Wire running prevention execution device and consumable box for vascular interventional surgical robot

Abstract

The utility model provides an anti-wire running execution device for a vascular interventional surgical robot and a consumable box, relates to the technical field of interventional therapy, and aims to solve the problem that long and straight interventional consumables are prone to wire running in related technologies. The wire running prevention execution device comprises a consumable delivery mechanism used for clamping and driving long and straight intervention consumables to act; the butt joint structures are arranged nearby the consumable delivery mechanism and located on the delivery path of the long and straight intervention consumables, the butt joint structures can form limiting channels in the intervention direction of the long and straight intervention consumables in the state of in-place butt joint, and the long and straight intervention consumables penetrate through the limiting channels and are located in the delivery path of the long and straight intervention consumables. The limiting channel can guide and limit the long and straight interventional consumables, so that the long and straight interventional consumables can advance along the limiting channel, and the problem that the long and straight interventional consumables run in the consumable box is effectively solved.

Description

Technical Field

[0001] This application relates to the field of interventional therapy technology, and more specifically, to an anti-wire slippage actuator and consumable box for a vascular interventional surgical robot. Background Technology

[0002] In the related technologies of interventional surgery using vascular interventional surgical robots, the motion control of long and straight interventional consumables is usually achieved by setting a progressive wheel set in the consumable box of the surgical robot. Specifically, the progressive wheel set includes at least two progressive wheels. By controlling the two progressive wheels to rotate in opposite directions, the long and straight interventional consumables are propelled forward or backward between them under the action of friction.

[0003] However, in actual use, it has been found that the aforementioned technologies can easily cause the long straight insertion consumable to slip during the process of the progressive wheel set driving the long straight insertion consumable. Utility Model Content

[0004] The purpose of this application is to provide a wire-preventing actuator and consumable box for vascular interventional surgery robots, aiming to solve the problem of wire slippage that easily occurs when the consumable delivery mechanism drives long straight interventional consumables in related technologies.

[0005] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this application.

[0006] According to a first aspect of this application, a wire-prevention actuator for a vascular interventional surgical robot is provided, comprising:

[0007] Consumable delivery mechanism, used to clamp and drive the movement of long, straight intervening consumables;

[0008] At least one set of openable docking structures is disposed near the consumable delivery mechanism and on the delivery path of the long straight intervention consumable. The docking structures are capable of forming a limiting channel along the intervention direction of the long straight intervention consumable when docked in place, and the long straight intervention consumable passes through the limiting channel.

[0009] In one exemplary embodiment of this application, the device further includes a first support and a second support that can be docked. A portion of the consumable delivery mechanism is disposed on the first support, and another portion of the consumable delivery mechanism is disposed on the second support. The docking mechanism includes a first docking portion and a second docking portion that can be docked to achieve opening and closing. The first docking portion is fixedly disposed within the first support, and the second docking portion is fixedly disposed within the second support. After docking, the first docking portion and the second docking portion have a first gap, and the width of the first gap corresponds to the distance between the two sides in one direction of the limiting channel.

[0010] In one exemplary embodiment of this application, the docking structure further includes a first limiting part and a second limiting part disposed between the first docking part and the second docking part, and a second gap exists between the first limiting part and the second limiting part; the width of the second gap corresponds to the distance between the two sides of the limiting channel in another direction.

[0011] In one exemplary embodiment of this application, both the first limiting portion and the second limiting portion are fixedly connected to the first docking portion; or,

[0012] Both the first limiting part and the second limiting part are fixedly connected to the second limiting part; or, alternatively...

[0013] One of the first limiting part and the second limiting part is fixedly connected to the first docking part, and the other is fixedly connected to the second docking part.

[0014] In an exemplary embodiment of this application, the first limiting part is configured as a first limiting plate, and the second limiting part is configured as a second limiting plate. Both the first limiting plate and the second limiting plate are fixed on the side of the first docking part facing the second docking part. The side of the second docking part facing the first docking part is provided with a slot that is compatible with the first limiting plate and the second limiting plate for insertion.

[0015] In one exemplary embodiment of this application, the second docking portion is provided with a clearance opening through which the long straight interventional consumable material passes, and the clearance opening is located between the first limiting plate and the second limiting plate.

