Surgical Robot System

Abstract

The present invention discloses a surgical robot system with an end execution system having a guidewire control module, a balloon / stent control module, and a guide catheter control module. The guidewire control module includes a rotating assembly and a feeding assembly, the rotating assembly includes a rotating wheel set, a rotating shaft concentrically connected to the rotating wheel set, a planetary gear fitted on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear, the sun gear is provided with a wire groove for receiving a guidewire, and the feeding assembly includes a feeding wheel set, a transmission screw rod concentrically connected to the bevel gear of the feeding wheel set, and a fixed housing for supporting the sun gear. The present invention is used to remotely control the rotation, advancement, and retraction of a guidewire during surgery, and can simultaneously control the advancement or retraction of a balloon catheter or stent catheter and a guide catheter, and multiple types of interventional surgery consumables are combined into one system, which accepts interventional surgery consumables from various manufacturers, is simple to operate, and has high accuracy.

Description

[Technical field]

[0001] The present invention relates to the medical device field, and more specifically to surgical robotic systems. [Background technology]

[0002] Interventional surgery is a relatively advanced minimally invasive technique that uses guidewires, catheters or stents, and other medical devices under the guidance of devices such as X-rays, ultrasound, or CT scans based on angiography to diagnose and treat diseases. Manually inserting a catheter or guide device into a patient's body is a relatively common surgical procedure. At present, attempts are being made to robotize this type of insertion. This type of robotization is very complicated because it is very difficult to grasp the catheter, the catheter is smooth, and sterility must be maintained during the surgical process, all of which increase the difficulty of the robotization. Despite these difficulties, the reliability and accuracy of this type of robotic system are crucial factors for its acceptance in the medical community.

[0003] Thus, the art is still lacking a surgical robotic system that is simpler to operate and more reliable. Summary of the Invention

[0004] The present invention has developed a surgical robot system based on the market demand in this technical field, in which the rotation, advancement and retreat of the guidewire control module, the catheter / balloon / stent control module and the guide catheter control module can be remotely controlled by a remote microcomputer control terminal, the non-contact motor system can form a space between the execution housing and the drive housing in the end execution system, so that articles such as sterile cloth can be placed to reduce contamination and not affect the normal operation of the vascular intervention robot, the rack and pinion set for the guide catheter can effectively position the guide catheter control module before the operation, and during the operation, the relative movement between each member of the module can be prevented from being hindered, so that the loss of precision caused by unnecessary relative displacement between each member can be avoided, the positioner assembly can effectively determine the axial position and radial position of the sun gear in the guidewire control module, and the dynamic and static state of the surgical robot arm can be controlled to ensure the safety of the robot and the control precision of the guidewire, and the driving members such as the motor and the transmission rod can be moved into the drive housing to reduce the space occupied in the execution housing, so that the guidewire operation space in the drive housing can be made larger and the drive housing can be easily cleaned. The mechanical braking in the present invention is mainly realized by the effect of the meshing between the gears and the transmission of the transmission rod. The present invention is simple in operation and accurate in control.

[0005] The present invention provides a surgical robotic system, which includes a remote microcomputer controlled terminal, a surgical robotic arm, and a terminal execution system. The above The distal execution system is of Forward, backward and rotation to make a guidewire control module; The guidewire control module is disposed at a distance from the guidewire control module, and is configured to move in a second direction that intersects with a first direction in which the guidewire advances or retreats. Balloon catheter or stent catheter of Forward or backward to make a balloon / stent control module; a catheter module that is spaced apart from the guidewire control module and the balloon / stent control module; and Guide Catheter of Forward or backward to makea guide catheter control module, the guidewire control module controlling the guidewire of rotate to make A rotating assembly; a locking device for locking the guide wire; The guide wire of Forward or backward to make and a feed assembly, the rotating assembly including a rotating wheel set, a rotating shaft concentrically connected to the rotating wheel set, planetary gears fitted on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear, the sun gear being provided with a wire groove, the wire groove opening from a root between teeth of the sun gear to a center of the sun gear, the wire groove receiving the guide wire, By the locking device The guide wire The guide wire is locked. Ensure the coaxiality of rotation Rumo Therefore, The locking device is fixed to the sun gear, The feed assembly supports a feed wheel set, a transmission screw rod concentrically connected to the bevel gear of the feed wheel set, and the sun gear. and is screw-connected to the transmission screw rod. A fixed housing; The rotation of the bevel gear rotates the transmission screw rod, and the fixed housing and the sun gear supported by the fixed housing move forward or backward in accordance with the rotation of the transmission screw rod, and the forward or backward movement of the sun gear advances or retreats the guide wire locked to the sun gear by the locking device, The balloon / stent control module comprises a transmission wheel assembly, the transmission wheel assembly comprises a friction wheel set, the gears of the friction wheel set mesh with each other on the lower side of the friction wheel set, and the friction wheel set clamps the balloon catheter or the stent catheter to advance or retreat; The above The guide catheter control module includes a Y-type assembly including an upper Y-type valve and a lower rack and pinion set, the distal port of the Y-type valve being connected to the guide catheter and the proximal port of the Y-type valve being connected to the guide wire. In the first direction Inserted, The guidewire is advanced in the first direction by the guidewire control module. The guide wire passes through the Y-shaped valve and enters the guide catheter, passes through the internal space of the guide catheter, and reaches the surgical site. The rack and pinion set advances or retreats the Y-shaped assembly to advance or retreat the guide catheter. The balloon catheter or the stent catheter is inserted into the proximal port in the second direction, and the balloon catheter or the stent catheter advanced in the second direction by the balloon / stent control module passes through the Y-shaped valve and the inner space of the guide catheter to reach the surgical site; The rotating wheel set, Bevel gearThe friction wheel set and the Y-type assembly are all driven by a motor; The above Remote Microcomputer Control terminal Connect to Controlled by It has been done.

[0006] In another preferred embodiment, rotation of the rotating wheel set in the guidewire control module rotates the concentrically connected rotating shaft together, which in turn rotates the planetary gears, which in turn rotate the sun gear through meshing action, thereby rotating the guidewire.

[0007] Rotation of the bevel gear of the feed wheel set rotates the transmission screw rod, and the fixed housing is threadedly connected to the transmission screw rod and advances or retreats with the rotation of the transmission screw rod, and the advancement or retreat of the fixed housing advances or retreats the guide wire.

