first catheter 10279, a first... The guidewire 10281, the second catheter 10280, and the rear end of the first catheter 10279 are installed in the first port control module 10271. The middle part of the first guidewire 10281 is installed in the first clamping and rotating mechanism 10272. The front end of the first guidewire 10281 passes through the straight channel of the convergence drive module 10293. The middle part of the second catheter 10280 is installed in the branch channel of the convergence drive module 10293. The second catheter 10280 is a quick-change type catheter. A guide port is opened on the side of the quick-change type catheter. The first guidewire 10281 and the quick-change type catheter are converged through the convergence drive module 10293 and then simultaneously inserted into the first catheter 10279. The first guidewire 10281 passes through the guide port on the side of the quick-change type catheter and extends out from the front end of the quick-change type catheter. A support component 10277 for guiding the movement of interventional consumables is installed between the convergence drive module 10293 and the first clamping and rotating mechanism 10272.

[0061] Preferably, the support assembly 10277 can extend or translate axially to restrict the first guide wire 10281 in a fixed axial direction to prevent the first guide wire 10281 from bending during delivery; the support assembly includes at least one of a telescopic sleeve assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, wherein the guide ring assembly is an openable support ring to facilitate the placement and clamping of interventional consumables from the top.

[0062] Preferably, the first clamping and rotating mechanism 10272 includes a locking structure capable of locking or unlocking the first guide wire 10281, a rotating mechanism capable of driving the locked first guide wire 10281 to rotate, a sensing element capable of detecting the axial force on the first guide wire 10281, and a torque sensing element capable of detecting the torsional torque on the first guide wire 10281 in the direction around the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is disposed outside the housing of the first clamping and rotating mechanism 10272, and the locking structure can be driven directly by hand or external tools to lock or unlock the first guide wire 10281.

[0063] Preferably, the converging drive module 10293 includes a first bifurcation seat, which has a straight channel and at least one branch channel. At least one interventional consumable can be delivered along the corresponding straight channel and branch channel on the first bifurcation seat. The first bifurcation seat includes a cover and a base. The cover is movably mounted on the base to open or close, facilitating rapid replacement of interventional consumables. The branch channel is provided with a friction wheel delivery mechanism for delivering a second catheter 10280, or the branch channel is connected to a friction wheel delivery mechanism for delivering a second catheter 10280 via a pipe. The bifurcation channel locks the front end of the pipe. The friction wheel delivery mechanism includes at least two opposing friction wheels or friction belts. The friction wheels or friction belts can clamp the second catheter 10280 and drive the interventional consumable to move back and forth through friction. The friction wheels or friction belts are driven by a motor fixed on the converging drive module 10293. The two opposing friction wheels or friction belts are respectively mounted on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the second catheter 10280.

[0064] Working principle:

[0065] First, the first guide wire 10281 is rotated and delivered. The first clamping and rotating mechanism 10272 locks the first guide wire 10281 and rotates and pushes the first guide wire 10281 forward. The support component adaptively adjusts its length to support the first guide wire 10281 and prevent it from bending, thus realizing long-distance rotational delivery of the first guide wire 10281.

[0066] Next, the tail end of the first guide wire 10281 is removed from the device, the head end of the second conduit 10280 is inserted into the tail end of the first guide wire 10281, the second conduit 10280 is delivered along the first guide wire 10281, the middle part of the second conduit 10280 is installed in the branch channel of the convergence drive module 10293, and the long-distance delivery of the second conduit 10280 is achieved through the friction wheel delivery mechanism, so that the second conduit 10280 moves along the first guide wire 10281.

[0067] Example 2

[0068] This embodiment has the same structure as Embodiment 1, so it will not be described again. The difference is as follows:

[0069] like Figure 3 As shown, the interventional consumables include a first catheter 10279, a first guidewire 10281, and a second guidewire 10282. The rear end of the first catheter 10279 is installed in the first port control module 10271. The middle part of the first guidewire 10281 is installed in the first clamping and rotating mechanism 10272. The front end of the first guidewire 10281 passes through the straight channel of the convergence drive module 10293. The middle part of the second guidewire 10282 is installed in the branch channel of the convergence drive module 10293. The first guidewire 10281 and the second guidewire 10282 are converged by the convergence drive module 10293 and then simultaneously inserted into the first catheter 10279.

[0070] Preferably, the branch channel is provided with a friction wheel delivery mechanism for delivering the second guide wire 10282, or the branch channel is connected to a friction wheel delivery mechanism for delivering the second guide wire 10282 via a pipe, and the front end of the branch channel locks the pipe; the friction wheel delivery mechanism includes at least two oppositely arranged friction wheels or friction belts, which can clamp the second guide wire 10282 and drive the intervention consumable to move back and forth through friction. The friction wheels or friction belts are driven by a motor fixed on the convergence drive module 10293. The two oppositely arranged friction wheels or friction belts are respectively arranged on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the second guide wire 10282.

[0071] Working principle:

[0072] The first guide wire 10281 is delivered by rotation. The first clamping and rotating mechanism 10272 locks the first guide wire 10281 and rotates and pushes the first guide wire 10281 forward. The support component adaptively adjusts its length to support the first guide wire 10281 and prevent it from bending, thus realizing long-distance rotational delivery of the first guide wire 10281.

[0073] The second guide wire 10282 is delivered by installing the middle part of the second guide wire 10282 in the branch channel of the convergence drive module 10293, and the long-distance delivery of the second guide wire 10282 is achieved by the friction wheel delivery mechanism.

[0074] Example 3

[0075] like Figures 4-6As shown, a slave system of an interventional robot slave device employing a convergence drive module includes a linear track assembly 10297. A first port control module 10271, a convergence drive module 10293, and a first clamping rotation mechanism 10272 are sequentially mounted on the linear track assembly 10297 via multiple module mounting seats 10298. These modules are arranged sequentially from front to back along the length of the linear track assembly 10297. The module mounting seats 10298 are fixed to the linear track assembly 10297, or they can reciprocate on the linear track assembly 10297. During reciprocating motion, the module mounting seats 10298 can drive the corresponding first port control module 10271, convergence drive module 10293, or first clamping rotation mechanism 10272 to reciprocate, thereby delivering interventional consumables. The delivery mechanism also includes a third port control module 10275, which is mounted on a fixed frame outside the linear track assembly 10297 or on a module mounting base at the front end of the linear track assembly. The third port control module 10275 is located in front of the first port control module 10271. A third clamping and rotating mechanism 10276 is mounted on the linear track assembly 10297 via a module mounting base. The third clamping and rotating mechanism 10276 is located between the third port control module 10275 and the first port control module 10271. When the module mounting base reciprocates, it can drive the third clamping and rotating mechanism 10276 to reciprocate to achieve the delivery of interventional consumables. Alternatively, when the module mounting base reciprocates, it can simultaneously drive the third clamping and rotating mechanism 10276, the first port control module 10271, and the convergence drive module 10293 to reciprocate synchronously.The system also includes a first catheter 10279, a first guidewire 10281, a second catheter 10280, and a fourth catheter 10285. The rear end of the fourth catheter 10285 is installed in the third port control module 10275. The first catheter 10279 is installed on the third clamping and rotating mechanism 10276, and the front part of the first catheter 10279 is inserted into the fourth catheter 10285. The first catheter 10279 is delivered into the fourth catheter 10285 through the third clamping and rotating mechanism 10276. The middle part of the first guidewire 10281 is installed in the first clamping and rotating mechanism 10272, and the front end of the first guidewire 10281 passes through the straight channel of the converging drive module 10293. The middle part of the second catheter 10280 is installed in the branch channel of the converging drive module 10293. 0 is a quick-change type catheter. A guide port is provided on the side of the quick-change type catheter. The first guide wire 10281 and the quick-change type catheter are converged by the convergence drive module 10293 and then simultaneously inserted into the first catheter 10279. The first guide wire 10281 passes through the guide port on the side of the quick-change type catheter and extends out from the front end of the quick-change type catheter. A support component 10277 for guiding the movement of the first guide wire 10279 is installed on the linear track assembly 10297 and between the convergence drive module 10293 and the first clamping rotation mechanism 10272. A support component for guiding the movement of the first catheter 10279 is installed between the third port control module 10275 and the third clamping rotation mechanism 10276 (the first catheter 10279 is not shown in the figure for the purpose of showing).

