Vascular intervention surgical robot and automatic alignment executing mechanism thereof
The design of the automatic alignment actuator enables automatic docking of the consumable box and the drive box, solving the problem of inconvenient docking in the existing technology, improving installation efficiency and surgical efficiency, and reducing production costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING WANSI MEDICAL TECH CO LTD
- Filing Date
- 2025-04-17
- Publication Date
- 2026-05-19
AI Technical Summary
The existing docking structure between the consumable box and the drive box of the vascular interventional surgery robot is inconvenient, resulting in reduced installation efficiency.
An automatic alignment actuator is adopted, including a consumable box, a drive box, and an automatic alignment connection assembly. By setting first and second connecting parts, the second connecting part, which allows axial movement, is automatically aligned under the drive of a power component. Combined with an elastic reset part, a guide part, and a position detection part, the alignment accuracy and efficiency are ensured.
The installation process of the consumable box was simplified, installation efficiency was improved, surgical efficiency was ensured, and production costs were reduced.
Smart Images
Figure CN224251483U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of vascular interventional technology, specifically providing a vascular interventional surgical robot and its automatic alignment execution mechanism. Background Technology
[0002] To adapt to clinical applications and meet aseptic requirements, vascular interventional surgical robots often separate the consumable drive components that power the interventional consumables from the power source for aseptic isolation. The former is housed in a sterile consumable container and is disposed of as medical waste after use, while the latter is housed in the drive box, which also contains electrical components such as motors and sensors that cannot be sterilized. During use, the motor in the drive box needs to drive the consumable drive components in the consumable container, thus requiring a transmission shaft to provide power to the consumable container to drive the interventional consumables.
[0003] Currently, the motors and drive shafts of vascular interventional surgical robots transmit power via splined shafts and keyways. This method requires both to be in the correct installation position for proper docking. Especially when multiple drive shafts need to be connected between the consumables box and the drive box, multiple splined shafts must simultaneously engage with multiple keyways. In this situation, the phase difference between the various splined shafts and keyways often prevents the splined shafts from being smoothly inserted into the keyways, requiring repeated adjustments to the installation. This undoubtedly prolongs the installation time of the consumables box and reduces surgical efficiency.
[0004] Accordingly, there is a need in the field for a new vascular interventional surgical robot and its automatic alignment actuator to solve or alleviate the above-mentioned technical problems to some extent. Utility Model Content
[0005] The present invention aims to solve or alleviate to some extent the problems in the background art mentioned above, namely, the problem that the docking structure between the consumable box and the drive box of the existing vascular interventional surgery robot is inconvenient, resulting in reduced installation efficiency.
[0006] In a first aspect, this utility model provides an automatic alignment actuator for a vascular interventional surgical robot. The automatic alignment actuator includes a consumable box, a drive box, and an automatic alignment connection assembly. The consumable box is drive-connected to the drive box via the automatic alignment connection assembly.
[0007] The automatic alignment connection assembly includes a first connector and a second connector. The consumable box includes a consumable driving assembly. The first connector is disposed on the consumable box and connected to the consumable driving assembly. The driving box includes a power component. The second connector is disposed on the driving box and connected to the power component.
[0008] The first connector is provided with a first docking structure, and the second connector is provided with a second docking structure. At least one of the first connector and the second connector is configured to be allowed to move axially, so that the second docking structure can rotate to the docking position and dock with the first docking structure during the process of the power component driving the second connector to rotate.
[0009] In one exemplary embodiment of the automatic alignment actuator of the aforementioned vascular interventional surgical robot, the second connector is configured to be allowed to move axially. During the process of the power component driving the second connector to rotate, the second docking structure can follow the rotation to the docking position and automatically move axially to dock with the first docking structure.
[0010] In one exemplary embodiment of the automatic alignment actuator of the above-mentioned vascular interventional surgical robot, the automatic alignment connection component further includes an elastic reset member, which is connected to the second connector. The elastic reset member is configured to push the second connector to move axially when the second docking structure is in the docking position, so that the second docking structure and the first docking structure can automatically dock.
[0011] In one exemplary embodiment of the automatic alignment actuator of the aforementioned vascular interventional surgical robot, the automatic alignment connection assembly further includes a guide member disposed near the second connector. The shape of the guide member matches the shape of the first connector to limit the movement during the docking process between the first connector and the second connector.
