Multi-way valve state control device and assembly for interventional operation robot and robot

Abstract

The utility model discloses a multi-way valve state control device and assembly for an interventional operation robot and the robot. The multi-way valve state control device comprises a first driving wheel, a second driving wheel, a first electric driving mechanism and a second electric driving mechanism. Wherein the first driving wheel is used for being in transmission connection with a rotary opening and closing part at the insertion end of the multi-way valve, and the second driving wheel is used for being in transmission connection with a rotary driving part at the rotary output end of the multi-way valve; the first electric driving mechanism is arranged to be capable of driving the first driving wheel to rotate to drive the rotary opening and closing part to rotate so as to control the opening and closing state of the opening; the second electric driving mechanism is arranged to be capable of driving the second driving wheel to rotate so as to drive the rotary driving part to rotate and accordingly control the rotation angle of the second long straight intervention consumable. According to the multi-way valve, automatic control over opening and closing of the multi-way valve and automatic control over rotation of consumables are achieved at the same time, manual operation is replaced, operation is more flexible and safer, the accuracy of the operation process is improved, and operation risks are reduced.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and more specifically, to a multi-way valve status control device, component, and robot for interventional surgical robots. Background Technology

[0002] Multi-port valves are commonly used auxiliary devices in the medical field, providing access to interventional systems. They are primarily used in interventional procedures to assist in the introduction of contrast agents, in conjunction with guidewires or catheters, and to prevent bleeding. A typical surgical multi-port valve, such as a Y-valve, includes three interconnected ports: the front port for connecting the catheter, the rear port for guidewire passage, and the side port for injecting contrast agents or other fluids. Some multi-port valves may have even more ports. In related technologies, both the front and rear ports of the multi-port valve are rotatable. Rotation of the front port rotates the catheter, while rotation of the rear port controls the opening and closing of the passage. When open, it allows the guidewire / catheter to move; when closed, it maintains a tight seal to prevent blood backflow. Currently, the rotation of both ends of the multi-port valve is manually adjusted by the physician. This manual operation is cumbersome, prone to errors, and poses significant safety risks in medical procedures. Utility Model Content

[0003] The main objective of this invention is to provide a multi-way valve status control device for interventional surgical robots, in order to solve the problem that the rotation of both ends of the multi-way valve in related technologies requires manual operation, which cannot achieve automated control and results in insufficient operational accuracy.

[0004] To achieve the above objectives, this utility model provides a multi-port valve status control device for interventional surgical robots. The multi-port valve includes a rotary output end and at least one insertion end. The rotary drive part of the rotary output end can be connected to a first long straight interventional consumable to drive it to rotate. The opening of the insertion end allows a second long straight interventional consumable to be inserted, and its rotary opening and closing part can control the opening and closing state of the opening.

[0005] It includes: a first drive wheel, a second drive wheel, a first electric drive mechanism, and a second electric drive mechanism; wherein,

[0006] The first drive wheel is used for transmission connection with the rotating opening and closing part of the insertion end of the multi-way valve, and the second drive wheel is used for transmission connection with the rotating drive part of the rotating output end of the multi-way valve.

[0007] The first electric drive mechanism is configured to drive the first drive wheel to rotate, thereby causing the rotating opening and closing part to rotate and thus controlling the opening and closing state of the opening;

[0008] The second electric drive mechanism is configured to drive the second drive wheel to rotate, thereby causing the rotary drive unit to rotate and thus controlling the rotation angle of the second long straight intervention consumable.

[0009] Furthermore, the first electric drive mechanism includes a first rotary motor and a first transmission assembly, wherein the output end of the first rotary motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first drive wheel.

[0010] Furthermore, the first drive wheel has a gear structure, and the first transmission assembly includes a first spur gear set and a first bevel gear set. The first spur gear set meshes with the first drive wheel and is connected to the first bevel gear set in a transmission connection. The first bevel gear set is connected to the first rotary motor in a transmission connection.

[0011] Furthermore, the second electric drive mechanism includes a second rotary motor and a second transmission assembly. The output end of the second rotary motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the second drive wheel.

[0012] Furthermore, the second drive wheel has a gear structure, and the second transmission assembly includes a second spur gear set and a second bevel gear set. The second spur gear set meshes with the second drive wheel and is connected to the second bevel gear set in a transmission connection. The second bevel gear set is connected to the second rotary motor in a transmission connection.