[0076] Preferably, the support assembly can telescopically or axially translate to restrict the first guidewire 10281 or the first catheter 10279 to a fixed axial direction, preventing the first guidewire 10281 or the first catheter 10279 from bending during delivery; the support assembly includes at least one of a telescopic sleeve assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, wherein the guide ring assembly is an openable and closable support ring, which facilitates the placement and clamping of interventional consumables from the top.

[0077] Preferably, the first clamping and rotating mechanism 10272 includes a locking structure capable of locking or unlocking the first guide wire 10281, a rotating mechanism capable of driving the locked first guide wire 10281 to rotate, a sensing element capable of detecting the axial force on the first guide wire 10281, and a torque sensing element capable of detecting the torsional torque on the first guide wire 10281 in the direction around the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is disposed outside the housing of the first clamping and rotating mechanism 10272, and the locking structure can be driven directly by hand or external tools to lock or unlock the first guide wire 10281.

[0078] Preferably, the third clamping and rotating mechanism 10276 includes a locking structure capable of locking or unlocking the first conduit 10279, a rotating mechanism capable of driving the locked first conduit 10279 to rotate, a sensing element capable of detecting the axial force on the first conduit 10279, and a torque sensing element capable of detecting the torsional torque on the first conduit 10279 in the direction around the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is disposed outside the housing of the third clamping and rotating mechanism 10276, and the locking structure can be driven directly by hand or external tools to lock or unlock the first conduit 10279.

[0079] Preferably, the converging drive module 10293 includes a first bifurcation seat, which has a straight channel and at least one branch channel. At least one interventional consumable can be delivered along the corresponding straight channel and branch channel on the first bifurcation seat. The first bifurcation seat includes a cover and a base. The cover is movably mounted on the base to open or close, facilitating rapid replacement of interventional consumables. The branch channel is provided with a friction wheel delivery mechanism for delivering a second catheter 10280, or the branch channel is connected to a friction wheel delivery mechanism for delivering a second catheter 10280 via a pipe. The bifurcation channel locks the front end of the pipe. The friction wheel delivery mechanism includes at least two opposing friction wheels or friction belts. The friction wheels or friction belts can clamp the second catheter 10280 and drive the interventional consumable to move back and forth through friction. The friction wheels or friction belts are driven by a motor fixed on the converging drive module 10293. The two opposing friction wheels or friction belts are respectively mounted on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the second catheter 10280.

[0080] Working principle:

[0081] The first conduit 10279 is delivered by rotation. The third clamping and rotating mechanism 10276 locks the first conduit 10279 and rotates and pushes the first conduit 10279 forward. The support component adaptively adjusts its length to support the first conduit 10279 and prevent it from bending, thus realizing long-distance rotational delivery of the first conduit 10279.

[0082] First, the first guide wire 10281 is rotated and delivered. The first clamping and rotating mechanism 10272 locks the first guide wire 10281 and rotates and pushes the first guide wire 10281 forward. The first support component adaptively adjusts its length to support the first guide wire 10281 and prevent it from bending, thus realizing long-distance rotational delivery of the first guide wire 10281.

[0083] Next, the tail end of the first guide wire 10281 is removed from the device, the head end of the second conduit 10280 is inserted into the tail end of the first guide wire 10281, the second conduit 10280 is delivered along the first guide wire 10281, the middle part of the second conduit 10280 is installed in the branch channel of the convergence drive module 10293, and the long-distance delivery of the second conduit 10280 is achieved through the friction wheel delivery mechanism, so that the second conduit 10280 moves along the first guide wire 10281.

[0084] Example 4

[0085] This embodiment has the same structure as Embodiment 3, so it will not be described again. The difference is as follows:

[0086] like Figure 7 As shown, a slave system of an interventional robot slave device employing a convergence drive module includes interventional consumables such as a first catheter 10279, a first guidewire 10281, a second guidewire 10282, and a fourth catheter 10285. The rear end of the fourth catheter 10285 is installed within a third port control module 10275. The first catheter 10279 is mounted on a third clamping and rotating mechanism 10276, with its front portion inserted into the fourth catheter 10285. The first catheter 10279 is delivered into the fourth catheter 10285 via the third clamping and rotating mechanism 10276. The middle portion of the first guidewire 10281 is installed within the first clamping and rotating mechanism 10272. The front end of wire 10281 passes through the linear channel of the converging drive module 10293. The middle part of the second guide wire 10282 is installed in the branch channel of the converging drive module 10293. After the first guide wire 10281 and the second guide wire 10282 are converged by the converging drive module 10293, they are simultaneously inserted into the first conduit 10279. A support component for guiding the movement of the first guide wire 10279 is installed on the linear track assembly 10297 and between the converging drive module 10293 and the first clamping rotation mechanism 10272. A support component for guiding the movement of the first conduit 10279 is installed between the third port control module 10275 and the third clamping rotation mechanism 10276.

[0087] Preferably, the branch channel is provided with a friction wheel delivery mechanism for delivering the second guide wire 10282, or the branch channel is connected to a friction wheel delivery mechanism for delivering the second guide wire 10282 via a pipe, and the front end of the branch channel locks the pipe; the friction wheel delivery mechanism includes at least two oppositely arranged friction wheels or friction belts, which can clamp the second guide wire 10282 and drive the intervention consumable to move back and forth through friction. The friction wheels or friction belts are driven by a motor fixed on the convergence drive module 10293. The two oppositely arranged friction wheels or friction belts are respectively arranged on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the second guide wire 10282.

[0088] Working principle:

[0089] The first conduit 10279 is delivered by rotation. The third clamping and rotating mechanism 10276 locks the first conduit 10279 and rotates and pushes the first conduit 10279 forward. The support component adaptively adjusts its length to support the first conduit 10279 and prevent it from bending, thus realizing long-distance rotational delivery of the first conduit 10279.

[0090] The first guide wire 10281 is delivered by rotation. The first clamping and rotating mechanism 10272 locks the first guide wire 10281 and rotates and pushes the first guide wire 10281 forward. The support component adaptively adjusts its length to support the first guide wire 10281 and prevent it from bending, thus realizing long-distance rotational delivery of the first guide wire 10281.

[0091] The second guide wire 10282 is delivered by installing the middle part of the second guide wire 10282 in the branch channel of the convergence drive module 10293, and the long-distance delivery of the second guide wire 10282 is achieved by the friction wheel delivery mechanism.

[0092] Example 5

[0093] like Figure 8As shown, a slave system of an interventional robot slave device employing a convergence drive module includes a linear track assembly 10297. A first port control module 10271, a convergence drive module 10293, and a first clamping rotation mechanism 10272 are sequentially mounted on the linear track assembly 10297 via multiple module mounting seats 10298. The first port control module 10271, the convergence drive module 10293, and the first clamping rotation mechanism 10272 are arranged sequentially from front to back along the length of the linear track assembly 10297. The module mounting seats 10298 are fixed to the linear track assembly 10297, or the module mounting seats 10298 can reciprocate on the linear track assembly 10297. During reciprocating motion, the module mounting seats 10298... The device is capable of driving the corresponding first port control module 10271, or convergence drive module 10293, or first clamping rotation mechanism 10272 to reciprocate and deliver interventional consumables. It also includes a third port control module 10275, which is mounted on a fixed frame outside the linear track assembly 10297, or on a module mounting base at the front end of the linear track assembly. The third port control module 10275 is located in front of the first port control module 10271. A third clamping rotation mechanism 10276 is mounted on the linear track assembly 10297 via a module mounting base. The third clamping rotation mechanism 10276 is located between the third port control module 10275 and the first port control module 10271. Between modules 10271, the module fixing base can drive the third clamping rotation mechanism 10276 to reciprocate during reciprocating motion to deliver interventional consumables. Alternatively, the module fixing base can simultaneously drive the third clamping rotation mechanism 10276, the first port control module 10271, and the convergence drive module 10293 to reciprocate synchronously during reciprocating motion. On the linear track group 10297, located behind the first clamping rotation mechanism 10272, a second port control module 10273 and a second clamping rotation mechanism 10274 are sequentially mounted via the module fixing base. The first clamping rotation mechanism 10272 and the second port control module 10273 constitute a clamping rotation port control module. The second port control module 10273 and the second clamping rotation mechanism 10274... The holding and rotating mechanism 10274 is mounted on the linear track assembly 10297 via module fixing seat a and module fixing seat b, respectively. Alternatively, the first clamping and rotating mechanism 10272 and the second port control module 10273 are both mounted on the linear track assembly 10297 via module fixing seat a, and the second clamping and rotating mechanism 10274 is mounted on the linear track assembly 10297 via module fixing seat b. Module fixing seats a and b can slide independently on the linear track assembly 10297. The interventional consumables include a first catheter 10279, a first guidewire 10281, a second catheter 10280, a third catheter 10283, and a fourth catheter 10285. The rear end of the fourth catheter 10285 is installed inside the third port control module 10275.The first conduit 10279 is mounted on the third clamping and rotating mechanism 10276. The front part of the first conduit 10279 is inserted into the fourth conduit 10285. The first conduit 10279 is delivered into the fourth conduit 10285 through the third clamping and rotating mechanism 10276. The rear part of the second conduit 10280 is mounted on the clamping and rotating port control module. The front end of the second conduit 10280 passes through the linear channel of the converging drive module 10293. The middle part of the first guidewire 10281 is mounted in the second clamping and rotating mechanism 10274. The front end of the first guidewire 10281 passes into the second conduit 10280. The middle part of the third conduit 10283 is mounted on the converging drive module 10293. Within the branch channel, the third catheter 10283 and the second catheter 10280 converge via the converging drive module 10293 and are simultaneously inserted into the first catheter 10279. A support assembly for guiding the movement of the second catheter 10280 is installed on the linear track assembly 10297, located between the converging drive module 10293 and the first clamping rotation mechanism 10272. A support assembly for guiding the movement of the first catheter 10279 is installed between the third port control module 10275 and the third clamping rotation mechanism 10276. A support assembly for guiding the movement of the first guidewire 10281 is installed between the second port control module 10273 and the second clamping rotation mechanism 10274.