[0012] In one exemplary embodiment of the automatic alignment actuator of the aforementioned vascular interventional surgical robot, the automatic alignment connection component further includes a position detection element capable of detecting the axial movement of the second connector.
[0013] In one exemplary embodiment of the automatic alignment execution mechanism of the aforementioned vascular interventional surgery robot, one of the first docking structure and the second docking structure is a protruding structure, and the other of the first docking structure and the second docking structure is a groove structure that matches the protruding structure.
[0014] In one exemplary embodiment of the automatic alignment execution mechanism of the aforementioned vascular interventional surgery robot, the first docking structure includes two spaced-apart cylindrical grooves, and the second docking structure includes two corresponding cylindrical protrusions.
[0015] In one exemplary embodiment of the automatic alignment actuator of the aforementioned vascular interventional surgery robot, the consumable box is connected to the drive box via multiple sets of the automatic alignment connection components.
[0016] In one exemplary embodiment of the automatic alignment actuator of the aforementioned vascular interventional surgical robot, the drive box further includes a bevel gear transmission assembly, and the power component is connected to the second connecting member through the bevel gear transmission assembly.
[0017] In a second aspect, the present invention provides a vascular interventional surgical robot, the vascular interventional surgical robot including the automatic alignment execution mechanism described in any of the above exemplary embodiments.
[0018] When adopting the above technical solution, the automatic alignment actuator of this utility model includes a consumable box, a drive box, and an automatic alignment connection assembly. The consumable box is connected to the drive box via the automatic alignment connection assembly. The automatic alignment connection assembly includes a first connector and a second connector. The consumable box includes a consumable drive assembly. The first connector is disposed on the consumable box and connected to the consumable drive assembly. The drive box includes a power component. The second connector is disposed on the drive box and connected to the power component. The first connector is provided with a first docking structure, and the second connector is provided with a second docking structure. At least one of the first connector and the second connector is configured to be allowed to move axially, so that the second docking structure can rotate to the docking position and dock with the first docking structure during the process of the power component driving the second connector to rotate. Based on the above structural setup, the operator does not need to pay attention to whether the docking structures on both sides are in the correct installation position during installation, nor does the docking structure need to be adjusted multiple times. When the power component is running and debugging, it can control the second docking structure to automatically dock with the first docking structure, so that the power in the drive box can be smoothly transmitted to the consumable box. This effectively improves the installation efficiency of the consumable box, thereby effectively ensuring the efficiency of the operation.
[0019] Furthermore, by setting the connecting member that allows axial movement as the second connecting member, the present invention effectively simplifies the structure of the consumable box and makes the assembly and production of the consumable box easier.
[0020] Furthermore, this invention provides power for the axial movement of the second connecting member by setting an elastic reset member, which not only effectively ensures its effectiveness but also saves on the overall production cost of the machine.
[0021] Furthermore, this utility model also uses guide members to limit the connection during the docking process between the first connector and the second connector, so as to further improve the accuracy and efficiency of the docking.
[0022] Furthermore, this invention also uses a position detection component to detect the axial movement of the second connector, so as to determine whether the first connector and the second connector are properly aligned.
[0023] Furthermore, this invention further simplifies the docking process by using two spaced-apart cylindrical protrusions and cylindrical grooves, thereby ensuring improved installation efficiency.
[0024] In addition, this utility model also changes the direction of power transmission by setting a bevel gear transmission assembly, which makes it easier to rationally plan the installation space in the drive box. Attached Figure Description
[0025] The disclosure of this utility model will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. Furthermore, similar numbers in the drawings are used to denote similar components, wherein:
[0026] Figure 1 A schematic diagram of the overall structure of the automatic alignment actuator of this utility model is shown;
[0027] Figure 2 A schematic diagram of the second connector and other surrounding components of this utility model is shown;
[0028] Figure label:
[0029] 11. Consumables box;
[0030] 12. Drive box; 121. Power component; 122. Mounting base; 123. First bevel gear; 124. Second bevel gear; 125. Gear connecting shaft; 126. Bearing housing; 127. Bearing end cover;
[0031] 13. Automatic alignment connection component; 131. First connector; 132. Second connector; 1321. Protrusion; 133. Guide. Detailed Implementation
[0032] The optional embodiments of this utility model are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this utility model and are not intended to limit the scope of protection of this utility model. Those skilled in the art can make adjustments as needed to adapt to specific applications. For example, the vascular interventional surgical robot of this utility model may have only one automatic alignment actuator or multiple automatic alignment actuators simultaneously; this is not limiting, and those skilled in the art can set it according to actual usage. Such specific changes do not deviate from the basic principles of this utility model and therefore will fall within the scope of protection of this utility model.