[0008] In another preferred example, rotation of the gears in the friction wheel set of the transmission wheel assembly in the balloon / stent control module rotates the upper friction wheel, and the rotation of the friction wheel advances or retracts the balloon catheter or stent catheter clamped therebetween.

[0009] In another preferred embodiment, the guide catheter control A pinion in a rack and pinion set of a Y-assembly in a module moves a mating rack to advance or retract the Y-valve and connected guide catheter.

[0010] In another preferred example, a plurality of wire grooves are provided in the outer box, the gear housing set, the guidewire support rod, and the fixing plate in the longitudinal direction of the entire system from the proximal end to the distal end, in which the guidewire can be directly placed from top to bottom, facilitating the placement of the guidewire before surgery and the removal and replacement of the guidewire during surgery, and also facilitating the use of the guidewire in combination with a balloon catheter or a stent catheter.

[0011] In another preferred embodiment, the fixed housing is provided with at least two fixed gears, which are meshingly connected to the sun gear to fix the sun gear.

[0012] In another preferred embodiment, the guidewire control module includes a locking device for locking the guidewire, the locking device being fixed to the sun gear.

[0013] In another preferred example, the locking device includes a lock control assembly, a movable member, and a fixed member, the fixed member being fixed to the sun gear and arranged parallel to one side of the wire groove, the movable member being disposed opposite the fixed member and arranged parallel to the other side of the wire groove, and the lock control assembly being connected to the movable member to control a positional relationship of the movable member with respect to the fixed member.

[0014] In another preferred example, the lock control assembly comprises a pressing key, an interlocking rod, a spring, and a position limiting block, the spring and the position limiting block are installed in the internal space of the movable member, the position limiting block is fixed and immovable, the spring is located between the position limiting block and a side wall of the movable member, one end of the interlocking rod is connected to the pressing key, and the other end is connected to the movable member.

[0015] In another preferred embodiment, the guidewire control module includes a guidewire support rod, the guidewire support rod being disposed between a gear housing set and the fixed plate.

[0016] In another preferred embodiment, the operator remotely controls the movement of the guidewire control module, the balloon / stent control module, and the guide catheter control module by transmitting signals via a remote microcomputer control terminal.

[0017] The present invention further provides the following surgical robot system, which is used for controlling the operation of a guidewire, a balloon, or a stent during surgery, and can control the advancement, retraction, and rotation of the guidewire, as well as the advancement or retraction of a balloon catheter or a stent catheter, and a guide catheter, and includes a remote microcomputer control terminal, a surgical robot arm, and an end execution system. The end execution system includes a guidewire control module for controlling the advancement, retraction, and rotation of the guidewire. The guidewire control module includes a rotating assembly and a transport assembly. The rotating assembly is for controlling the rotation of the guidewire, and includes a rotating bevel gear, a rotating shaft concentrically connected to the rotating bevel gear, a planetary gear fitted on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear. The sun gear has a wire groove for receiving the guidewire. The transport assembly is for controlling the advancement and retraction of the guidewire, and includes a power wheel set, a transmission screw rod concentrically connected to the gear of the power wheel set, and a fixed housing for supporting the sun gear. The bevel gear and the power wheel set are both driven by a motor, and the rotation of the bevel gear rotates the concentrically connected rotation shaft together, which further rotates the planetary gear, and the planetary gear rotates the sun gear through meshing action. The rotation of the gear of the power wheel set rotates the transmission screw rod, and the fixed housing is threadedly connected to the transmission screw rod and moves forward or backward with the rotation of the transmission screw rod.

[0018] In another preferred embodiment, the rotation axis is a hexagonal axis.

[0019] In another preferred embodiment, the rotation axis is a polygonal axis.

[0020] In another preferred embodiment, the rotation shaft is a semicircular shaft or a convex / concave shaft.

[0021] In another preferred embodiment, the sun gear and the planetary gears are both installed in the internal space of the fixed housing and move with the forward and backward movement of the fixed housing.

[0022] In another preferred embodiment, the proximal end of the transmission screw rod is connected and fixed to the bevel gear of the feed wheel set, the proximal end of the rotating shaft is connected and fixed to the rotating wheel set, and the distal end of the transmission screw rod and the distal end of the rotating shaft are both fixed to a distal end fixed plate via bearings.

[0023] In another preferred embodiment, the fixed plate is provided with a wire groove similar to the wire groove of the sun gear to allow for the reception of the guide wire.

[0024] In another preferred embodiment, the initial positions of the rotating wheel set and the feed wheel set are both located at the proximal end of the system.

[0025] In another preferred embodiment, the rotating wheel set and the feed wheel set are both located on the same cross section.

[0026] In another embodiment, the length of the transmission screw rod is 100-400 mm, preferably 150-250 mm.

[0027] In another embodiment, the length of the rotating shaft is 100 to 400 mm, preferably 150 to 250 mm.

[0028] In another embodiment, the feed wheel set comprises at least one pair of bevel gears, and preferably the feed wheel set comprises two pairs of bevel gear sets.

[0029] In another embodiment, a feed wheel set consisting of two or more pairs of bevel gear sets includes an interlocking belt for connecting the bevel gears, and the interlocking belt realizes the interlocking between the bevel gears of the feed wheel set.

[0030] In another embodiment, the wire grooves open into the roots between the teeth of the sun gear and do not affect the meshing of the sun gear with other gears.

[0031] In another embodiment, the wire groove opens from the bottom of the valley between the sun gear teeth to the center of the sun gear.

[0032] In another preferred embodiment, the wire groove in the sun gear is tapered radially from the outside to the inside to accommodate guide wires of different diameters.

[0033] In another preferred embodiment, the fixed housing is provided with at least two fixed gears, and the fixed gears are meshed with the sun gear to fix the sun gear. The number of fixed gears may be two or more.

[0034] In another preferred embodiment, the fixed housing is a hollow housing, and the sun gear, the planetary gear and the fixed gear is disposed in a hollow internal space of the fixed housing, and the fixed housing is further provided with a radial opening for receiving the guide wire.

[0035] In another preferred embodiment, the sun gear and the fixed housing are arranged concentrically.

[0036] In another preferred embodiment, the system comprises a locking device for locking the guide wire, the locking device being fixed to the sun gear.

[0037] In another preferred example, the locking device includes a lock control assembly, a movable member, and a fixed member, the fixed member being fixed to the sun gear and arranged parallel to one side of the wire groove, the movable member being disposed opposite the fixed member and arranged parallel to the other side of the wire groove, and the lock control assembly being connected to the movable member to control a positional relationship of the movable member with respect to the fixed member.