[0013] Furthermore, the first rotary motor and the second rotary motor are arranged adjacent to each other, and the first transmission assembly and the second transmission assembly are arranged opposite to each other.

[0014] Furthermore, the second drive wheel includes a drive wheel body and a rubber ring fitted and fixed inside the drive wheel body. The rotary drive unit is detachably fitted inside the rubber ring, and the rubber ring is deformed by the compression of the rotary drive unit to fit tightly against the rotary drive unit.

[0015] Furthermore, a limiting boss is provided at one end of the drive wheel body away from the first drive wheel. The limiting boss abuts against the end of the rotary drive unit to restrict the axial installation position of the second drive wheel.

[0016] According to another aspect of the present invention, a multi-way valve assembly for an interventional surgical robot is provided, including a multi-way valve and the aforementioned multi-way valve state control device, wherein a first drive wheel is integrally disposed with the rotational opening and closing portion of the insertion end of the multi-way valve, and a second drive wheel is detachably connected to the rotational drive portion of the rotational output end of the multi-way valve.

[0017] According to another aspect of the present invention, an interventional surgical robot is provided, including the aforementioned multi-way valve status control device.

[0018] The beneficial effects of this utility model are as follows:

[0019] On one hand, the first electric drive mechanism drives the first drive wheel to rotate, which in turn drives the rotating opening and closing part of the multi-way valve to rotate, controlling the opening and closing state and degree of the rotating opening and closing part. On the other hand, the second electric drive mechanism drives the second drive wheel to rotate, which in turn drives the rotating drive part of the multi-way valve to rotate, controlling the rotation angle of the rotating drive part. This achieves the purpose of controlling the opening and closing of the rotating opening and closing part of the multi-way valve and the rotation angle of the rotating drive part in an electronic and automated manner. Thus, it simultaneously realizes the automatic control of the opening and closing state and the automatic control of the rotation of consumables, replacing manual operation, making the operation more flexible and safe, improving the accuracy of the operation process, and reducing the surgical risk. This solves the problem in related technologies where the rotation of both ends of the multi-way valve requires manual operation, making it impossible to achieve automated control and resulting in insufficient operational accuracy.

[0020] On the other hand, by controlling the opening and closing of the multi-way valve's rotating opening and closing part and the rotation angle of the rotating drive part in an electronic and automated manner, doctors can perform remote operation, which can avoid the radiation damage to doctors caused by close-range operation, facilitate clinical operation, and further improve surgical efficiency and surgical safety. Attached Figure Description

[0021] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model, making other features, objects, and advantages of the utility model more apparent. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0022] Figure 1 This is a structural schematic diagram of the multi-way valve status control device according to an embodiment of the present utility model;

[0023] Figure 2 This is an assembly diagram of the drive wheel body and the rubber ring according to an embodiment of the present utility model;

[0024] Figure 3 This is an assembly diagram of the second drive wheel and the rotary drive unit according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the assembly of the second drive wheel and the rotary drive unit from another perspective.

[0026] Among them, 1. multi-way valve; 101. rotary opening and closing part; 102. rotary drive part; 1020. rib; 2. first drive wheel; 3. first electric drive mechanism; 30. first transmission assembly; 300. first spur gear set; 301. first bevel gear set; 31. first rotary motor; 4. second drive wheel; 40. drive wheel body; 41. limiting boss; 5. second electric drive mechanism; 50. second transmission assembly; 500. second spur gear set; 501. second bevel gear set; 51. second rotary motor; 6. rubber ring; 60. groove. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention 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 invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this utility model described herein.

[0029] In this invention, the terms "upper," "lower," "inner," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0030] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0031] Furthermore, the terms "set up," "equipped with," "connected," and "fixed" should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] In addition, the term "multiple" should mean two or more.

[0033] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] To solve related technical problems, such as Figure 1 As shown, this utility model provides a multi-way valve state control device for interventional surgical robots. The multi-way valve 1 includes a rotary output end and at least one insertion end. The rotary drive part 102 of the rotary output end can be connected to a first long straight interventional consumable to drive it to rotate. The opening of the insertion end allows a second long straight interventional consumable to be inserted, and its rotary opening and closing part 101 can control the opening and closing state of the opening.