[0033] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can also refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0034] It should be noted that in the description of this utility model, the terms "middle", "upper", "lower", "left", "right", "inner", "outer", etc., indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the structure must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.
[0035] First, a vascular interventional surgical robot typically consists of two parts: a master control console and a slave control console, which are connected via communication. The master control console is located outside the operating room, while the slave control console is located inside the operating room. The slave control console is equipped with an automatic alignment actuator. The consumable drive component in the automatic alignment actuator can drive the interventional consumables to move. Of course, there are no restrictions on the type of interventional consumables; they can be any long and straight consumable such as guidewires or catheters. The specific structure of the consumable drive component is also not limited, as long as it can drive the interventional consumables to move along the interventional direction, including forward and backward movement, and also drive the interventional consumables to rotate. Based on this, the surgeon can control the movement of the consumable drive component in the slave control console outside the operating room, thereby driving the interventional consumables to move accordingly.
[0036] See next Figure 1 and 2The automatic alignment actuator of this invention is applied to the slave end of a vascular interventional surgical robot. Of course, this application does not impose specific limitations on other structures of the slave end; those skilled in the art can set them according to actual usage requirements. The automatic alignment actuator includes a consumable box 11, a drive box 12, and an automatic alignment connection assembly 13. The consumable box 11 is connected to the drive box 12 via the automatic alignment connection assembly 13. The consumable box 11 is a disposable sterile consumable, requiring a fresh, sterilized version for each surgery. The drive box 12, connected to the slave end body, contains various electrical components and needs to be reused; a sterile membrane is typically used to isolate the two. Therefore, the drive box 12 provides power to the consumable box 11, and the two are connected via the automatic alignment connection assembly 13, allowing the consumable box 11 to receive power from the drive box 12 once it is in place. The consumable box 11 includes a consumable drive assembly (not shown in the figure). It should be noted that this application does not limit the specific shape of the consumable box 11 or the specific structure and arrangement of the consumable drive assembly, as long as the consumable drive assembly can be used to drive the intervention of consumables. For example, the consumable drive assembly can be a moving clamping mechanism or a drive wheel mechanism; these are not limiting. The drive box 12 includes a power component 121. Again, it should be noted that this application does not limit the specific shape and structure of the drive box 12 or the specific type of the power component 121. For example… Figure 1 Only the upper cover of the drive box 12 is shown in the figure. The box body can be set separately or it can be part of the main body of the slave end. This is not a limitation, as long as it can play the role of supporting the electrical components. For example, the power component 121 can be a motor or a combination of a cylinder and a gear rack mechanism, as long as it can output rotational motion.
[0037] The automatic alignment connection assembly 13 includes a first connector 131 and a second connector 132. The first connector 131 is disposed on the consumable box 11 and connected to the consumable driving assembly. The second connector 132 is disposed on the driving box 12 and connected to the power component 121. That is, after the first connector 131 and the second connector 132 are connected in place, the power component 121 can drive the consumable driving assembly to move, thereby driving the intervention consumable to perform corresponding actions. The first connector 131 is provided with a first docking structure, and the second connector 132 is provided with a second docking structure. At least one of the first connector 131 and the second connector 132 is configured to be allowed to move axially, so that during the rotation of the second connector 132 driven by the power component 121, the second docking structure can rotate to the docking position and dock with the first docking structure. It should be noted that this utility model does not limit the specific structure of the first connecting member 131 and the second connecting member 132. As long as the first connecting member 131 can be provided with a first docking structure and the second connecting member 132 can be provided with a second docking structure, it is acceptable. In addition, the specific structure of the first docking structure and the second docking structure can also be set according to the actual use requirements. As long as the second docking structure can rotate to the docking position and dock with the first docking structure during the process of the power component 121 driving the second connecting member 132 to rotate, it is acceptable.
[0038] Based on the above structural setup, the operator does not need to pay special attention to whether the docking structures on both sides are in the correct installation position during installation, nor does the docking structure need to be adjusted multiple times. When the power component 121 is running and debugging, it can control the second docking structure to automatically dock with the first docking structure, so that the power in the drive box 12 can be smoothly transmitted to the consumable box 11. This effectively improves the installation efficiency of the consumable box 11, thereby effectively ensuring the efficiency of the operation.