[0038] In another preferred embodiment, the lock control assembly controls the movable member away from the fixed member, i.e., the wire groove defines a passageway to receive a guide wire.

[0039] In another preferred embodiment, the lock control assembly controls the movable member to reach the fixed member to clamp the guide wire received in the wire groove.

[0040] In another preferred embodiment, the locking device may be an electrically driven clamp structure.

[0041] In another preferred embodiment, the locking device may be a pneumatic clamp structure that is actuated by air pressure.

[0042] In another preferred example, the lock control assembly comprises a pressing key, an interlocking rod, a spring, and a position limiting block, the spring and the position limiting block are installed in the internal space of the movable member, the position limiting block is fixed and immovable, the spring is located between the position limiting block and a side wall of the movable member, one end of the interlocking rod is connected to the pressing key, and the other end is connected to the movable member.

[0043] When the locking device is in an unlocked state, pressing the pressing key moves the interlocking rod outward, thereby moving the movable member radially outward and away from the fixed member. At this time, the spring is in a compressed state. When the locking device is in a locked state, releasing the pressing control on the pressing key causes the movable member to move radially inward due to the elastic action of the spring and reach the fixed member, and the pressing key returns to its initial position.

[0044] In another preferred embodiment, the contact surfaces of the movable member and the fixed member are toothed pinching surfaces, thereby providing a greater clamping force against the guidewire.

[0045] In another preferred embodiment, the system includes a guidewire support rod, the guidewire support rod being disposed between the sun gear and a fixed plate.

[0046] In another preferred example, the guidewire support rod is slidable along the axial direction of the guidewire.

[0047] In another preferred example, the guide wire support rod comprises a support frame and pulleys on both sides, the support frame having wire grooves corresponding to the wire grooves of the sun gear and the fixed plate, and in a state of use, the guide wire is received in the wire groove, and the pulleys on both sides can move within the corresponding slide grooves of the side wall surfaces on both sides.

[0048] In another preferred embodiment, the slide groove starts from both side wall surfaces corresponding to an intermediate portion between the sun gear and the fixed plate, and ends at both side wall surfaces corresponding to the fixed plate.

[0049] In another preferred embodiment, the slide groove starts from both side walls corresponding to the sun gear and ends at both side walls corresponding to the fixed plate, and a stopper is provided at a portion of the slide groove corresponding to a middle portion between the sun gear and the fixed plate, and the stopper is for preventing the guide wire support rod from continuing to slide toward the sun gear.

[0050] In another preferred example, a first magnet is provided on the guide wire support rod, and a second magnet is provided on the fixed housing corresponding to the first magnet, and the first magnet and the second magnet are attracted to each other.

[0051] In an operation for transporting a guidewire, the guidewire support rod is initially positioned at an intermediate portion between the sun gear and the fixed plate, and the guidewire is disposed in the groove, and as the fixed housing moves to the distal end along the transmission screw rod, an attractive force is generated between the second magnet and the first magnet, and the guidewire support rod continues to move together with the fixed housing toward the distal end. In an operation for returning a guidewire, the guidewire support rod is returned together with the fixed housing toward the proximal end, and when the guidewire support rod is returned to the intermediate position between the sun gear and the fixed plate, the guidewire support rod is fixed without being returned any further by the blocking action of the stopper or the wall of the slide groove, and the fixed housing may continue to be returned.

[0052] In another preferred embodiment, all of the wire grooves form a passage from the proximal end to the center of the Y-valve.

[0053] In another preferred embodiment, the system includes at least one pair of guidewire wheels for supporting and carrying the guidewire at a distal end.

[0054] In another preferred example, the guide wire transmission wheel is installed on the distal end side of the fixed plate, and is disposed at a distance (center distance) of 5 to 15 mm from the fixed plate.

[0055] In another preferred embodiment, the joint of the guide wire transmission wheel corresponds to the wire groove of the fixed plate.

[0056] In another preferred embodiment, the guide wire is disposed between at least one pair of the guide wire transmission wheels, and the guide wire is conveyed by friction between the at least one pair of the guide wire transmission wheels.

[0057] In another preferred example, at least one pair of the guidewire transmission wheels are equipped with at least one pair of lock switches, which control the distance between the pair of the guidewire transmission wheels, thereby controlling the lock status of the at least one pair of the guidewire transmission wheels.

[0058] In another preferred embodiment, the system includes at least one transmission wheel set for supporting and transporting the balloon catheter or stent catheter.

[0059] In another preferred embodiment, the balloon catheter or the stent is disposed between at least one pair of transmission wheels, and the balloon catheter or the stent catheter is transported by friction between the at least one pair of transmission wheels.

[0060] In another preferred embodiment, at least one pair of transmission wheels is equipped with at least one pair of lock switches, which are for controlling the distance between the pair of transmission wheels, thereby controlling the locking status of the at least one pair of transmission wheels.

[0061] In another preferred embodiment, the system comprises a Y-type assembly, which is used for quick Y-type assembly of the guidewire and the guide catheter, and the Y-type assembly is movable, and the movement of the Y-type assembly controls the back and forth movement of the guide catheter.

[0062] Furthermore, the guide catheter can be transported and returned by moving the Y-shaped assembly.

[0063] In another embodiment, the Y-assembly is located at the far end of the system and is 10-200 mm (centre distance) away from the fixed plate, preferably 80-120 mm away.

[0064] In another preferred embodiment, the Y-assembly moves back and forth by meshing a gear with a rack.

[0065] In another embodiment, the Y-assembly is fixedly connected to the rack and the gear is connected to a motor, the gear and the rack meshing with each other.

[0066] In use, the motor rotates the gears and, through meshing action, the rack advances or retracts, thereby advancing or retracting the Y-assembly.

[0067] In another embodiment, the number of the gears is two, which are a driving gear and a driven gear, the driving gear and the driven gear mesh with each other, and two of the racks are installed correspondingly, and the driving gear and the driven gear mesh with the two racks respectively.

[0068] In another embodiment, the number of the gears is one and the number of the racks is one, and the gears mesh with the racks.

[0069] In another embodiment, the Y-assembly can be opened and closed, and in the open position, rapid exchange of the guidewire and the balloon catheter or stent catheter can be performed.