[0016] In an exemplary embodiment of this application, a groove is provided on the side of the first docking portion facing the second docking portion, and the bottom contour of the groove has an arc-shaped structure. The first limiting plate and the second limiting plate are fixed in the central region of the bottom contour of the groove; the groove, the clearance opening, the first limiting plate and the second limiting plate together constitute the limiting channel.

[0017] In one exemplary embodiment of this application, the consumable delivery mechanism includes multiple sets of delivery wheels, and the docking structure is disposed between two adjacent sets of delivery wheels.

[0018] In one exemplary embodiment of this application, the delivery wheel set is configured as two sets, each set of the delivery wheel set including a first delivery wheel and a second delivery wheel, the first delivery wheel being rotatably connected to the first bracket, the second delivery wheel being rotatably connected to the second bracket, and the first delivery wheel and the second delivery wheel rotating in opposite directions to drive the long straight interventional consumable to move between the two.

[0019] According to a second aspect of this application, a consumable box for a vascular interventional surgery robot is provided, having a box body and an anti-thread misalignment actuator for a vascular interventional surgery robot as described in any one of the above claims, wherein the anti-thread misalignment actuator is disposed in the box body.

[0020] This application has some or all of the following beneficial effects:

[0021] The anti-wire slippage actuator for vascular interventional surgery robots provided in this application forms a limiting channel through a docking structure. The consumable delivery mechanism is used to drive the movement of the long and straight interventional consumable. Since the limiting channel is located on the delivery path of the long and straight interventional consumable, the long and straight interventional consumable can pass through the limiting channel formed by the docking structure during movement. The limiting channel guides and restricts the long and straight interventional consumable, enabling it to move along the limiting channel, thereby effectively solving the problem of wire slippage of the long and straight interventional consumable in the consumable box.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0024] Figure 1 This paper shows a top sectional view of an anti-wire slippage actuator for a vascular interventional surgery robot according to an embodiment of this application;

[0025] Figure 2 A schematic diagram of the structure of the first bracket in an embodiment of this application is shown;

[0026] Figure 3 A schematic diagram of the structure of the second bracket in an embodiment of this application is shown;

[0027] Figure 4 A side sectional view of the first and second supports combined in an embodiment of this application is shown.

[0028] Figure 5 A schematic diagram of the consumable box in an embodiment of this application is shown.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Limiting channel; 2. First bracket; 3. Second bracket; 4. Docking structure; 41. First docking part; 411. Groove; 42. Second docking part; 421. Slot; 422. Clearance opening; 43. First limiting part; 44. Second limiting part; 5. Delivery wheel assembly; 51. First delivery wheel; 52. Second delivery wheel; 6. Box body; 7. Long straight intervention consumable. Detailed Implementation

[0031] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed descriptions will be omitted. Furthermore, the drawings are merely illustrative of this application and are not necessarily drawn to scale.

[0032] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0033] The terms “a,” “one,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0034] A vascular interventional surgical robot generally includes a master end (control end) located outside the operating room and a slave end (execution end) located inside the operating room. The master end is equipped with a master control device for remote control, while the slave end includes the connected robot body and robotic arm. The robot body is fixed to the operating table via the robotic arm and can adjust its own posture through the robotic arm. The robot body has a built-in track along which a consumable delivery mechanism can move and clamp and drive the movement of long, straight interventional consumables. It should be noted that this application does not impose specific limitations on other structures of the vascular interventional surgical robot; those skilled in the art can set them according to actual usage requirements.

[0035] Reference Figure 1 As shown, based on this, this application provides an anti-thread slippage actuator for a vascular interventional surgery robot, comprising:

[0036] Consumable delivery mechanism for clamping and driving the action of long, straight interventional consumables 7;

[0037] At least one set of openable docking structures 4 is set near the consumable delivery mechanism and on the delivery path of the long straight intervention consumable 7. The docking structure 4 can form a limiting channel 1 along the intervention direction of the long straight intervention consumable 7 when docked in place, and the long straight intervention consumable 7 passes through the limiting channel 1.