[0035] The multi-way valve status control device includes: a first drive wheel 2, a second drive wheel 4, a first electric drive mechanism 3, and a second electric drive mechanism 5; wherein,

[0036] The first drive wheel 2 is used for transmission connection with the rotating opening and closing part 101 of the insertion end of the multi-way valve 1, and the second drive wheel 4 is used for transmission connection with the rotating drive part 102 of the rotating output end of the multi-way valve 1.

[0037] The first electric drive mechanism 3 is configured to drive the first drive wheel 2 to rotate so as to rotate the rotating opening and closing part 101 and thus control the opening and closing state of the opening.

[0038] The second electric drive mechanism 5 is configured to drive the second drive wheel 4 to rotate, thereby causing the rotary drive unit 102 to rotate and thus controlling the rotation angle of the second long straight intervention consumable.

[0039] In this embodiment, the multi-way valve 1 includes at least two interconnected ports: a rotary output port and an insertion port. The rotary output port and the insertion port can be located at the front and rear ends of the body of the multi-way valve 1, respectively, and are connected by a pipe. During surgical use, the first long straight interventional consumable is connected to the rotary drive 102 of the rotary output port. Taking the first long straight interventional consumable as a catheter as an example, the rotation of the rotary drive 102 can drive the catheter to rotate. The second long straight interventional consumable can pass through the opening of the insertion port and through the rotary opening and closing part 101, and then through the pipe into the first long straight interventional consumable. The opening and closing state of the insertion port can be controlled by rotating the rotary opening and closing part 101. The opening / closing state here includes the degree of opening of the insertion end, i.e., the actual size of the opening, to adjust the gap between the second long straight interventional consumable and the sidewall of the opening. When the opening is continuously closed, the sidewall of the opening can press against the second long straight interventional consumable and lock it, preventing the movement of the second long straight interventional consumable. When an appropriate gap is maintained between the sidewall of the opening and the second long straight interventional consumable, it can ensure the normal movement of the second long straight interventional consumable while preventing the liquid in the tube from flowing out. The second long straight interventional consumable can cooperate with the first long straight interventional consumable. Taking the second long straight interventional consumable as a guidewire and the first long straight interventional consumable as a catheter as an example, the guidewire can move within the channel established by the catheter, and the catheter can also move along the intervention direction under the guidance of the guidewire.

[0040] The first drive wheel 2 is used for transmission connection with the rotary opening and closing part 101. The rotation of the first drive wheel 2 drives the rotation of the rotary opening and closing part 101, thereby controlling the opening and closing state of the multi-way valve 1. The first drive wheel 2 and the rotary opening and closing part 101 can be fixedly connected by axial insertion. In one embodiment, the first drive wheel 2 and the rotary opening and closing part 101 are fixed by interference fit to transmit torque. In another embodiment, the first drive wheel 2 and the rotary opening and closing part 101 are fixed by pin or snap fastener to transmit torque.

[0041] In this embodiment, a first electric drive mechanism 3 is provided and is connected to the first drive wheel 2 via a transmission connection. The first electric drive mechanism 3 can be controlled by an electrical signal to rotate the first drive wheel 2 electrically. Of course, the timing of the electrical signal output is not limiting. In one transmission method, the first electric drive mechanism 3 and the first drive wheel 2 can be connected by a gear set to transmit torque. In another transmission method, the first electric drive mechanism 3 and the first drive wheel 2 can be connected by a crank-slider or similar structure to transmit torque. The description of the specific motion mode and torque transmission mode of the first electric drive mechanism 3 in this embodiment is not limiting. The motion mode and torque transmission mode of the first electric drive mechanism 3 can be designed according to the actual usage environment, and this embodiment does not impose specific limitations on them. In environments with limited motion space, it is preferable to use a structure where the first electric drive mechanism 3 directly outputs rotational motion, requiring less motion space.

[0042] The second drive wheel 4 is used for transmission connection with the rotary drive unit 102. The rotation of the second drive wheel 4 drives the rotation of the rotary drive unit 102, thereby driving the first long straight intervention consumable mounted on the multi-way valve 1 to rotate. The connection relationship between the second drive wheel 4 and the rotary drive unit 102 can be referred to as the connection relationship between the first drive wheel 2 and the rotary opening and closing unit 101 described above, and will not be repeated here in this embodiment.