[0094] Preferably, the support assembly can telescopically or axially translate to restrict the first guidewire 10281, the first catheter 10279, or the second catheter 10280 to a fixed axial direction, preventing the first guidewire 10281, the first catheter 10279, or the second catheter 10280 from bending during delivery; the support assembly includes at least one of a telescopic sleeve assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, wherein the guide ring assembly is an openable and closable support ring, facilitating the placement and clamping of interventional consumables from the top.

[0095] Preferably, the first clamping and rotating mechanism 10272 includes a locking structure capable of locking or unlocking the second conduit 10280, a rotating mechanism capable of driving the locked second conduit 10280 to rotate, a sensing element capable of detecting the axial force on the second conduit 10280, and a torque sensing element capable of detecting the torsional torque on the second conduit 10280 in the direction around the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is disposed outside the housing of the first clamping and rotating mechanism 10272, and the locking structure can be driven directly by hand or external tools to lock or unlock the second conduit 10280.

[0096] Preferably, the third clamping rotation mechanism 10276 and / or the second clamping rotation mechanism 10274 includes a locking structure capable of locking or unlocking the first catheter 10279 and / or the first guidewire 10281, a rotation mechanism capable of driving the locked first catheter 10279 and / or the first guidewire 10281 to rotate, a sensing element capable of detecting the axial force on the first catheter 10279 and / or the first guidewire 10281, and a torque sensing element capable of detecting the torsional torque on the first catheter 10279 and / or the first guidewire 10281 in the direction about the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is disposed outside the housing of the third clamping rotation mechanism 10276 and / or the second clamping rotation mechanism 10274, and the locking structure can be driven directly by hand or external tools to lock or unlock the first catheter 10279 or the first guidewire 10281.

[0097] Preferably, the converging drive module 10293 includes a first bifurcation seat, which has a straight channel and at least one branch channel. At least one interventional consumable can be delivered along the corresponding straight channel and branch channel on the first bifurcation seat. The first bifurcation seat includes a cover and a base. The cover is movably mounted on the base to open or close, facilitating rapid replacement of interventional consumables. The branch channel is provided with a friction wheel delivery mechanism for delivering a third catheter 10283, or the branch channel is connected to a friction wheel delivery mechanism for delivering a third catheter 10283 via a pipe. The bifurcation channel locks the front end of the pipe. The friction wheel delivery mechanism includes at least two opposing friction wheels or friction belts. The friction wheels or friction belts can clamp the third catheter 10283 and drive the interventional consumable to move back and forth through friction. The friction wheels or friction belts are driven by a motor fixed on the converging drive module 10293. The two opposing friction wheels or friction belts are respectively mounted on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the third catheter 10283.

[0098] Working principle:

[0099] The first conduit 10279 is delivered by rotation. The third clamping and rotating mechanism 10276 locks the first conduit 10279 and rotates and pushes the first conduit 10279 forward. The support component adaptively adjusts its length to support the first conduit 10279 and prevent it from bending, thus realizing long-distance rotational delivery of the first conduit 10279.

[0100] The second conduit 10280 is delivered by rotation. The first clamping and rotating mechanism 10272 locks the second conduit 10280 and rotates and pushes the second conduit 10280 forward. The support component adaptively adjusts its length to support the second conduit 10280 and prevent it from bending, thus realizing long-distance rotational delivery of the second conduit 10280.

[0101] The first guide wire 10281 is delivered by rotation. The second clamping and rotating mechanism 10274 locks the first guide wire 10281 and rotates and pushes the first guide wire 10281 forward. The support component adaptively adjusts its length to support the first guide wire 10281 and prevent it from bending, thus realizing long-distance rotational delivery of the first guide wire 10281.

[0102] The third catheter 10283 is delivered by installing the middle part of the third catheter 10283 in the branch channel of the convergence drive module 10293, and the long-distance delivery of the third catheter 10283 is achieved by a friction wheel delivery mechanism.

[0103] Example 6

[0104] This embodiment has the same structure as Embodiment 5, so it will not be described again. The difference is as follows:

[0105] like Figure 9As shown, a slave system of an interventional robot slave device employing a convergence drive module includes interventional consumables such as a first catheter 10279, a first guidewire 10281, a second catheter 10280, a third guidewire 10284, and a fourth catheter 10285. The rear end of the fourth catheter 10285 is installed in a third port control module 10275. The first catheter 10279 is installed on a third clamping and rotating mechanism 10276, with its front end inserted into the fourth catheter 10285. The first catheter 10279 is delivered into the fourth catheter 10285 via the third clamping and rotating mechanism 10276. The middle and rear portions of the second catheter 10280 are respectively installed in the first clamping and rotating mechanism 10272 and the second port control module 10273. The front end of the second catheter 10280 passes through the linear channel of the convergence drive module 10293. The middle portion of the first guidewire 10281... Installed in the second clamping and rotating mechanism 10274, the front end of the first guide wire 10281 passes through the second conduit 10280, and the middle part of the third guide wire 10284 is installed in the branch channel of the converging drive module 10293. The second conduit 10280 and the third guide wire 10284 are converged by the converging drive module 10293 and then simultaneously inserted into the first conduit 10279. A support component for guiding the movement of the second conduit 10280 is installed on the linear track assembly 10297 and located between the converging drive module 10293 and the first clamping and rotating mechanism 10272. A support component for guiding the movement of the first conduit 10279 is installed between the third port control module 10275 and the third clamping and rotating mechanism 10276. A support component for guiding the movement of the first guide wire 10281 is installed between the second port control module 10273 and the second clamping and rotating mechanism 10274.

[0106] Preferably, the branch channel is provided with a friction wheel delivery mechanism for delivering the third guide wire 10284, or the branch channel is connected to a friction wheel delivery mechanism for delivering the third guide wire 10284 via a pipe, and the front end of the branch channel locks the pipe; the friction wheel delivery mechanism includes at least two oppositely arranged friction wheels or friction belts, which can clamp the third guide wire 10284 and drive the intervention consumable to move back and forth through friction. The friction wheels or friction belts are driven by a motor fixed on the convergence drive module 10293. The two oppositely arranged friction wheels or friction belts are respectively arranged on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the third guide wire 10284.

[0107] Working principle:

[0108] The first conduit 10279 is delivered by rotation. The third clamping and rotating mechanism 10276 locks the first conduit 10279 and rotates and pushes the first conduit 10279 forward. The support component adaptively adjusts its length to support the first conduit 10279 and prevent it from bending, thus realizing long-distance rotational delivery of the first conduit 10279.