[0070] In another embodiment, the Y-shaped assembly is foldable, and the folding angle of the Y-shaped assembly is between 0 and 60 degrees.

[0071] In another embodiment, the Y-assembly can control the rotation of the guide catheter.

[0072] In another preferred embodiment, the operator controls the guidewire control module, the balloon / stent control module, and the guide catheter by transmitting signals via a remote microcomputer control terminal. control Remotely control the movement of modules.

[0073] The front end of the Y-valve (Y-assembly) is connected to the guide catheter, and controlling the forward and backward movement of the Y-valve controls the forward and backward movement of the guide catheter. The transmission wheel set clamps the balloon catheter or stent catheter and moves it forward or backward. The rotating wheel set and feed wheel set control the rotation, forward or backward movement of the gear housing set that clamps the guide wire. The rotation, forward or backward movement of all components can be achieved by the surgeon operating and controlling a terminal controller outside the operating room.

[0074] In another embodiment, the system communicates with the terminal controller via wires, wireless (WiFi, Bluetooth, etc.) or the Internet.

[0075] In another embodiment, the operating terminal is a computer.

[0076] In another embodiment, the operation terminal includes a tablet computer and a joystick, and the surgeon adjusts the distance of advancement or retraction of the guide wire and the rotation angle of the guide wire, adjusts the distance of advancement or retraction of the guide catheter and the rotation angle of the guide catheter, and adjusts the distance of advancement or retraction of the balloon catheter or the stent catheter by adjusting parameters displayed on the tablet computer, and then operates the joystick to control the rotation, advancement or retraction of the guide wire, operates the joystick to control the advancement or retraction of the balloon catheter or the stent catheter, and operates the joystick to control the rotation, advancement or retraction of the guide catheter.

[0077] In another embodiment, the system is disposed within the outer box, the length of the outer box being between 400 and 800 mm, the width being between 150 and 300 mm, and the height being between 50 and 200 mm.

[0078] In another embodiment, the diameter of the sun gear is between 20 and 80 mm.

[0079] In another embodiment, the planetary gear and the at least two fixed gears have the same specifications, and their diameters are all 15 to 30 mm.

[0080] In another embodiment, the specifications of the planetary gears are different from the specifications of at least two of the fixed gears.

[0081] In another embodiment, the diameter of the gear of the feed wheel set is 15-30 mm.

[0082] In another embodiment, the diameter of the guide wire transmission wheel is 5-20 mm.

[0083] In another embodiment, the sleeve has a diameter of 80-200 mm and a length of 250-600 mm.

[0084] In another embodiment, the Y-shaped assembly has a length of 50-120 mm, a width of 30-60 mm and a height of 10-40 mm.

[0085] In another embodiment, the diameters of the drive gear and interlocking gear of the Y-shaped assembly are both between 5 and 20 mm.

[0086] In another embodiment, the number of the whole components, i.e., the guidewire control module, formed by the rotating assembly, the delivery assembly and their accessories, can be increased to deliver multiple different guidewires and realize guidewire exchange during surgery. In another embodiment, the fixation plate has two or more wire grooves, and when two or three guidewires are used during surgery, each of the wire grooves can receive the guidewire.

[0087] In other embodiments, the system is made of plastic materials such as polycarbonate, nylon, or metal materials such as 304 stainless steel or 316 stainless steel, which are harmless to the human body, can be disinfected and sterilized, are inexpensive, and are suitable for disposable use.

[0088] In another embodiment, the system includes a non-contact motor system installed in the distal execution system and used to provide a transmission force for advancing, retreating and rotating the interventional equipment, the non-contact motor system including a motor, a first magnetic coupling connected to the motor and driven by the motor, a second magnetic coupling installed corresponding to the first magnetic coupling, and a transmission structure connected to the second magnetic coupling, the first magnetic coupling and the second magnetic coupling facing each other coaxially, and a distance between the first magnetic coupling and the second magnetic coupling is 0 to 20 mm, preferably 2 to 20 mm.

[0089] In another preferred embodiment, the number of the non-contact motor systems is 2-10.

[0090] In another preferred embodiment, the distal implementation system comprises an implementation housing and a drive housing, the implementation housing carrying mechanical members for driving the advancement, retraction and rotation of the interventional equipment, and the drive housing carrying an electric assembly for providing power to the mechanical members.

[0091] In another preferred embodiment, the motor is fixed within the drive housing, and the second magnetic coupling is fixed to a bottom wall of the drive housing.

[0092] In another preferred embodiment, a space having a thickness of 2 to 20 mm is formed between the executive housing and the drive housing under the support of the pair of magnetic couplings.

[0093] In another preferred embodiment, the first magnetic coupling is fixed to the motor shaft of the motor via a set screw or a set pin.

[0094] In another preferred embodiment, the transmission structure is a gear set structure or a worm structure.

[0095] In another preferred example, the terminal execution system includes a guidewire control module in the interventional equipment, the guidewire control module including a rotating assembly that controls the rotation of the guidewire via a rotating wheel set, and a feeding assembly that controls the advancement or retraction of the guidewire via a feeding wheel set, both of which are driven by the non-contact motor system.

[0096] In another preferred embodiment, the end effector system comprises a balloon / stent control module that controls the advancement or retraction of a balloon catheter or a stent catheter by a friction wheel set in the interventional equipment, and a guide catheter control module that controls the advancement or retraction of a guide catheter by a rack and pinion set in the interventional equipment, both of which are driven by the non-contact motor system.

[0097] In another preferred example, the rack and pinion set includes a rack frame to which the Y-type valve is fixed, a gear that meshes with a straight rack on the rack frame, a movable magnetic member attached to the rack frame, and a fixed magnetic member that interacts with the movable magnetic member, the fixed magnetic member being fixed to a housing of the terminal execution system.

[0098] In another preferred example, the rack frame includes a first toothed edge, a second straight edge, and a third connecting edge.

[0099] In another preferred example, the first tooth edge is provided with a straight rack that meshes with the gear, and the second straight edge and the first tooth edge are disposed in parallel and opposed to each other.

[0100] In another preferred embodiment, the third connecting edge connects the first tooth edge and the second straight edge together to form a semi-encircling structure, and the gear is located within the semi-encircling structure.

[0101] In another preferred embodiment, one end of the gear meshes with the straight rack of the first tooth edge, and the other end of the gear abuts against the second straight edge.

[0102] In another preferred embodiment, the movable magnetic member is fixed to the third connecting edge.