[0039] In this embodiment, both the first connecting member 131 and the second connecting member 132 are configured as shaft structures. The second connecting member 132 is configured to allow axial movement, i.e., a structure similar to a floating shaft. During the rotation of the second connecting member 132 driven by the power member 121, the second docking structure can rotate to the docking position and automatically achieve axial movement to dock with the first docking structure. Of course, the first connecting member 131 can also be configured to allow axial movement, or both the first connecting member 131 and the second connecting member 132 can be configured to allow axial movement. Taking the second connector 132 as an example of being allowed to move axially, specifically, there are two scenarios when the operator inserts and installs the consumable box 11. One scenario is that after insertion, the first and second docking structures are exactly in the docking position. In this case, the second connector 132 does not need to move axially, and the first and second docking structures can directly dock. However, most cases fall into the second scenario, that is, after insertion, the first and second docking structures are not in the docking position. In this case, the second connector 132 moves axially and retracts to the side away from the first connector 131. Correspondingly, the second docking structure also moves axially. At this time, the power component 121 drives the second connector 132 to rotate relative to the first connector 131. That is, the position of the second docking structure relative to the first docking structure is continuously adjusted until the first and second docking structures are in the docking position. The second connector 132 then drives the second docking structure to move axially again, thus realizing the docking of the first and second docking structures.
[0040] As a preferred configuration, one of the first and second docking structures is a protruding structure, and the other is a groove structure that matches the protruding structure. Of course, the first and second docking structures can also employ other structures, such as elastic snap-fit mechanisms that enable automatic docking. In this embodiment, the first docking structure includes two spaced-apart cylindrical grooves, and the second docking structure includes two corresponding cylindrical protrusions 1321. When the protrusions 1321 and the grooves are aligned axially, the second connector 132 is allowed to move axially, thereby moving the two protrusions 1321 and inserting them into the two grooves to achieve docking. Alternatively, the first and second docking structures can also consist of only a pair of protrusions and grooves with polygonal or irregular cross-sectional shapes.
[0041] As a preferred configuration, the automatic alignment connection assembly 13 also includes an elastic reset member (not shown in the figure). The elastic reset member is connected to the second connector 132 and is configured to push the second connector 132 to move axially when the second docking structure is in the docking position, so that the second docking structure and the first docking structure can automatically dock. Taking a spring as the elastic reset member and a floating shaft as the second connector 132 as an example, the spring can be located below the floating shaft to provide elastic force to the floating shaft. That is, when the floating shaft is subjected to downward pressure, the spring contracts to allow the floating shaft to move downward axially. When the pressure is removed, the spring uses its own elastic force to push the floating shaft to move upward. Of course, the elastic reset member can also be other types of structures, such as a self-powered cylinder, etc. Those skilled in the art can set its specific type according to actual usage requirements.
[0042] like Figure 2 As shown, in this embodiment, the automatic alignment connection assembly 13 further includes a guide 133. The guide 133 is disposed near the second connector 132, and the shape of the guide 133 matches the shape of the first connector 131 to limit the movement during the docking of the first connector 131 and the second connector 132. Specifically, taking the first connector 131 as a connecting shaft as an example, the guide 133 is a ring structure surrounding the outer periphery of the second connector 132, and the inner surface shape of the ring structure matches the outer surface shape of the first connector 131 to effectively achieve the limiting effect. Of course, the guide 133 can also adopt a guide post or other structure; these are not limiting, as long as they can play a guiding role.
[0043] The drive box 12 in this embodiment also includes a bevel gear transmission assembly. The power component 121 is connected to the second connecting member 132 through the bevel gear transmission assembly. Specifically, the power component 121 is fixedly installed through the mounting base 122. The bearing housing 126 and the bearing end cover 127 are connected to the mounting base 122. The second connecting member 132 is connected to the bearing housing 126 through a bearing. The bevel gear transmission assembly includes a first bevel gear 123, a second bevel gear 124, and a gear connecting shaft 125. The power component 121 is connected to the first bevel gear 123, and the first bevel gear 123 and the second bevel gear 124 mesh. The second bevel gear 124 is fixedly connected to the gear connecting shaft 125, and the gear connecting shaft 125 is connected to the second connecting member 132. Based on the above connection method, when the power component 121 rotates, it first drives the first bevel gear 123 to rotate, the first bevel gear 123 drives the second bevel gear 124 to rotate, the second bevel gear 124 drives the gear connecting shaft 125 to rotate, and the gear connecting shaft 125 drives the second connecting member 132 to rotate. If the first docking structure and the second docking structure are in a docking state, the second connector 132 can further drive the first connector 131 to rotate, thereby driving the consumable drive component to move.