[0043] This embodiment includes a second electric drive mechanism 5, which is connected to the second drive wheel 4. The second electric drive mechanism 5 can be controlled by an electrical signal to rotate the second drive wheel 4 electrically. Of course, the timing of the electrical signal output is not limiting. Similarly, the torque transmission method between the second electric drive mechanism 5 and the second drive wheel 4 can refer to the torque transmission method between the first electric drive mechanism 3 and the first drive wheel 2 described above, and will not be repeated here.

[0044] In one implementation, such as Figure 1 As shown, the first electric drive mechanism 3 includes a first rotary motor 31 and a first transmission assembly 30. The output end of the first rotary motor 31 is connected to the first end of the first transmission assembly 30, and the second end of the first transmission assembly 30 is connected to the first drive wheel 2.

[0045] Specifically, in this embodiment, the first electric drive mechanism 3 includes a first rotary motor 31, which can transmit torque to the first drive wheel 2 by rotation, and occupies less space compared to other methods. Since the first drive wheel 2 is also a rotatable structure, the motion transmission is more accurate. The first rotary motor 31 is connected to the first drive wheel 2 via a first transmission assembly 30, which transmits the rotational motion of the first rotary motor 31 to the first drive wheel 2. The arrangement of the first transmission assembly 30 allows for more flexible placement of the first electric drive mechanism 3; for example, the first electric drive mechanism 3 can be placed to the side of the multi-way valve 1, and the stability of motion transmission can be improved.

[0046] In one embodiment, the first drive wheel 2 is a pulley, therefore the first transmission assembly 30 includes a pulley mounted on the first rotary motor 31 and a transmission belt connecting the two pulleys. In another embodiment, the first drive wheel 2 is a gear, therefore the first transmission assembly 30 includes a gear mounted on the first rotary motor 31, the two gears meshing directly or through other gear sets.

[0047] To improve motion accuracy, such as Figure 1 As shown, in this embodiment, the first drive wheel 2 is preferably a gear structure, and the first transmission component 30 includes a first spur gear set 300 and a first bevel gear set 301. The first spur gear set 300 meshes with the first drive wheel 2 and is connected to the first bevel gear set 301 in a transmission connection. The first bevel gear set 301 is connected to the first rotary motor 31 in a transmission connection.

[0048] In this embodiment, the first transmission component 30 includes a first spur gear set 300 and a first bevel gear set 301. The first spur gear set 300 can mesh with the first drive wheel 2, and the second bevel gear set 301 can change the direction of force transmission, thereby changing the installation position of the first rotary motor 31, which is more convenient for saving lateral space and for integration.

[0049] The number of spur gears and bevel gears included in the first spur gear set 300 and the first bevel gear set 301 can be adjusted according to the actual arrangement space. In one embodiment, such as Figure 1As shown, the first spur gear set 300 includes two meshing spur gears, and the first bevel gear set 301 may include four bevel gears. One of the two spur gears meshes with the first drive wheel 2, and the other is connected to one of the four bevel gears via a shaft. The other two bevel gears are distributed vertically and connected via a shaft, with the upper bevel gear meshing with the bevel gear connected to the spur gear. The last bevel gear is connected to the first rotary motor 31 and meshes with the lower bevel gear, thereby transmitting the torque of the first rotary motor 31 to the first drive wheel 2. Of course, the above description of the specific number and arrangement of the first spur gear set 300 and the first bevel gear set 301 is not limiting, and those skilled in the art can adjust them according to actual needs.

[0050] In one embodiment, the second electric drive mechanism 5 includes a second rotary motor 51 and a second transmission assembly 50. The output end of the second rotary motor 51 is connected to the first end of the second transmission assembly 50, and the second end of the second transmission assembly 50 is connected to the second drive wheel 4.

[0051] Specifically, in this embodiment, the second electric drive mechanism 5 includes a second rotary motor 51, which can transmit torque to the second drive wheel 4 by rotation, and occupies less space compared to other methods. Since the second drive wheel 4 is also a rotatable structure, the motion transmission is more accurate. The second rotary motor 51 is connected to the second drive wheel 4 via a second transmission assembly 50, which transmits the rotational motion of the second rotary motor 51 to the second drive wheel 4. The arrangement of the second transmission assembly 50 allows for more flexible placement of the second electric drive mechanism 5; for example, the second electric drive mechanism 5 can be placed to the side of the multi-way valve 1, and the stability of motion transmission can be improved.