[0109] The second conduit 10280 is delivered by rotation. The first clamping and rotating mechanism 10272 locks the second conduit 10280 and rotates and pushes the second conduit 10280 forward. The support component adaptively adjusts its length to support the second conduit 10280 and prevent it from bending, thus realizing long-distance rotational delivery of the second conduit 10280.

[0110] The first guide wire 10281 is delivered by rotation. The second clamping and rotating mechanism 10274 locks the first guide wire 10281 and rotates and pushes the first guide wire 10281 forward. The support component adaptively adjusts its length to support the first guide wire 10281 and prevent it from bending, thus realizing long-distance rotational delivery of the first guide wire 10281.

[0111] The third guide wire 10284 is delivered by installing the middle part of the third guide wire 10284 in the branch channel of the convergence drive module 10293, and the long-distance delivery of the third guide wire 10284 is achieved by a friction wheel delivery mechanism.

[0112] Example 7

[0113] The support assembly can extend or translate axially to restrict the interventional consumables in a fixed axial direction and prevent the interventional consumables from bending during delivery. The support assembly includes at least one of a telescopic sleeve assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. The guide ring assembly is an openable and closable support ring to facilitate the placement and clamping of the interventional consumables from the top.

[0114] The following is an introduction using a telescopic sleeve assembly as an example of a support component.

[0115] When the telescopic sleeve assembly is supported by a rigid coaxial telescopic sleeve 103302 that is connected in stages, the telescopic sleeve is axially limited by a first limiting structure set on the outside of the tube body of the telescopic sleeve 103302, so as to prevent different sections in the telescopic sleeve 103302 from completely separating. The first limiting structure is one or a combination of a rope structure, a limiting telescopic sleeve, a tie rod structure, a connecting rod structure, and a corrugated pipe structure.

[0116] The outer diameter of different sections of the telescopic sleeve 103302 decreases sequentially, the difference in outer diameter between two adjacent sections of the telescopic sleeve 103302 is less than 0.8 mm, and the wall thickness of each section is less than 0.4 mm.

[0117] Each or several sections of the telescopic sleeve 103302 are provided with a connecting part. For the section with the largest diameter on the telescopic sleeve 103302, the connecting part is located at the head, middle or tail end of the section. For the other sections on the telescopic sleeve 103302, the connecting part is located at the head end of the section.

[0118] When two adjacent sections of the telescopic sleeve 103302 gradually retract, the connecting parts of the adjacent sections abut against each other, or the connecting part of the previous section abuts against the end face of the next section, preventing the previous section of the telescopic sleeve 103302 from being completely inserted into the next section; the connecting part is a connecting block 103302001, each section of the telescopic sleeve 103302 is provided with a first through hole, the connecting block is provided with a second through hole, the inner side of the hole wall of the second through hole is provided with a protrusion, the second through hole of the connecting block and the telescopic sleeve 103 When each section of 302 is engaged, the protrusion of the connecting block extends into the first through hole, thereby limiting the movement between this section of the telescopic sleeve 103302 and the corresponding connecting block. The protrusion is provided with an abutting part, which extends into the first through hole and abuts against the next section of the telescopic sleeve 103302. The abutting part has a certain elasticity and can generate a frictional damping effect with the next section of the telescopic sleeve 103302, thereby achieving a sliding damping effect between different sections of the telescopic sleeve 103302.

[0119] When the telescopic sleeve 103302 uses a pull rope structure or a corrugated tube structure for limiting, a limiting pull rope or a limiting corrugated tube is connected between the connecting parts of two adjacent sections of the telescopic sleeve 103302. As the two adjacent sections of the telescopic sleeve 103302 are gradually stretched, the limiting pull rope or the limiting corrugated tube is also gradually straightened. When the limiting pull rope or the limiting corrugated tube is completely straightened, the different sections in the telescopic sleeve can be prevented from completely separating. As the front section of the telescopic sleeve is gradually inserted into the back section, the limiting pull rope is gradually bent, or the limiting corrugated tube is also gradually folded.

[0120] Specifically, such as Figures 10-15As shown, the connecting part is a connecting block 103302001, which includes a left connecting block 103302002 and a right connecting block 103302003. The left connecting block 103302002 and the right connecting block 103302003 are connected and fixed using glue, screws, or clips. Installation is convenient and quick; during installation, simply attach the left connecting block 103302002 and the right connecting block 103302003 to the outside of the telescopic sleeve 103302 and fix them in place. In this embodiment, the left connecting block 103302002 and the right connecting block 103302003 are fixed using clips. Each section of the telescopic sleeve 103302 has a first through hole 103302004 along its radial direction, and the connecting block 103302001 has a second through hole 103302004 along its axial direction. The second through hole 103302005 has a protrusion 103302006 on the inner side of its hole wall. The protrusion 103302006 is embedded in the first through holes 103302004 on different sections of the telescopic sleeve 103302, so as to reliably limit the connection block 103302001 and different sections of the telescopic sleeve 103302. The protrusion 103302006 has an abutting part, which extends into the first through hole 103302004 and abuts against the next section of the telescopic sleeve 103302. The abutting part has a certain elasticity and can generate a friction damping effect with the next section of the telescopic sleeve 103302, thereby realizing the sliding damping effect between different sections of the telescopic sleeve 103302.

[0121] The telescopic sleeve assembly uses telescopic sleeves 103302 in different sections. At least one pull wire group is installed on one side of each telescopic sleeve 103302. When there are two or more pull wire groups, they are arranged in a circular array around the telescopic sleeve 103302. Each pull wire group has one or more limiting pull ropes 103304. A connecting block 103302001 is fixedly connected to the end of each section of the telescopic sleeve 103302. The limiting pull rope 103304 is located between two adjacent connecting blocks 103302001, and its front and rear ends are fixedly connected to the corresponding connecting blocks 103302001. The tension of the limiting pull rope 103304 prevents the different sections of the telescopic sleeve 103302 from completely detaching. Furthermore, the connecting block 103302001 fixedly connected to the head end of each section of the telescopic sleeve 103302 can be used to prevent the different sections from completely retracting. The different sections of the telescopic sleeve 103302 are between completely disengaged and completely retracted.

[0122] like Figure 10As shown, in order to allow the different sections of the telescopic sleeve 103302 to fully expand and compress, the exit direction of all limiting pull ropes 103304 from the connecting block 103302001 is perpendicular to the axis of the telescopic sleeve 103302. The limiting pull ropes 103304 can also be replaced by a chain structure.

[0123] The diameters of the telescopic sleeves 103302 in different sections decrease sequentially from front to back. The end of the section with the largest diameter is provided with a first connecting block a 10330201. The end of the limiting pull rope 103304 corresponding to the section of the telescopic sleeve 103302 is fixedly connected to the first connecting block a 10330201. The first connecting block a 10330201 is locked to the telescopic sleeve locking mechanism of the external module. The end of the section with the smallest diameter is provided with a first connecting block b 10330202. The end of the limiting pull rope 103304 corresponding to the section of the telescopic sleeve 103302 is fixedly connected to the first connecting block b 10330202. The first connecting block b 10330202 is locked to the telescopic sleeve locking mechanism of the external module.

[0124] The locking mechanism of the telescopic sleeve can be a clamping claw structure, a clamping clamp structure, a locking structure, a magnetic attraction structure, or a pressing structure.

[0125] As an alternative, when the first limiting structure is a pull rope structure, each or several sections of the telescopic sleeve 103302 are provided with a protrusion (the protrusion replaces the connecting block) on the outside of the tube body. The protrusion can also achieve axial limiting. At the same time, the limiting pull rope 103304 is connected between the protrusions of adjacent sections to prevent different sections of the telescopic sleeve 103302 from completely separating.

[0126] Example 8

[0127] The convergence drive module 10293 includes a first bifurcation seat, which has a straight channel and at least one branch channel. At least one interventional consumable can be delivered along the corresponding straight channel and branch channel on the first bifurcation seat. The first bifurcation seat includes a cover 10296 and a base. The cover 10296 is movably mounted on the base to open or close, facilitating quick replacement of interventional consumables. The branch channel is provided with a friction wheel delivery mechanism for delivering interventional consumables, or the branch channel is connected to a friction wheel delivery mechanism for delivering interventional consumables via a pipe. The front end of the bifurcation channel locks the pipe.