[0044] Furthermore, the automatic alignment connection assembly 13 also includes a position detection element (not shown in the figure), which can detect the axial movement of the second connector 132. Taking the second connector 132 as a floating shaft, and the position detection element including a sensor disposed on the floating shaft and a sensor disposed in the gear connecting shaft 125 as an example: when the consumable box 11 is inserted, the floating shaft is pressed down, and the sensor connected to the floating shaft moves downward accordingly, and is then sensed by the sensor located below. The sensor's state signal changes from 0 to 1. When the floating shaft is rotated, the first docking structure and the second docking structure dock, the protrusion inserts into the groove, the floating shaft moves upward to reset, and the sensor also moves upward accordingly, leaving the sensor's sensing range. The sensor's state signal changes again, from 1 to 0, which means that the first connector and the second connector have been docked in place. When the consumable box 11 is connected to the drive box 12 through multiple sets of automatic alignment connection assemblies 13, as long as the controller detects that the state of all sensors has changed from 1 to 0, it means that all the first connectors and the second connectors have been docked in place, and power transmission is achieved.
[0045] In addition, this utility model also discloses a vascular interventional surgery robot, which includes the automatic alignment execution mechanism described in any of the above embodiments.
[0046] The technical solution of this utility model has been described in conjunction with the optional embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.
Claims
1. An automatic alignment execution mechanism for a vascular interventional surgical robot, characterized in that, The automatic alignment actuator includes a consumable box, a drive box, and an automatic alignment connection assembly. The consumable box is drive-connected to the drive box via the automatic alignment connection assembly. The automatic alignment connection assembly includes a first connector and a second connector. The consumable box includes a consumable driving assembly. The first connector is disposed on the consumable box and connected to the consumable driving assembly. The driving box includes a power component. The second connector is disposed on the driving box and connected to the power component. The first connector is provided with a first docking structure, and the second connector is provided with a second docking structure. At least one of the first connector and the second connector is configured to be allowed to move axially, so that the second docking structure can rotate to the docking position and dock with the first docking structure during the process of the power component driving the second connector to rotate.
2. The automatic alignment actuator according to claim 1, characterized in that, The second connector is configured to be axially movable. During the process of the power component driving the second connector to rotate, the second docking structure can follow the rotation to the docking position and automatically move axially to dock with the first docking structure.
3. The automatic alignment actuator according to claim 2, characterized in that, The automatic alignment connection assembly further includes an elastic reset member connected to the second connector. The elastic reset member is configured to push the second connector to move axially when the second docking structure is in the docking position, so that the second docking structure and the first docking structure can automatically dock.
4. The automatic alignment actuator according to claim 3, characterized in that, The automatic alignment connection assembly further includes a guide member disposed near the second connector. The shape of the guide member matches the shape of the first connector to limit the movement during the docking process between the first connector and the second connector.
5. The automatic alignment actuator according to claim 3, characterized in that, The automatic alignment connection assembly further includes a position detection element, which is capable of detecting the axial movement of the second connector.
6. The automatic alignment actuator according to any one of claims 1 to 5, characterized in that, One of the first docking structure and the second docking structure is a protruding structure, and the other of the first docking structure and the second docking structure is a groove structure that matches the protruding structure.
7. The automatic alignment actuator according to claim 6, characterized in that, The first docking structure includes two spaced-apart cylindrical grooves, and the second docking structure includes two corresponding cylindrical protrusions.
8. The automatic alignment actuator according to any one of claims 1 to 5, characterized in that, The consumable box is connected to the drive box via multiple sets of the automatic alignment connection components.
9. The automatic alignment actuator according to any one of claims 1 to 5, characterized in that, The drive box also includes a bevel gear transmission assembly, and the power component is connected to the second connecting member through the bevel gear transmission assembly.
10. A vascular interventional surgical robot, characterized in that, The vascular interventional surgical robot includes the automatic alignment execution mechanism as described in any one of claims 1 to 9.