[0038] It should be noted that the interventional surgical robot is equipped with a consumable delivery mechanism for driving the long, straight interventional consumable 7 (such as a guidewire, catheter, or stent) forward. This delivery mechanism may include one or more sets of delivery wheel groups 5. Each set of delivery wheel groups 5 includes a pair of rotatable delivery wheels facing each other. It is understood that the delivery wheels can be configured to rotate around their axes. The paired delivery wheels can move closer to or further away from each other to grip and drive the long, straight interventional consumable 7. When the long, straight interventional consumable 7 is delivered using the interventional surgical robot's consumable delivery mechanism, the movement path of the long, straight interventional consumable 7 is the delivery path. Under the combined pushing action of the paired delivery wheels, the long, straight interventional consumable 7 can move forward along its own axis, that is, along the interventional direction. Of course, the structural configuration of the consumable delivery mechanism is not restrictive; those skilled in the art can adjust it according to actual usage needs, as long as it can effectively grip and drive the long, straight interventional consumable 7.

[0039] In this embodiment, the specific location of the docking structure 4 can be adjusted according to actual usage requirements. It can be set at multiple key locations near the consumable delivery mechanism to adapt to different working conditions. Specifically, it includes, but is not limited to, the following configuration methods:

[0040] Option 1: The docking structure 4 is set at the entrance of the delivery mechanism to guide the long straight insertion consumable 7 to enter smoothly and prevent it from deviating or running during the initial introduction stage;

[0041] Option 2: The docking structure 4 is set at the outlet of the delivery mechanism to prevent long straight sections of consumable 7 from accumulating or tangling due to inertia or uneven tension after being discharged;

[0042] Option 3: The docking structure 4 is set in the turning area of ​​the long straight-intercepting consumable 7, providing a stable turning fulcrum, enhancing the controllability of the consumable, and reducing stress concentration at the bending point.

[0043] Option 4: When the delivery wheel group 5 is set to multiple groups, the docking structure 4 can be set between each two adjacent delivery wheel groups 5 to prevent the long straight intervening consumable 7 from running between the delivery wheel groups 5.

[0044] It should be noted that the above configuration method is only an example and is not limited to the solutions listed above. As long as the docking structure 4 is set near the consumable delivery mechanism, it is acceptable.

[0045] Therefore, when the long, straight interventional consumable 7 moves along the delivery path, it can travel stably through the limiting channel 1 formed by the docking structure 4. This limiting channel 1 has the following functional characteristics:

[0046] Guiding function: Provides a precise movement trajectory for the long straight intervention consumable 7, ensuring that it travels along the predetermined path;

[0047] Limiting function: Effectively constrains the spatial degrees of freedom of the long straight intervention consumable 7, preventing it from radially deviating during movement;

[0048] Anti-thread slippage function: Through a physical constraint mechanism, the thread slippage problem that may occur in the consumable box of the long straight insertion consumable 7 is fundamentally solved.

[0049] This solution significantly improves the positional accuracy and motion reliability of the long straight interventional consumable 7 during delivery by establishing a stable limiting channel 1.

[0050] Reference Figure 1 , Figure 2 and Figure 3 As shown in the embodiments of this application, the anti-dislodgement actuator for the vascular interventional surgery robot further includes a first support 2 and a second support 3. The first support 2 and the second support 3 can be docked with each other. A part of the consumable delivery mechanism is disposed on the first support 2, and another part of the consumable delivery mechanism is disposed on the second support 3. Therefore, it can be understood that in each set of delivery wheel groups 5, there is a pair of rotatable delivery wheels facing each other, one of which is rotatably connected to the first support 2 and the other is rotatably connected to the second support 3. When the first support 2 and the second support 3 are docked, the delivery path of the long straight interventional consumable 7 is formed between the two opposing delivery wheels.

[0051] Furthermore, the docking structure 4 also includes a first docking portion 41 and a second docking portion 42 that can be docked to achieve opening and closing. When the first support 2 and the second support 3 are docked, the first docking portion 41 and the second docking portion 42 form a closed state; when the first support 2 and the second support 3 are separated, the first docking portion 41 and the second docking portion 42 form an open state. It can be understood that one of the first docking portion 41 and the second docking portion 42 is fixed in the first support 2, and the other is fixed in the second support 3. After the first support 2 and the second support 3 are docked (the first docking portion 41 and the second docking portion 42 are in a closed state), there is a first gap between the first docking portion 41 and the second docking portion 42. The first gap corresponds to the distance between the two sides in one direction of the limiting channel 1.