[0103] In another preferred embodiment, the movable magnetic member is fixed to the first edge or the second edge.

[0104] In another preferred embodiment, prior to surgery, the rack frame is prevented from sliding involuntarily by interaction between the movable magnetic member and the fixed magnetic member fixed to the housing of the end effector system.

[0105] In another preferred embodiment, during the operation, the driving device rotates the gear, and due to the meshing relationship between the gear and the rack frame, the rack frame moves forward while overcoming the action of the fixed magnetic member, thereby moving the Y-type valve forward.

[0106] In another preferred embodiment, the system includes a positioner assembly, the positioner assembly includes a guidewire control module positioner, the guidewire control module positioner is used to position the guidewire control module of the end execution system, the guidewire control module is used to control the advancement, retraction and rotation of the guidewire, and the guidewire control module includes a rotation assembly and a feed assembly. The rotation assembly is for controlling the rotation of the guidewire, and includes a rotation wheel set, a rotation shaft concentrically connected to the rotation wheel set, a planetary gear fitted on the rotation shaft and slidable relative to the rotation shaft, and a sun gear meshing with the planetary gear. The sun gear is provided with a wire groove, and the wire groove opens from the root between the teeth of the sun gear to the center of the sun gear, and the wire groove is for receiving the guidewire and ensuring the coaxiality of the rotation of the guidewire. The feed assembly is for controlling the advancement or retraction of the guidewire, and includes a feed wheel set, a transmission screw rod concentrically connected to the bevel gear of the feed wheel set, and a fixed housing for supporting the sun gear. The guidewire control module positioner comprises a first detection point installed on the bottom of the fixed housing, a first sensor for detecting the first detection point, a second detection point installed on one end of the sun gear opposite the wire groove, and a second sensor for detecting the second detection point, the first sensor and the second sensor being installed on the bottom of the terminal execution system, the first sensor determining the position of the fixed housing by detecting the first detection point, and when the position of the fixed housing is determined, the second sensor determining the angular position of the sun gear by detecting the second detection point.

[0107] In another preferred embodiment, the first sensor and the second sensor are both laser sensors.

[0108] In another preferred embodiment, the first sensor and the second sensor are both infrared sensors.

[0109] In another preferred embodiment, the first sensor and the second sensor are both electromagnetic sensors.

[0110] In another preferred embodiment, the sensor may have two pairs or more than two pairs.

[0111] In operation, the fixed housing is moved, and when the first sensor detects the first detection point (the first detection point is directly above the first sensor) at the bottom of the fixed housing, the movement of the fixed housing is stopped, and at this time, the fixed housing is in the installation position, i.e., the axial positioning is performed with respect to the guidewire control module. Then, the sun gear is rotated, and the protruding locking device fixed to the sun gear rotates according to the sun gear, and when the second sensor detects the second detection point (the second detection point is directly above the second sensor) at the end opposite to the wire groove located in the locking device, the rotation of the sun gear is stopped, i.e., the radial positioning is performed with respect to the guidewire control module.

[0112] In another preferred embodiment, the first sensor and the second sensor are both mounted on the drive housing.

[0113] In another preferred example, the execution housing has a sensor opening at a position corresponding to the first sensor and the second sensor in the drive housing, and the first sensor and the second sensor detect the first detection point and the second detection point, respectively, through the sensor opening.

[0114] In another preferred embodiment, the bottom wall of the executive housing is transparent.

[0115] In another preferred embodiment, a bacteria isolation cloth is disposed in the air space between the executive housing and the drive housing, and is used to prevent contamination of components within the drive housing during surgery.

[0116] In another preferred embodiment, the areas of the bacteria isolation cloth corresponding to the two sensors are transparent.

[0117] In another preferred embodiment, the positioner assembly further comprises a surgical robot arm positioner, the surgical robot arm positioner being mounted on the drive housing of the distal execution system and used to detect whether the execution housing is positioned above the drive housing.

[0118] In another preferred embodiment, when the surgical robot arm positioner detects that the executive housing is above the drive housing, the surgical robot arm is fixed and immobile, and when the surgical robot arm positioner detects that the executive housing is removed from above the drive housing, the surgical robot arm is free to move.

[0119] In another preferred embodiment, the surgical robot arm positioner is an infrared sensor.

[0120] In another preferred embodiment, the surgical robot arm positioner is a laser sensor.

[0121] In another preferred embodiment, the surgical robot arm positioner is an electromagnetic sensor.

[0122] In another preferred embodiment, the robot is used in interventional surgery, orthopedic surgery, surgical surgery and gynecological surgery and comprises a remote microcomputer control terminal, a surgical robot arm and a distal execution system, the distal execution system being fixed to the distal end of the surgical robot arm and moving together with the surgical robot arm, the remote microcomputer control terminal controlling the movement of the surgical robot arm and the internal movement of the distal execution system.

[0123] In another preferred embodiment, in the guidewire control module (i.e., guidewire moving / rotating module), one end of the guidewire is clamped by the sun gear, and the other end is placed on the case tube of the guidewire control module. At this time, one guidewire support slide rod is disposed between the sun gear and the case tube, and the guidewire support slide rod has a semicircular structure, and two L-shaped brackets extend from the semicircular bottom edge, and are received in slide rail grooves on both sides of the case tube, so that the guidewire support slide rod can move back and forth within the slide rail groove. The guidewire support slide rod has a receiving groove with a width of 0.1 to 5 mm from the top to the vicinity of the center of the circle, and the height of the bottom of the receiving groove is on the same horizontal line as the center of the sun gear and the height of the guidewire placement point on the case tube of the guidewire control module. A circular through hole is opened on each side of the semicircular structure of the guide wire support slide rod, and the diameter of the circular through hole is 0.1 to 3 mm. Two flexible tubes are inserted from both ends of the circular through hole, and after passing through the circular through hole, the flexible tubes abut against each other in the guide wire receiving groove.

[0124] In another preferred embodiment, a first magnet is provided on the guide wire support slide rod, and a second magnet is provided on the fixed housing corresponding to the first magnet, and the first magnet and the second magnet are attracted to each other.