[0128] When the friction wheel delivery mechanism is directly installed on the branch channel:

[0129] Specifically, such as Figure 16As shown, the first friction wheel delivery mechanism includes at least two opposing friction wheels 10294 or friction belts. The friction wheels 10294 or friction belts can clamp the interventional consumables and drive the interventional consumables to reciprocate through friction. The friction wheels 10294 or friction belts are driven by a motor 10295 fixed on the convergence drive module 10293. The two opposing friction wheels 10294 or friction belts are respectively set on the base and the cover 10296. When the cover 10296 is closed, the friction wheels 10294 or friction belts can clamp the interventional consumables.

[0130] When the friction wheel delivery mechanism is connected to the branch channel via pipe 10220111:

[0131] Specifically, such as Figure 6 as well as Figures 17-19 As shown, the tail end of the pipe 102201 is clamped to the second friction wheel delivery mechanism 102712, and the front end of the intervention consumable is inserted into the pipe 10220111. The second friction wheel delivery mechanism 102712 includes a housing 10271201, a pressure plate 10271202 rotatably connected to the housing 10271201, one end of the pressure plate 10271202 rotatably connected to the housing 10271201, and the other end of the pressure plate 10271202 tightened onto the housing 10271201 by bolts 10271204. The front end of the housing 10271201 is provided with a pressure port 10271203, and the tail end of the pipe 10220111 is located inside the pressure port 10271203. The pressure port 10271203 is provided with elastic blocks 10271205 on both sides of the pipe 10220111. The pressure plate 10271202 presses the elastic blocks 10271205 to lock the tail end of the pipe 10220111. Alternatively, the pipe 10220111 may be integrally formed with the second friction wheel delivery mechanism 102712 or connected in other ways.

[0132] The housing 10271201 is provided with a sliding plate 10271206, the sliding plate 10271206 is fixedly connected to a sliding seat 10271207, the sliding seat 10271207 is rotatably connected to a second friction wheel 10271208, and the housing 10271201 is also provided with a corresponding rotatable second friction wheel 10271208. The interventional consumables, which are catheters or guide wires, are clamped between the two second friction wheels 10271208.

[0133] The second friction wheel 10271208 is connected to a second gear 10271209, and the second gears 10271209 mesh with each other. One of the second gears 10271209 is connected to a first bevel gear 10271210, and the first bevel gear 10271210 meshes with a second bevel gear 10271211. The second bevel gear 10271211 is mounted on the output shaft of the drive motor 10271212. The drive motor 10271212 drives the second friction wheel 10271208 to rotate, thereby controlling the back-and-forth movement of the interventional consumables clamped by the second friction wheel 10271208.

[0134] The sliding plate 10271206 has an arc-shaped groove 102712061, and the housing 10271201 has a lever 10241213. One end of the lever 10271213 is rotatably connected to the housing 10271201. Cylindrical cylinders 102712131 are provided on both sides of the lever 10241213. The cylinders 102712131 slide within the arc-shaped groove 102712061. When the lever 10241213 is moved upwards, the cylinders 102712131 move upwards within the arc-shaped groove 102712061, causing the entire sliding plate 10271206 to move upwards, thus moving the internal sliding seat upwards. When 10271207 moves upward, a gap is opened on the side of the housing 10271201 to facilitate the insertion of interventional consumables. The second friction wheel 10271208 on the sliding seat 10271207 moves upward, making it easier for the interventional consumables to enter between the second friction wheels 10271208. When the lever 10241213 is moved downward, the entire sliding plate 10271206 is moved downward, causing the internal sliding seat 10271207 to move downward, closing the gap on the side of the housing 10271201. At the same time, the second friction wheel 10271208 on the sliding seat 10271207 moves downward to clamp the interventional consumables.

[0135] Example 9

[0136] The first, second, or third clamping and rotating mechanism includes a locking structure capable of locking or unlocking the interventional consumable, a rotating mechanism capable of driving the locked interventional consumable to rotate, a sensing element capable of detecting the axial force on the interventional consumable, and a torque sensing element capable of detecting the torsional torque on the interventional consumable in the direction around the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is located outside the first, second, or third clamping and rotating mechanism, and can be directly driven by hand or external tools to lock or unlock the interventional consumable.

[0137] The first, second, and third clamping rotation mechanisms have the same structure. The specific structure of the first clamping rotation mechanism will be described using it as an example.

[0138] like Figures 20-24 As shown, the rotating mechanism includes a rotating shaft drive seat 1027202 and a rotating shaft 1027201 rotatably mounted inside the rotating shaft drive seat 1027202. The rotating shaft drive seat 1027202 is equipped with a rotating drive assembly capable of driving the rotating shaft 1027201 to rotate, either inside or outside. The rotating drive assembly is a gear drive assembly, a friction wheel drive assembly, or a friction belt drive assembly. The rear end of the rotating shaft drive seat 1027202 is provided with a rear cover 102720201.

[0139] The rotary shaft drive seat 1027202 has a cover opening structure; the rotary shaft drive seat 1027202 includes a base 102720203 and a rotary cover 102720202. The rotary cover 102720202 is movably mounted on the base. The rotary cover 102720202 is locked onto the base 102720203 by one or more combinations of snap fasteners, magnetic attraction, screw structures, and latches. The rotary shaft 1027201 can be easily installed and removed by opening the rotary cover 102720202.

[0140] The rotating shaft 1027201 includes a housing A1027201001 and a housing B1027201002, which are connected together in an openable manner to facilitate disassembly and cleaning of the internal structure. The components inside the rotating shaft 1027201 are installed inside the housing A1027201001. A portion of a driven gear ring or driven friction ring is provided on the outside of both housings A027201001 and B1027201002. When housings A027201001 and B1027201002 are closed, they form a complete driven gear ring or driven friction ring. To reduce the stroke length occupied by the rotating shaft 1027201 and ensure sufficient effective stroke length for the interventional consumables inserted into the second catheter, the overall axial length of the rotating shaft 1027201 is less than 100 mm.

[0141] A second bearing structure 102720104 is provided between the rotating shaft 1027201 and the rotating shaft drive seat 1027202, and a second sealing ring 102720105 is provided between the rear cover 102720201 and the second bearing structure 102720104 to achieve sealing.

[0142] During the installation of the first rotary delivery mechanism 10272, the outer shells A027201001 and B1027201002 are first assembled together. Then, the second bearing structure 102720104 is fitted onto the front and rear ends of the rotary shaft 1027201, respectively. The outer shells A027201001 and B1027201002 are closed and fixed together by the second bearing structure 102720104. The rotary cover 102720202 on the base is opened. Then, the outer shells A027201001, B1027201002, and the second bearing structure 102720104 are placed into the base as a whole. Then, the rotary cover 102720202 is closed and locked onto the base. Finally, the rear cover 102720201 is installed at the rear end of the rotary shaft drive seat 1027202. The rotary drive assembly drives the rotary shaft 1027201 to rotate through the transmission assembly. The transmission assembly transmits power by meshing with the driven gear ring or by the friction between the driven friction rings. The transmission assembly is a drive gear, a drive friction wheel, or a drive friction belt.

[0143] The first connecting part 1022501 extends from the front end of the rotating shaft 1027201. The front end of the first connecting part 1022501 is tightened and fixed to the mounting head 102204 by a side set screw (or by other locking methods). The locking structure includes a threaded transition head 102202. The Luer connector 102201 at the rear end of the second conduit is threadedly connected to the threaded transition head 102202. The threaded transition head 102202 includes a threaded structure and a quick-connect structure. The threaded transition head 102202 is connected by... The threaded structure is tightened to the Luer connector 102201 at the end of the interventional consumable. The threaded structure is a Luer thread, and the quick-connect structure is an anti-rotation snap-fit ​​structure. The anti-rotation snap-fit ​​structure adopts a hook-type or pin-type, and the threaded transition head 102202 and the mounting head 102204 at the front end of the first connecting part 1022501 are sealed by the first sealing rubber ring 102205 to prevent leakage of contrast agent during subsequent fabrication; or the threaded transition head 102202 is directly connected to the first connecting part 1022501.