[0052] Furthermore, the docking structure 4 also includes a first limiting part 43 and a second limiting part 44, which are disposed between the first docking part 41 and the second docking part 42; there is a second gap between the first docking part 41 and the second docking part 42, and the width of the second gap corresponds to the distance between the two sides of the limiting channel 1 in another direction.

[0053] In other words, after the first bracket 2 and the second bracket 3 are connected, the first connecting part 41, the second connecting part 42, the first limiting part 43 and the second limiting part 44 form a limiting channel 1 by enclosing each other.

[0054] In the embodiments of this application, the first limiting part 43 and the second limiting part 44 may both be fixedly connected to the first docking part 41; or both may be fixedly connected to the second docking part 42; or one of them may be fixedly connected to the first docking part 41 and the other fixedly connected to the second docking part 42.

[0055] In a preferred embodiment of this application, the first limiting part 43 is configured as a first limiting plate, and the second limiting part 44 is configured as a second limiting plate; both the first limiting plate and the second limiting plate are fixed on the side of the first docking part 41 facing the second docking part 42, and the second docking part 42 has a slot 421 on the side facing the first docking part 41 that is compatible with the insertion of the first limiting plate and the second limiting plate.

[0056] Furthermore, both the first limiting plate and the second limiting plate are integrally formed with the first docking portion 41, and the slot 421 is integrally formed through the length of the second docking portion 42. When the first bracket 2 and the second bracket 3 are docked, the ends of the first limiting plate and the second limiting plate are inserted into the slot 421, thereby forming a limiting channel 1 that guides the long straight insertion consumable 7.

[0057] The above structure improves the fault tolerance of the first and second limiting plates when they are inserted into the slot 421, which not only facilitates the manufacturing of the docking structure 4, but also makes it easier for users to assemble the first bracket 2 and the second bracket 3.

[0058] In this embodiment, the second docking portion 42 has a through-hole 422 for the long straight interventional consumable 7 to pass through. The through-hole 422 is located between the first limiting plate and the second limiting plate. In this application, the through-hole 422 is opened along the delivery path of the long straight interventional consumable 7. The through-hole 422 ensures that the second docking portion 42 will not affect the passage of the long straight interventional consumable 7, thereby ensuring that the long straight interventional consumable 7 can pass smoothly.

[0059] Reference Figure 1 and Figure 4 As shown in this embodiment, a groove 411 is provided on the side of the first docking portion 41 facing the second docking portion 42. The groove 411 extends through the length of the first docking portion 41, and the bottom contour of the groove 411 has an arc-shaped structure. The first limiting plate and the second limiting plate are both fixed in the central area of ​​the bottom contour of the groove 411. The groove 411, the clearance opening 422, the first limiting plate, and the second limiting plate together form the limiting channel 1. The clearance opening 422, the first limiting plate, and the second limiting plate constrain the long straight intervention consumable 7 in three directions when it passes through, preventing the long straight intervention consumable 7 from bending in the three directions. However, the groove 411 structure allows the long straight intervention consumable 7 to bend to a certain extent at the groove 411 when it passes through, thereby avoiding the problem of jamming caused by excessive constraint.

[0060] In this embodiment of the application, in order to improve the stability of the long straight interventional consumable 7 during delivery, the delivery wheel group 5 in the consumable delivery mechanism is set to multiple groups, and the docking structure 4 is set between two adjacent groups of delivery wheel groups 5.

[0061] In one specific embodiment provided in this application, the delivery wheel set 5 is configured as two sets, each set including a first delivery wheel 51 and a second delivery wheel 52. The first delivery wheel 51 is rotatably connected to the first support 2, and the second delivery wheel 52 is rotatably connected to the second support 3. The docking structure 4 is disposed between the two sets of delivery wheel sets 5. Through the cooperative action of the first delivery wheel 51 and the second delivery wheel 52, the long straight interventional consumable 7 can be effectively clamped and driven to move stably between them.