[0125] In an operation for transporting a guide wire, the guide wire support slide rod is located at an intermediate portion between the sun gear and the case cylinder, the guide wire is placed in the receiving groove, and as the fixed housing moves toward the proximal end along the transmission screw rod, an attractive action occurs between the second magnet and the first magnet, and the guide wire support slide rod continues to move together with the fixed housing toward the proximal end. In an operation for returning a guide wire, the guide wire support slide rod is returned together with the fixed housing toward the distal end, and when the guide wire support slide rod is returned to an intermediate position between the sun gear and the case cylinder, the guide wire support slide rod is fixed without being returned any further by the blocking action of a stopper or a wall of a slide rail groove, and the fixed housing may continue to be returned.

[0126] In another preferred embodiment, there may be two or more guidewire supporting slide rods.

[0127] In another preferred embodiment, a non-contact motor system is installed in the end execution system and is used to provide a driving force for transporting, returning and rotating the guide wire. The non-contact motor system includes a motor, a first magnetic coupling connected to the motor and driven by the motor, a second magnetic coupling installed corresponding to the first magnetic coupling, and a transmission gear set connected to the second magnetic coupling, the first magnetic coupling and the second magnetic coupling facing each other coaxially, and a gap between the first magnetic coupling and the second magnetic coupling is 2 to 20 mm.

[0128] In another preferred embodiment, the motor is fixed within the drive housing, and the second magnetic coupling is fixed to a bottom wall of the drive housing.

[0129] In another preferred embodiment, the sterile cloth is a blood-blocking sterile cloth, and the position of the sterile cloth corresponding to the sensor is transparent.

[0130] In another preferred embodiment, the transmission gear set is a bevel gear set or a spur gear set.

[0131] In another preferred embodiment, both the rotating wheel set and the feed wheel set are driven by the non-contact motor system.

[0132] In another preferred embodiment, a guide wire center fixator is installed on the sun gear, and the guide wire center fixator has a similar arrangement to the receiving groove and the pair of circular through holes in the above-mentioned guide wire support slide rod, is installed corresponding to the wire groove, and is used to fix the guide wire passing through the wire groove.

[0133] In another preferred embodiment, the guide wire central fixator has a cylindrical structure, is fixedly connected concentrically with the sun gear, has a groove extending to the center like the sun gear and corresponding to the wire groove, and has circular through holes on both sides of the groove, each of which is used for inserting a soft material.

[0134] In another preferred embodiment, the guide wire is received by the sun gear and the limiting groove, and the guide wire is held down by a soft material.

[0135] In another preferred embodiment, the sun gear is provided with a guidewire locker for locking and fixing the guidewire.

[0136] In another preferred embodiment, the guidewire locker may be fixed to the side of the sun gear.

[0137] In other preferred embodiments, the guidewire locker may be fixed or removable.

[0138] In another preferred embodiment, the guidewire locker is divided into two parts, an upper part and an lower part, and a semicircular groove is provided on the bottom surface of the upper part and the top surface of the lower part. When the upper part and the lower part are brought together to close the lid, the two semicircular grooves combine to form a guidewire hole, and a guidewire lock knob is further provided at the tail end.

[0139] In another preferred embodiment, when the upper and lower parts are fitted together to close the lid, the guidewire is pressed and fixed against the bottom surface of the upper part and the top surface of the lower part of the guidewire locker.

[0140] In another preferred embodiment, the upper and lower parts are fitted together in a closed manner by magnetic attraction.

[0141] Additionally, the upper and lower portions may be mated to close the lid by other methods such as, but not limited to, engagement, fitting, adhesion, frictional fastening, etc.

[0142] When operating the guidewire locker, the top cover of the guidewire locker is removed, the guidewire is passed through the guidewire lock knob, the guidewire is placed in the guidewire hole, the top and bottom parts are brought together to close the cover, and the guidewire lock knob is turned to fix the guidewire locker to the sun gear. In this way, the guidewire can rotate with the rotation of the sun gear and move with the movement of the sun gear.

[0143] In another preferred embodiment, the guidewire locker comprises a stud and a nut, the guidewire is sandwiched between a lower edge of the stud and an upper edge of the nut, the stud and the nut are tightened to clamp the guidewire, and one of the stud and the nut is fixed to the sun gear.

[0144] In another preferred embodiment, the guidewire locker includes a clip that is attached to the sun gear, and the clip can be loosened to place a guidewire and then tightened to clamp the guidewire.

[0145] In other preferred embodiments, the guidewire includes other surgical instruments, such as, but not limited to, a guidewire.

[0146] The present invention further provides the following surgical robot system, which includes a remote microcomputer control terminal, a surgical robot arm, and a terminal execution system, the terminal execution system includes a guidewire control module for controlling the advancement, retreat and rotation of a guidewire, the guidewire control module includes a rotation assembly for controlling the rotation of the guidewire, and a transport assembly for controlling the advancement and retreat of the guidewire, the rotation assembly includes one or more planetary gears, a first non-contact motor system for rotating the planetary gears, and a sun gear meshing with the planetary gears, the sun gear is provided with a wire groove for receiving the guidewire, the transport assembly includes a transmission screw rod, a fixed housing for supporting the sun gear and the planetary gears, and a second non-contact motor system for connecting the transmission screw rod and the fixed housing, the transmission screw rod is installed coaxially with the motor shaft of the motor of the second non-contact motor system, and the fixed housing advances and retreats with the rotation of the motor of the second non-contact motor system.

[0147] In another preferred embodiment, the first non-contact motor system is attached to the second non-contact motor system.

[0148] In another preferred example, the terminal execution system comprises a drive housing and an execution housing, the planetary gear, the sun gear and the fixed housing are installed in the execution housing, the transmission screw rod is installed in the drive housing, the drive housing and the execution housing are connected as a whole via the first non-contact motor system and the second non-contact motor system, and the motor of the first non-contact motor system is attached to the transmission screw rod via an intermediate connecting member and moves back and forth together with the fixed housing.

[0149] In another preferred embodiment, the second magnetic coupling is directly connected to the fixed housing, the transmission screw rod is mounted in the drive housing, the transmission screw rod is directly connected to the motor shaft of the motor that rotates the transmission screw rod, the motor rotates the transmission screw rod, the intermediate connecting member is fitted on the transmission screw rod and is screw-connected to the transmission screw rod, the intermediate connecting member can move forward and backward with the rotation of the transmission screw rod, the first magnetic coupling is fixedly connected to the intermediate connecting member, the second magnetic coupling also faces a side surface and is used in combination with the first magnetic coupling connected to the intermediate connecting member located on the side surface by magnetic force action, so that the gear housing set can move forward and backward when the motor rotates. With this structure, the transmission screw rod can be moved and arranged from inside the execution housing to inside the drive housing, the structure in the execution housing can be simplified, and the use of gears can be reduced.