[0052] In one embodiment, the second drive wheel 4 is a pulley, therefore the second transmission assembly 50 includes a pulley mounted on the second rotary motor 51 and a transmission belt connecting the two pulleys. In another embodiment, the second drive wheel 4 is a gear, therefore the second transmission assembly 50 includes a gear mounted on the second rotary motor 51, the two gears meshing directly or through other gear sets.

[0053] To improve motion accuracy, such as Figure 1 As shown, in this embodiment, the second drive wheel 4 is preferably a gear structure, and the second transmission component 50 includes a second spur gear set 500 and a second bevel gear set 501. The second spur gear set 500 meshes with the second drive wheel 4 and is connected to the second bevel gear set 501 in a transmission connection. The second bevel gear set 501 is connected to the second rotary motor 51 in a transmission connection.

[0054] In this embodiment, the second drive wheel 4 is a gear structure, and the second transmission component 50 includes a second spur gear set 500 and a second bevel gear set 501. The second spur gear set 500 can mesh with the second drive wheel 4, and the second bevel gear set 501 can change the direction of force transmission, thereby changing the installation position of the second rotary motor 51, which is more convenient for saving lateral space and for integration.

[0055] The number of spur gears and bevel gears included in the second spur gear set 500 and the second bevel gear set 501 can be adjusted according to the actual arrangement space. In one embodiment, such as Figure 1 As shown, the second spur gear set 500 includes two meshing spur gears, and the second bevel gear set 501 may include four bevel gears. One of the two spur gears meshes with the second drive wheel 4, and the other is connected to one of the four bevel gears via a shaft. The other two bevel gears are distributed vertically and connected via a shaft, with the upper bevel gear meshing with the bevel gear connected to the spur gear. The last bevel gear is connected to the second rotary motor 51 and meshes with the lower bevel gear, thereby transmitting the torque of the second rotary motor 51 to the second drive wheel 4. Of course, the above description of the specific number and arrangement of the second spur gear set 500 and the second bevel gear set 501 is not limiting, and those skilled in the art can adjust it according to actual needs.

[0056] Based on the gear structure described above, such as Figure 1 As shown, in this embodiment, the first rotary motor 31 and the second rotary motor 51 can be arranged adjacent to each other, and the first transmission component 30 and the second transmission component 50 can be arranged opposite to each other, thereby improving the compactness of the overall structure.

[0057] When the second drive wheel 4 is detachably connected to the rotary drive unit 102 of the multi-way valve 1, the second drive wheel 4 needs to be able to stably transmit torque after being connected to the rotary drive unit 102. Therefore, as follows... Figures 2 to 4 As shown, in this embodiment, the second drive wheel 4 includes a drive wheel body 40 and a rubber ring 6 that is sleeved and fixed inside the drive wheel body 40. The rotation drive part 102 is detachably sleeved inside the rubber ring 6. The rubber ring 6 is deformed by the compression of the rotation drive part 102 and fits tightly with the rotation drive part 102.

[0058] Specifically, in this embodiment, the rubber ring 6 can be deformed and installed on the inner ring of the first drive wheel 2. During assembly, the first drive wheel 2 is inserted into the rotary drive unit 102 along the axial direction. The rotary drive unit 102 is inserted into the rubber ring 6 and squeezes the rubber ring 6. Through further deformation of the rubber ring 6, sufficient friction is generated between the rotary drive unit 102 and the first drive wheel 2, thereby firmly fixing the first drive wheel 2 on the rotary drive unit 102, so that the first drive wheel 2 drives the rotary drive unit 102 to rotate.

[0059] Based on the above implementation methods, such as Figure 2 and Figure 4 As shown, in order to further improve the stability of motion transmission, the inner ring of the rubber ring 6 can be provided with multiple grooves 60 along the axial direction. The grooves 60 can match the ribs 1020 on the rotary drive unit 102. During assembly, the ribs 1020 on the rotary drive unit 102 are inserted into the grooves 60, which is beneficial for the rotary drive unit 102 to squeeze the rubber ring 6 to produce deformation.

[0060] Based on the above implementation method, in order to limit the installation process of the second drive wheel 4, such as Figure 2 As shown, in this embodiment, a limiting boss 41 is provided at one end of the drive wheel body 40 away from the first drive wheel 2. The limiting boss 41 abuts against the end of the rotary drive part 102 to limit the axial installation position of the second drive wheel 4.