[0062] Reference Figure 5 As shown in the embodiment of this application, a consumable box for a vascular interventional surgery robot is also disclosed, which has a box body 6 and any of the above-mentioned anti-thread slippage actuators for a vascular interventional surgery robot, wherein the anti-thread slippage actuator is installed in the box body 6.

[0063] Other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the embodiments thereof. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed in this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

Claims

1. A wire-prevention actuator for use in a vascular interventional surgical robot, characterized in that, include: Consumable delivery mechanism, used to clamp and drive the movement of long, straight intervening consumables; At least one set of openable docking structures is disposed near the consumable delivery mechanism and on the delivery path of the long straight intervention consumable. The docking structures are capable of forming a limiting channel along the intervention direction of the long straight intervention consumable when docked in place, and the long straight intervention consumable passes through the limiting channel.

2. The anti-wire slippage actuator for a vascular interventional surgical robot according to claim 1, characterized in that, It also includes a first bracket and a second bracket that can be docked. A part of the consumable delivery mechanism is disposed on the first bracket, and another part of the consumable delivery mechanism is disposed on the second bracket. The docking structure includes a first docking part and a second docking part that can be docked to realize opening and closing. The first docking part is fixed in the first bracket, and the second docking part is fixed in the second bracket. After docking, the first docking part and the second docking part have a first gap. The width of the first gap corresponds to the distance between the two sides in one direction of the limiting channel.

3. The anti-wire slippage actuator for a vascular interventional surgical robot according to claim 2, characterized in that, The docking structure further includes a first limiting part and a second limiting part disposed between the first docking part and the second docking part, and there is a second gap between the first limiting part and the second limiting part; the width of the second gap corresponds to the distance between the two sides of the limiting channel in another direction.

4. The anti-wire slippage actuator for a vascular interventional surgical robot according to claim 3, characterized in that, Both the first limiting part and the second limiting part are fixedly connected to the first docking part; or, Both the first limiting part and the second limiting part are fixedly connected to the second limiting part; or, alternatively... One of the first limiting part and the second limiting part is fixedly connected to the first docking part, and the other is fixedly connected to the second docking part.

5. The anti-wire slippage actuator for a vascular interventional surgical robot according to claim 3, characterized in that, The first limiting part is configured as a first limiting plate, and the second limiting part is configured as a second limiting plate. Both the first limiting plate and the second limiting plate are fixed on the side of the first docking part facing the second docking part. The side of the second docking part facing the first docking part is provided with a slot that is compatible with the first limiting plate and the second limiting plate for insertion.

6. The anti-wire slippage actuator for a vascular interventional surgical robot according to claim 5, characterized in that, The second docking part has a through opening for the long straight intervention consumable to pass through, and the through opening is located between the first limiting plate and the second limiting plate.

7. The anti-wire slippage actuator for a vascular interventional surgical robot according to claim 6, characterized in that, The first docking part has a groove on the side facing the second docking part. The bottom contour of the groove has an arc-shaped structure. The first limiting plate and the second limiting plate are fixed in the central area of ​​the bottom contour of the groove. The groove, the clearance opening, the first limiting plate and the second limiting plate together form the limiting channel.

8. The anti-wire slippage actuator for a vascular interventional surgical robot according to any one of claims 2-7, characterized in that, The consumable delivery mechanism includes multiple sets of delivery wheels, and the docking structure is disposed between two adjacent sets of delivery wheels.

9. The anti-wire slippage actuator for a vascular interventional surgical robot according to claim 8, characterized in that, The delivery wheel assembly is configured in two groups, each group including a first delivery wheel and a second delivery wheel. The first delivery wheel is rotatably connected to the first support, and the second delivery wheel is rotatably connected to the second support. The first delivery wheel and the second delivery wheel rotate in opposite directions to drive the long straight interventional consumable to move between them.

10. A consumable box for a vascular interventional surgery robot, characterized in that, The device comprises a housing and an anti-thread misalignment actuator for a vascular interventional surgical robot as described in any one of claims 1-9, wherein the anti-thread misalignment actuator is disposed within the housing.

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