[0150] In another preferred embodiment, the first magnetic coupling and the second magnetic coupling are connected in contact with each other, and a groove can be opened on the movement path of the coupling between the executive housing and the drive housing, thereby facilitating the movement of the coupling.

[0151] In another preferred embodiment, the coupling is a non-magnetic mechanical connection, and a groove can be opened on the movement path of the coupling between the executive housing and the drive housing, thereby facilitating the movement of the coupling.

[0152] In another preferred example, the transmission screw rod, the motor which rotates the transmission screw rod, the intermediate connecting member fitted on the transmission screw rod, and the first magnetic coupling connected to the intermediate connecting member form a whole structure and are located on the side of the end execution system or within the drive housing.

[0153] In another preferred embodiment, the motor which drives the planetary gears in rotation is relocated to the end effector system side or into the drive housing, as is the motor which drives the transmission screw rod in rotation.

[0154] In another preferred embodiment, the transmission screw rod, the motor which rotates the transmission screw rod, and the motor which rotates the planetary gears are all disposed within the drive housing.

[0155] In another preferred example, a motor (e.g., via a tray, carrier, etc.) that rotates the planetary gears is attached to the intermediate connecting member and advances synchronously with the gear housing set as the transmission screw rod rotates.

[0156] In another preferred example, all of the planetary gears are fixed within the fixed housing at approximately uniform intervals by the optical axis, the planetary gears can rotate relative to the optical axis, and one of the planetary gears meshes with the second magnetic coupling via a worm, a transmission gear (set), etc.

[0157] In another preferred example, when the motor rotates the transmission screw rod, one of the magnetic coupling pairs connected by an intermediate connecting member advances the gear housing set, and in conjunction with the rotation of the transmission screw rod, the motor that rotates the planetary gear advances in synchronization with the gear housing set, and the motor that rotates the planetary gear rotates the planetary gear in the fixed housing through the other magnetic coupling pair, thereby rotating the sun gear that meshes with the planetary gear.

[0158] In another preferred example, the support guide rail for supporting the motor that rotates the planetary gears and guiding the movement of the motor is provided below the motor that rotates the planetary gears.

[0159] In another preferred example, the support guide rail comprises a guide rail installed on the drive housing and a roller attached below a motor that rotates and drives the planetary gear, and the roller can perform a supporting and guiding role by sliding within the guide rail.

[0160] In another preferred example, the support guide rail is a guide bar with a smooth surface mounted on the drive housing, and the upper surface of the guide bar slides against the lower surface of the motor that rotates the planetary gears (or is supported and guided by magnetic levitation, etc.) to provide support and guidance.

[0161] In another preferred embodiment, the Y-type assembly further includes a guide catheter support member for supporting the guide catheter extending from the Y-type valve, thereby preventing sagging or collapse due to the guide catheter extending too far from the Y-type valve.

[0162] In another preferred embodiment, the guide catheter support member comprises a sliding sleeve, a sliding sleeve handle, and a sliding sleeve track.

[0163] In another preferred example, a sliding sleeve track is provided within the Y-valve to accommodate the sliding sleeve, and the sliding sleeve can slide within the sliding sleeve track to extend out of the Y-valve or retract into the Y-valve.

[0164] In another preferred embodiment, the sliding sleeve is provided at a distal end (the end away from the operator) with a sliding sleeve handle, and the operator can control the advancement of the guide catheter by moving the sliding sleeve handle.

[0165] In another preferred embodiment, the sliding sleeve handle is a protrusion located at the distal end of the sliding sleeve.

[0166] In another preferred example, a long axial slit is provided in the upper part of the sliding sleeve, and the guide catheter can enter the sliding sleeve through the long axial slit and be accommodated therein.

[0167] In another preferred embodiment, when the guide catheter extends beyond the Y-valve, the sliding sleeve is pulled out of the sliding sleeve track by pulling the sliding sleeve handle to support the extended guide catheter.

[0168] The surgical robot system of the present application can be applied to interventional surgery, orthopedic surgery, surgical surgery, and gynecological surgery. The surgical instruments used include, but are not limited to, a guide wire, a guide catheter, a balloon catheter, and a stent.

[0169] The main advantages of the present invention include:

[0170] (a) Robotic operation allows the surgeon to remotely control equipment outside the operating room, avoiding radiation hazards to the surgeon.

[0171] (b) Robotic operation improves operation precision compared to manual operation.

[0172] (c) Robot operation is more stable and does not involve errors caused by fatigue due to prolonged concentration or other factors, as occurs with manual operation.

[0173] (d) Remote operation of robots allows separation between medical personnel and patients, reducing the risk of disease infection for surgeons.

[0174] (e) The couplings are magnetically connected to each other, making alignment easy without the need for precise matching of hole diameters.

[0175] (f) The sterile cloth effectively isolates contamination from components that cannot be cleaned, and the transparent parts of the sterile cloth effectively ensure the transmission of light, making sensing by the sensor more accurate.

[0176] (g) The positioning of each assembly within the module is precise before surgery, and the precision of the movement of each assembly is improved during surgery.

[0177] (h) By installing the end execution system in layers, the functional modules become clearer and installation becomes easier.

[0178] (i) By effectively determining the axial and radial positions of the sun gear in the guidewire control module and controlling the dynamic and static states of the surgical robot arm, the control precision of the guidewire is improved, so that the guidewire can reach the lesion site more accurately, and the success rate of the surgery is ensured.

[0179] (j) By moving the driving members, such as the motor, the transmission rod, etc., into the drive housing and reducing the space occupied in the operation housing, more surgical instruments can be placed in the drive housing and a larger operating space can be provided.

[0180] (k) By supporting the guide catheter extending from the Y-valve with a guide catheter support member, sagging or collapse due to the guide catheter extending too far from the Y-valve is prevented.

[0181] (l) Improving the safety of surgical robots.