[0144] The anti-rotation latch structure includes a latch 1033020017, which is detachably mounted on the threaded transition head 102202. The threaded transition head 102202 includes a snap-fit ​​head 1033020016. Two latches 1033020017 are provided and symmetrically arranged on both sides of the threaded transition head 102202. The head of each latch 1033020017 is a snap-fit ​​portion. The tail of 17 is a pressing part. Pressing the pressing part can open the snap-fit ​​part outward. Then, the snap-fit ​​part 1033020016 (the snap-fit ​​part is part of the thread transition head 102202) at the end of the threaded transition head 102202 is inserted into the mounting head 102204. The tail of the snap hook 1033020017 is released, so that the snap-fit ​​part of the snap hook 1033020017 closes inward and snaps onto the snap ring of the mounting head 102204 under its own elastic force.

[0145] The anti-rotation buckle structure also includes an anti-rotation structure, which is an anti-rotation protrusion or anti-rotation groove provided on the threaded transition head 102202. The anti-rotation buckle structure also includes a cylindrical guide portion that extends to the rear end of the threaded transition head. The anti-rotation protrusion or anti-rotation groove is provided at the connection between the guide portion and the main body of the threaded transition head 102202.

[0146] It also includes an internal connecting pipe 1027301, which passes through the first connecting part 1022501 and is connected to the front end of the first connecting part 1022501; or the first connecting part 1022501 is a hollow pipe structure and the front end of the internal connecting pipe 1027301 is connected to the rear end of the first connecting part 1022501.

[0147] The rear end of the internal connecting pipe 1027301 is connected to the rotatable part of the front end of the bifurcation valve. The internal connecting pipe 1027301 is provided with a flexible pipe part, and the flexible pipe part has a certain amount of bulging and bending, so that it has a certain amount of floating in the axial direction. This can solve the problem of torque and axial force interference caused by the asynchronous axial displacement and circumferential rotation of the first connecting part 1022501 and the bifurcation valve.

[0148] Before surgery, the first rotary delivery mechanism 10272 only needs to install the internal connecting tube 1027301 and the mounting head 102204 on the first connecting part 1022501. During the operation, the operator manually snaps the snap-fit ​​connector 1033020016 at the end of the threaded transition head 102202 onto the mounting head 102204. The threaded transition head 102202 is tightened to the Luer connector 102201 at the tail end of the interventional consumable through the threaded structure, so that different interventional consumables can be replaced and installed.

[0149] The rear end of the rotating shaft 1027201 is provided with a first slide 102720101, and a second slide 102720102 is fixedly connected to the rear cover 102720201. The second slide 102720102 is provided with multiple concentrically arranged annular conductive rings or protruding conductive bodies. The first slide 102720101 is provided with a protruding conductive body or multiple concentrically arranged annular conductive rings (or the positions of the conductive rings and conductive bodies are interchanged). The conductive body or conductive ring is connected to the circuit component 102720103 inside the rotating shaft 1027201. When the rotating shaft 1027201 rotates, the first slide 102720101 rotates coaxially with respect to the second slide 102720102. At this time, the conductive body rotates while attached to the conductive ring, transmitting electrical signals between the circuit component 102720103 and the outside world. The use of a conductive slide structure allows the entire rotating shaft 1027201 to be flatter (axial length of 20-100mm), reducing the stroke occupied by the rotating shaft 1027201 and thus increasing the effective working length of the interventional consumables.

[0150] The circuit assembly 102720103 is equipped with an analog-to-digital converter (ADC) element, which converts the analog signal from the force sensor into a digital signal. This avoids signal interference caused by directly transmitting analog signals (especially since the contact resistance of the conductive slide changes with the rotation of the shaft 1027201, introducing signal noise). The circuit assembly 102720103 is also equipped with a communication element, which converts the digital signal into a communication signal and uses a serial communication protocol to transmit information. The circuit assembly 102720103 is a PCB circuit board, and to reduce the axial length of the rotation shaft 1027201, the PCB circuit board is arranged parallel to the end face of the rotation shaft 1027201.

[0151] The circuit assembly 102720103 is equipped with an accelerometer or IMU sensor. The accelerometer or IMU sensor can detect various acceleration values ​​of the rotating shaft 1027201. In the process of force sensing, inertial force and inertial torque compensation are performed based on various acceleration values ​​of the rotating shaft 1027201, thereby obtaining the actual axial force and torque actually experienced by the interventional consumable in the direction around the axis. The acceleration values ​​include gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration.

[0152] A capillary tube 102720107 is fixedly connected to the rear end of the rotating shaft 1027201. The capillary tube 102720107 extends coaxially from the rear end of the rotating shaft 1027201, protruding and fitting into the through hole in the middle of the rear cover 102720201. A third sealing ring 102720106 seals the area between the capillary tube 102720107 and the through hole in the middle of the rear cover 102720201. The second sealing ring 102720105 and the third sealing ring 102720106 prevent liquid from entering between the first sliding plate 102720101 and the second sliding plate 102720102, protecting the internal components from external factors.

[0153] The internal connecting tube 1027301 passes through the capillary tube 102720107, and the gap between the internal connecting tube 1027301 and the capillary tube 102720107 is less than 2 mm. The length of the capillary tube 102720107 is greater than 10 mm, which provides a certain sealing effect between the internal connecting tube 1027301 and the capillary tube 102720107. The small gap and long length effectively prevent liquid from entering the rotating shaft 1027201 through the gap between the capillary tube 102720107 and the internal connecting tube 1027301 during surgery, protecting the internal components from external factors. Alternatively, a constriction portion can be provided on the capillary tube 102720107, which fits tightly with the internal connecting tube 1027301 to improve the sealing effect.

[0154] The axial force sensing element measures the axial force on the interventional consumable, and the torque force sensing element measures the torque on the interventional consumable in the direction around the axis. Both the axial force sensing element and the torque force sensing element are disposed inside the rotating shaft 1027201. The first connecting part 1022501 extends from the inside of the housing of the rotating shaft 1027201 to the outside of the housing of the rotating shaft 1027201.

[0155] After locking the interventional consumable, the locking structure measures the axial force on the interventional consumable when it is subjected to axial force during delivery by an axial force sensor or a multi-dimensional force sensor; when the interventional consumable is subjected to torque around the axis during rotation, the torque on the interventional consumable in the direction around the axis is measured by a torque sensor, or a combination of a torque sensor and a torque amplification mechanism, or a combination of a torque conversion structure and a force sensor.

[0156] The rotating shaft 1027201 is provided with a rotating sleeve. The first connecting part 1022501 is rotatably and axially limited in the rotating sleeve through the bearing structure a. The rotating sleeve is connected to the force measuring end of the axial force sensor. The other end of the axial force sensor is fixedly installed inside the rotating shaft 1027201. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable.

[0157] When the interventional consumable is subjected to an axial external force during delivery, the interventional consumable transmits the axial force to the first connecting part 1022501 through the locking structure. The first connecting part 1022501 transmits the axial force to the rotating sleeve, thereby transmitting the axial force to the axial force sensor that is fixedly connected to the rotating sleeve.

[0158] When measuring the torque on the interventional consumable in the direction around the axis by combining the torque conversion structure and the force sensor, the force sensor is a one-dimensional force sensor. One end of the one-dimensional force sensor is fixed on the rotating shaft 1027201, and the other end of the one-dimensional force sensor is fixedly connected to or integrally formed with a sensor force transmission component. The first connecting part 1022501 cooperates with the sensor force transmission component through the torque conversion structure, so that when the first connecting part 1022501 rotates, it will convert the torsional torque into a push-pull force and apply it to the sensor force transmission component. After the force sensor measures the push-pull force, the torque on the interventional consumable can be calculated by combining the lever arm.

[0159] The torque conversion structure is one or a combination of a pin groove structure, a paddle structure, a connecting rod structure, a gear and rack structure, and a transmission belt structure.

[0160] When the torque conversion structure is a pin-groove structure, the force sensor is a one-dimensional force sensor. The fixed end of the one-dimensional force sensor is fixedly connected to the inside of the rotating shaft 1027201 and located on one side of the intervention consumable. The force measuring end of the one-dimensional force sensor is fixedly connected to or integrally formed with the sensor force transmission component. The sensor force transmission component is provided with a pin or a slot. The first connecting part 1022501 is provided with a slot or a pin that matches. The relative position of the sensor force transmission component and the first connecting part 1022501 allows the pin to be inserted into the slot. In the hole, and the axis of the pin is parallel to and a certain distance away from the axis of the interventional consumable, after the locking structure locks the interventional consumable, when the interventional consumable is subjected to torque, the slot or pin on the first connecting part 1022501 will push the pin or slot on the sensor force transmission component when the first connecting part 1022501 rotates. At this time, the torsional torque will be converted into a push-pull force and applied to the sensor force transmission component. At this time, the single-dimensional force sensor will detect the push-pull force and calculate the torque on the interventional consumable based on the lever arm.