[0061] Specifically, in this embodiment, a limiting boss 41 can be provided at the front end of the drive wheel body 40. A portion of the limiting boss 41 is located at the front end of the inner ring of the drive wheel body 40, or the limiting boss 41 is located inside the inner ring. When the rotary drive unit 102 is installed into the inner ring of the drive wheel body 40, the axial installation position of the second drive wheel 4 is limited by the limiting boss 41. At the same time, when the front end of the rotary drive unit 102 abuts against the limiting boss 41, it indicates that the second drive wheel 4 is installed in place.

[0062] According to another aspect of the present invention, a multi-way valve assembly for an interventional surgical robot is provided, including a multi-way valve 1 and the aforementioned multi-way valve state control device, wherein a first drive wheel 2 is integrally disposed with the rotation opening and closing part 101 of the insertion end of the multi-way valve 1, and a second drive wheel 4 is detachably connected to the rotation drive part 102 of the rotation output end of the multi-way valve 1.

[0063] According to another aspect of the present invention, an interventional surgical robot is provided, including the aforementioned multi-way valve status control device.

[0064] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-port valve state control device for an interventional surgical robot, the multi-port valve comprising a rotary output end and at least one insertion end, wherein a rotary drive portion of the rotary output end is connectable to a first long straight interventional consumable to drive its rotation, and an opening of the insertion end allows insertion of a second long straight interventional consumable, and its rotary opening / closing portion is capable of controlling the opening / closing state of the opening, characterized in that, comprising: The system comprises a first drive wheel, a second drive wheel, a first electric drive mechanism, and a second electric drive mechanism; wherein... The first drive wheel is used for transmission connection with the rotating opening and closing part of the insertion end of the multi-way valve, and the second drive wheel is used for transmission connection with the rotating drive part of the rotating output end of the multi-way valve. The first electric drive mechanism is configured to drive the first drive wheel to rotate, thereby causing the rotating opening and closing part to rotate and thus controlling the opening and closing state of the opening; The second electric drive mechanism is configured to drive the second drive wheel to rotate, thereby causing the rotary drive unit to rotate and thus controlling the rotation angle of the second long straight intervention consumable.

2. The multiway valve state control device according to claim 1, characterized by The first electric drive mechanism includes a first rotary motor and a first transmission assembly. The output end of the first rotary motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first drive wheel.

3. The multiway valve state control device according to claim 2, characterized by The first drive wheel has a gear structure, and the first transmission assembly includes a first spur gear set and a first bevel gear set. The first spur gear set meshes with the first drive wheel and is connected to the first bevel gear set in a transmission connection. The first bevel gear set is connected to the first rotary motor in a transmission connection.

4. The multi-way valve state control device according to claim 2, characterized by The second electric drive mechanism includes a second rotary motor and a second transmission assembly. The output end of the second rotary motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the second drive wheel.

5. The multiway valve state control device according to claim 4, characterized by The second drive wheel has a gear structure, and the second transmission assembly includes a second spur gear set and a second bevel gear set. The second spur gear set meshes with the second drive wheel and is connected to the second bevel gear set in a transmission connection. The second bevel gear set is connected to the second rotary motor in a transmission connection.

6. The multi-way valve state control device according to claim 4, characterized by The first rotary motor and the second rotary motor are arranged adjacent to each other, and the first transmission assembly and the second transmission assembly are arranged opposite to each other.

7. The multiway valve state control device according to any one of claims 1 to 6, characterized by The second drive wheel includes a drive wheel body and a rubber ring that is sleeved and fixed inside the drive wheel body. The rotary drive part is detachably sleeved inside the rubber ring. The rubber ring is deformed by the compression of the rotary drive part and fits tightly against the rotary drive part.

8. The multi-way valve state control device according to claim 7, characterized by A limiting boss is provided on one end of the drive wheel body away from the first drive wheel. The limiting boss abuts against the end of the rotary drive unit to restrict the axial installation position of the second drive wheel.

9. A multi-way valve assembly for an interventional surgical robot, comprising: The device includes a multi-way valve and a multi-way valve status control device as described in any one of claims 1 to 8, wherein the first drive wheel is integrally disposed with the rotational opening and closing portion of the insertion end of the multi-way valve, and the second drive wheel is detachably connected to the rotational drive portion of the rotational output end of the multi-way valve.

10. A robot, characterized in that Includes the multi-way valve status control device as described in any one of claims 1 to 8.

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