[0161] Example 10

[0162] This embodiment has the same structure as Embodiment 9, so it will not be described again. The difference is as follows:

[0163] like Figure 25 The locking structure includes a clamping transition head 102203, which includes a snap-fit ​​connector 1033020016. The snap-fit ​​connector 1033020016 has openable snap hooks 1033020017 on both sides. By pinching the tail of the snap hook 1033020017, the head of the snap hook 1033020017 can be opened. Then, the snap-fit ​​connector 1033020016 is inserted into the first connecting part 1022501. By releasing the tail of the snap hook 1033020017, the snap hook 1033020017 is locked in the slot of the first connecting part 1022501 under its own elastic force. The front end of the snap-fit ​​connector 1033020016 is provided with a locking tube 10276001, and the locking tube 10276001 is provided with an elastic gripper 1033020021. The elastic gripper 1033020021 extends out of the front end of the locking tube 10276001. The front end of the locking tube 10276001 is threadedly connected to a tightening cap 1033020022. The inside of the tightening cap 1033020022 contacts the elastic gripper 1033020021 through a bevel or conical surface. When the tightening cap 1033020022 is rotated and tightened on the snap-fit ​​connector 1033020016, the bevel or conical surface drives the elastic gripper 1033020021 to retract inward, locking the internal interventional consumables.

[0164] In this way, to loosen the locking structure between the interventional consumable and the clamping and rotating mechanism, simply pinch the tail of the clamp connector 1033020016 to open the head hook 1033020017 of the clamp connector 1033020016, and then pull the clamp connector 1033020016 out of the first connecting part 1022501. This locking structure can be used for locking catheters or guidewires without Luer connectors at the tail end.

[0165] Example 11

[0166] The port control module supports one port of the bifurcation valve and / or catheter, facilitating the clamping and rotating mechanism to clamp another guidewire inserted through that port. When used to support the bifurcation valve, the port control module has a rotatable catheter connector at the front end and a valve connector at the rear end. The catheter, locked by the clamping and rotating mechanism, is connected to the catheter connector via a flexible tube or directly. The port control module drives the catheter connector to rotate synchronously with the clamping and rotating mechanism, avoiding interference with the force sensing components within the mechanism. The port control module also drives the valve connector to control the opening and closing of the channel, thereby preventing blood or contrast agent leakage. The bifurcation valve can be a Y-valve or a T-valve.

[0167] The following is an introduction to the Y-valve type of branch valve. For details, please see... Figures 26-29 The first upper base 1022010 is provided with a fixed compartment 10220110. The Y valve 1022110 is placed in the fixed compartment 10220110. The clamping button 1021910 can control the fixed compartment 10220110 to clamp or release the Y valve 1022110 body, so as to facilitate the quick assembly and disassembly of the Y valve 1022110.

[0168] The front end of the Y valve 1022110 is a conduit connector, and the rear end is a valve connector. The conduit connector of the Y valve 1022110 is equipped with a connector gear 1022210, and the valve connector of the Y valve 1022110 is equipped with a valve gear 1022310. The first upper base 1022010 is rotatably equipped with a gear B1021710 that can mesh with the connector gear 1022210, and the first upper base 1022010 is rotatably equipped with a gear A1021610 that can mesh with the valve gear 1022310.

[0169] The first upper frame 1022010 is connected to the first lower frame 1021810 via a quick-connect structure. The first lower frame 1021810 is fixedly mounted on the upper module mounting base 10209110. The quick-connect structure can be one or a combination of threaded connection, snap-fit ​​connection, and locking connection.

[0170] Two motors B 1021510 are installed inside the first lower base 1021810. The first drive shaft 102151110 and the second drive shaft 102151210 are rotatably mounted on the first lower base 1021810. The output shafts of the two motors B 1021510 drive the first drive shaft 102151110 and the second drive shaft 102151210 to rotate through bevel gear structures, respectively.

[0171] The first upper base 1022010 is rotatably equipped with a first transmission docking shaft 102151310 and a second transmission docking shaft 102151410. The first transmission docking shaft 102151310 drives gear B1021710 to rotate through a bevel gear structure, and the second transmission docking shaft 102151410 drives gear A1021610 to rotate through a bevel gear structure. When the first upper base 1022010 is connected to the first lower base 1021810 through a quick-connect structure, the first transmission docking shaft 102151310 docks with the first transmission shaft 102151110 to achieve circumferential linkage, and the second transmission docking shaft 102151410 docks with the second transmission shaft 102151210 to achieve circumferential linkage.

[0172] The rotary valve gear 1022310 controls the opening and closing of the channel (the channel closing mechanism is existing technology and can be achieved by pressing the valve, etc., so it will not be described in detail). When the port control module needs to be used to connect the Y valve 1022110, pull the clamping button 1021910 to place the Y valve 1022110 into the fixed chamber 1022010. At the same time, gear B 1021710 meshes with the connector gear 1022210, and gear A 1021610 meshes with the valve gear 1022310. After installation, release the clamping button 1021910. Under the action of the eighth elastic element 10219110, the clamping button 1021910 will press the Y valve 1022110 from the side.

[0173] Motor B1021510 controls gear A1021610 or gear B1021710 to rotate. The rotation of gear B1021710 controls the joint gear 1022210 to drive the conduit connector of Y valve 1022110 to rotate, thereby causing the conduit connector to rotate synchronously with the internal connecting pipe or conduit. Due to the no-load sealing structure set on Y valve 1022110, Y valve 1022110 as a whole does not need to rotate, but there will be no liquid leakage at the relative rotation point. The rotation of gear A1021610 drives the valve gear 1022310 to rotate, thereby controlling the opening and closing of the valve and preventing blood and contrast agent leakage.

[0174] Example 12

[0175] This embodiment has the same structure as Embodiment 11, so it will not be described again. The difference is that when the port control module is used to support the end of the catheter, the port control module only plays a supporting role. At this time, the end of the catheter has a built-in hemostatic valve, and there is no need for the port control module to control the opening and closing of the catheter channel. For example, the third port control module supports the fourth catheter 10285. The fourth catheter is a sheath with a hemostatic valve at the tail end.

[0176] Specifically, such as Figure 30As shown, the fourth conduit 10285 has a second mounting head 1022000301 at its end. The third port control module includes a support base 1022000201, which has a mounting groove corresponding to the second mounting head 1022000301. A second rotating cover 1022000202 is hinged to the support base 1022000201. The second mounting head 1022000301 is placed into the mounting groove of the support base 1022000201, and then the second rotating cover 1022000202 is closed to fix the second mounting head 1022000301. At the same time, the second rotating cover 1022000202 is equipped with a magnet, which prevents the second rotating cover 1022000202 from opening by magnetic attraction. The magnetic attraction can also be replaced by other quick-locking structures such as buckles or screws.

[0177] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0178] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An interventional robot slave device employing a convergence drive module, characterized in that: The device includes a linear track assembly, on which a first port control module, a convergence drive module, and a first clamping rotation mechanism are sequentially mounted via multiple module mounting seats. The first port control module, convergence drive module, and first clamping rotation mechanism are arranged sequentially from front to back along the length of the linear track assembly. The module mounting seats are fixed to the linear track assembly, or the module mounting seats can reciprocate on the linear track assembly. When the module mounting seats reciprocate, they can drive the corresponding first port control module, or convergence drive module, or first clamping rotation mechanism to reciprocate to deliver interventional consumables. The convergence drive module converges at least two rear interventional consumables and simultaneously inserts them into the front interventional consumable. A support component for guiding the movement of interventional consumables is installed between the convergence drive module and the first clamping rotation mechanism.

2. The intervention robot slave device using a convergence drive module according to claim 1, characterized in that: It also includes a third port control module, which is mounted on a fixed frame outside the linear track assembly, or on a module mounting base at the front end of the linear track assembly. The third port control module is located in front of the first port control module. A third clamping and rotating mechanism is mounted on the linear track assembly via a module mounting base. The third clamping and rotating mechanism is located between the third port control module and the first port control module. When the module mounting base reciprocates, it can drive the third clamping and rotating mechanism to reciprocate to deliver the interventional consumables. A support component for guiding the movement of the interventional consumables is installed between the third port control module and the third clamping and rotating mechanism.

3. The intervention robot slave device using a convergence drive module according to claim 2, characterized in that: The linear track assembly, located behind the first clamping and rotating mechanism, is further equipped with a second port control module and a second clamping and rotating mechanism via module mounting seats. The first clamping and rotating mechanism and the second port control module constitute a clamping and rotating port control module. The second port control module and the second clamping and rotating mechanism are respectively mounted on the linear track assembly via module mounting seats a and module mounting seats b, or both the first clamping and rotating mechanism and the second port control module are mounted on the linear track assembly via a single module mounting seat a, and the second clamping and rotating mechanism is mounted on the linear track assembly via module mounting seat b. Module mounting seats a and b can slide independently on the linear track assembly. A support component for guiding the movement of interventional consumables is installed between the second port control module and the second clamping and rotating mechanism.

4. An intervention robot slave device employing a convergence drive module according to claim 1, 2, or 3, characterized in that: The support assembly can extend or translate axially to restrict the interventional consumables in a fixed axial direction and prevent the interventional consumables from bending during delivery. The support assembly includes at least one of a telescopic sleeve assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. The guide ring assembly is an openable and closable support ring to facilitate the placement and clamping of the interventional consumables from the top.

5. The intervention robot slave device using a convergence drive module according to claim 1, characterized in that: The first clamping and rotating mechanism includes a locking structure capable of locking or unlocking the interventional consumable, a rotating mechanism capable of driving the locked interventional consumable to rotate, an axial force sensing element capable of detecting the axial force on the interventional consumable, and a torque force sensing element capable of detecting the torsional torque on the interventional consumable in the direction about the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is located outside the housing of the first clamping and rotating mechanism, and the locking structure can be driven directly by hand or external tools to lock or unlock the interventional consumable.

6. An intervention robot slave device employing a convergence drive module according to claim 2 or 3, characterized in that: The second or third clamping rotating mechanism includes a locking structure capable of locking or unlocking the interventional consumable, a rotating mechanism capable of driving the locked interventional consumable to rotate, an axial force sensing element capable of detecting the axial force on the interventional consumable, and a torque force sensing element capable of detecting the torsional torque on the interventional consumable in the direction around the axis. The locking structure has a self-locking structure, which can maintain the locked state after locking. The locking structure is located outside the housing of the second or third clamping rotating mechanism, and the locking structure can be driven directly by hand or external tools to lock or unlock the interventional consumable.

7. The intervention robot slave device using a convergence drive module according to claim 1, characterized in that: The converging drive module includes a first bifurcation seat, which has a straight channel and at least one branch channel. At least one interventional consumable can be delivered along the corresponding straight channel and branch channel on the first bifurcation seat. The first bifurcation seat includes a cover and a base. The cover is movably mounted on the base to open or close, facilitating rapid replacement of interventional consumables. The branch channel is equipped with a friction wheel delivery mechanism for delivering interventional consumables, or the branch channel is connected to the friction wheel delivery mechanism for delivering interventional consumables via a pipe. The front end of the pipe is locked in the bifurcation channel. The friction wheel delivery mechanism includes at least two opposing friction wheels or friction belts. The friction wheels or friction belts can clamp the interventional consumables and drive them to reciprocate through friction. The friction wheels or friction belts are driven by a motor fixed on the converging drive module. The two opposing friction wheels or friction belts are respectively mounted on the base and the cover. When the cover is closed, the friction wheels or friction belts can clamp the interventional consumables.

8. A slave system of an interventional robot slave device employing a convergence drive module as described in any one of claims 1, 4, 5, and 7, characterized in that: It also includes a first catheter, a first guidewire, and a second catheter. The rear end of the first catheter is installed in the first port control module, the middle part of the first guidewire is installed in the first clamping and rotating mechanism, and the front end of the first guidewire passes through the straight channel of the convergence drive module. The middle part of the second catheter is installed in the branch channel of the convergence drive module. The second catheter is a quick-change type catheter. A guide port is provided on the side of the quick-change type catheter. The first guidewire and the quick-change type catheter are converged by the convergence drive module and inserted into the first catheter at the same time. The first guidewire passes through the guide port on the side of the quick-change type catheter and extends out from the front end of the quick-change type catheter. Alternatively, it may also include a first catheter, a first guidewire, and a second guidewire. The rear end of the first catheter is installed in the first port control module, the middle part of the first guidewire is installed in the first clamping and rotating mechanism, the front end of the first guidewire passes through the straight channel of the convergence drive module, and the middle part of the second guidewire is installed in the branch channel of the convergence drive module. The first guidewire and the second guidewire are converged by the convergence drive module and then simultaneously inserted into the first catheter.

9. A slave system of an interventional robot slave device employing a convergence drive module as described in any one of claims 2, 4, 6, and 7, characterized in that: It also includes a first catheter, a first guidewire, a second catheter, and a fourth catheter. The rear end of the fourth catheter is installed in the third port control module. The first catheter is installed on the third clamping and rotating mechanism. The front part of the first catheter is inserted into the fourth catheter. The first catheter is delivered into the fourth catheter through the third clamping and rotating mechanism. The middle part of the first guidewire is installed in the first clamping and rotating mechanism. The front end of the first guidewire passes through the straight channel of the convergence drive module. The middle part of the second catheter is installed in the branch channel of the convergence drive module. The second catheter is a quick-change type catheter. A guide port is opened on the side of the quick-change type catheter. The first guidewire and the quick-change type catheter are converged by the convergence drive module and inserted into the first catheter at the same time. The first guidewire passes through the guide port on the side of the quick-change type catheter and extends out from the front end of the quick-change type catheter. Alternatively, it may include a first catheter, a first guidewire, a second guidewire, and a fourth catheter. The rear end of the fourth catheter is installed in the third port control module. The first catheter is installed on the third clamping and rotating mechanism. The front part of the first catheter is inserted into the fourth catheter. The first catheter is delivered into the fourth catheter through the third clamping and rotating mechanism. The middle part of the first guidewire is installed in the first clamping and rotating mechanism. The front end of the first guidewire passes through the straight channel of the convergence drive module. The middle part of the second guidewire is installed in the branch channel of the convergence drive module. The first guidewire and the second guidewire are converged by the convergence drive module and then simultaneously inserted into the first catheter.

10. A slave system of an interventional robot slave device employing a convergence drive module as described in any one of claims 3, 4, 6, and 7, characterized in that: It also includes a first catheter, a first guidewire, a second catheter, a third catheter, and a fourth catheter. The rear end of the fourth catheter is installed in the third port control module. The first catheter is installed on the third clamping and rotating mechanism. The front part of the first catheter is inserted into the fourth catheter. The first catheter is delivered into the fourth catheter through the third clamping and rotating mechanism. The rear part of the second catheter is installed on the clamping and rotating port control module. The front end of the second catheter passes through the straight channel of the convergence drive module. The middle part of the first guidewire is installed in the second clamping and rotating mechanism. The front end of the first guidewire passes into the second catheter. The middle part of the third catheter is installed in the branch channel of the convergence drive module. The third catheter and the second catheter converge through the convergence drive module and are then simultaneously inserted into the first catheter. Alternatively, it may include a first catheter, a first guidewire, a second catheter, a third guidewire, and a fourth catheter. The rear end of the fourth catheter is installed in the third port control module. The first catheter is installed on the third clamping and rotating mechanism. The front part of the first catheter is inserted into the fourth catheter. The first catheter is delivered into the fourth catheter through the third clamping and rotating mechanism. The rear part of the second catheter is installed on the clamping and rotating port control module. The front end of the second catheter passes through the straight channel of the converging drive module. The middle part of the first guidewire is installed in the second clamping and rotating mechanism. The front end of the first guidewire passes into the second catheter. The middle part of the third guidewire is installed in the branch channel of the converging drive module. The second catheter and the third guidewire are converged by the converging drive module and then simultaneously inserted into the first catheter.

Images