[0182] It should be understood that within the scope of the present invention, each of the above-mentioned technical features of the present invention and each of the technical features specifically described in the following description (e.g., in the Examples) can be combined with each other to form undescribed or preferred technical solutions, which will not be repeated here due to space limitations. [Brief description of the drawings]

[0183] In order to more clearly describe the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings necessary for describing the embodiments or the prior art. It is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can further obtain other drawings based on these drawings without creative labor. [Figure 1a] FIG. 1 is a schematic diagram of the layout of a surgical room having a surgical robot system in one embodiment of the present invention. [Figure 1b] 1 is an operational flowchart of a surgical robot system according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view of an executive housing of a surgical robot system according to one embodiment of the present invention. [Diagram 3] FIG. 3 is a plan view of the execution housing in FIG. 2. [Figure 4] FIG. 4 is a cross-sectional view taken along the line AA in FIG. 3. [Diagram 5] FIG. 4 is a cross-sectional view taken along the line BB in FIG. 3 . [Figure 6] FIG. 2 is a perspective view of a sun gear with a locking device according to one embodiment of the present invention. [Figure 7]FIG. 2 is a cross-sectional view of a locking device according to an embodiment of the present invention, the locking device being in a locked state. [Figure 8] FIG. 2 is a cross-sectional view of a locking device according to an embodiment of the present invention, the locking device being in an unlocked state. [Figure 9] FIG. 2 is a plan view of a transmission wheel in a locked state according to an embodiment of the present invention. [Figure 10] FIG. 10 is a plan view of the transmission wheel in FIG. 9 in an unlocked state. [Figure 11] FIG. 2 is a plan view of a Y-type assembly in an advanced position according to one embodiment of the present invention. [Figure 12] FIG. 12 is a plan view of the Y-shaped assembly in FIG. 11 in a returned state. [Figure 13] FIG. 2 is a principle diagram of the motion mechanism of a Y-type assembly according to an embodiment of the present invention. [Figure 14] FIG. 2 is a perspective view of a Y-type assembly according to one embodiment of the present invention. [Figure 15] FIG. 15 is a perspective view of the Y-shaped assembly in FIG. 14 in a raised state. [Figure 16] FIG. 15 is a perspective view of the Y-type assembly in FIG. 14 in an open state. [Figure 17] FIG. 2 is a plan view of a terminal execution system according to an embodiment of the present invention. [Figure 18] FIG. 18 is a cross-sectional view of the end execution system in FIG. [Figure 19] FIG. 19 is an enlarged view of part I in FIG. [Figure 20] FIG. 18 is a cross-sectional view of the end execution system in FIG. [Figure 21] FIG. 21 is an enlarged view of part II in FIG. 20. [Figure 22] FIG. 2 is a cross-sectional view of a terminal execution system according to an embodiment of the present invention. [Diagram 23] FIG. 23 is a plan view of the drive housing of the end execution system of FIG. 22. [Figure 24] FIG. 2 is a perspective view of a guidewire control module of a distal implementation system in accordance with one embodiment of the present invention. [Diagram 25]FIG. 25 is a front view of the guidewire control module of the distal implementation system of FIG. 24, showing two control module positioners. [Figure 26] FIG. 2 is a perspective view of a guide wire support slide rod in one embodiment of the present invention. [Figure 27] FIG. 27 is a cross-sectional view of the guidewire support slide rod in FIG. 26, showing symmetrical circular through holes. [Figure 28] FIG. 2 is a perspective view of a guidewire central fixator according to one embodiment of the present invention. [Figure 29] FIG. 1 is a perspective view of a guidewire locker in one embodiment of the present invention. [Diagram 30] FIG. 30 is a cross-sectional view of the guidewire locker in FIG. 29. [Diagram 31] FIG. 30 is a plan view of the guidewire central fixator of FIG. 28 and the guidewire locker of FIG. 29 when placed in a distal implementation system. [Diagram 32] 32 is a cross-sectional view taken along the line EE of FIG. 31. [Diagram 33] FIG. 2 is a schematic diagram of a rack and pinion set in an initial state according to an embodiment of the present invention. [Diagram 34] FIG. 34 is a schematic diagram of the rack and pinion set in FIG. 33 in an operating state. [Diagram 35] FIG. 35 is a front view of a rack frame of the rack and pinion set in FIGS. 33 and 34. [Diagram 36] FIG. 36 is a perspective view of a rack frame of the rack and pinion set in FIG. 35. [Figure 37] FIG. 11 is a cross-sectional view of a terminal execution system according to another embodiment of the present invention. [Figure 38] FIG. 11 is a cross-sectional view of a terminal execution system in yet another embodiment of the present invention. [Figure 39] FIG. 11 is an axial cross-sectional view of a terminal execution system in yet another embodiment of the present invention. [Diagram 40] FIG. 2 is a front view of an implementation housing provided with a guide catheter support member in one embodiment of the present invention. [Diagram 41] FIG. 2 is a plan view of an implementation housing provided with a guide catheter support member in one embodiment of the present invention. [Diagram 42] FIG. 42 is a cross-sectional view taken along the line FF in FIG. 41. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0184] The inventor has conducted extensive and detailed research and through extensive selection, developed the following surgical robot system for the first time. Compared with the prior art, the system of the present application performs interventional surgery by remotely controlling the robot, and realizes remote control of the advancement, retreat and rotation of the guide wire and guide catheter during surgery, and can simultaneously control the advancement and retreat of the balloon catheter or stent and catheter. The non-contact motor system divides the terminal execution system into an upper execution housing and a lower drive housing, the execution housing is used to accommodate the modular assembly of each disposable interventional equipment, and the drive housing is used to accommodate the power supply members and control members that cannot be disinfected and washed. A space is formed between the execution housing and the drive housing to arrange a sterile cloth, which prevents contamination of the members of the drive housing that cannot be disinfected and washed, and does not affect the normal operation of the vascular intervention robot. The positioner assembly is provided with a first sensor and a first detection point for axially positioning the sun gear, and a second sensor and a second detection point for radially positioning the sun gear, thereby effectively determining the position and angle of the sun gear and facilitating the control of the advance / retreat distance and rotation angle of the interventional equipment. The driving members, such as the motor and the transmission rod, are moved into the drive housing to reduce the space occupied in the implementation housing, so that more interventional equipment can be mounted in the drive housing, the operation space is larger, and the drive housing is easily cleaned. Furthermore, the surgical robot arm positioner is provided to ensure that the surgical robot arm is fixed and immobile when the implementation housing is assembled to the drive housing (i.e., the implementation housing is located on the drive housing), so that the movement of the surgical robot arm is prevented from adversely affecting the operation, and the safety of the robot is improved. The present invention is a combination of various types of interventional surgery consumables into one system, and the mechanical damping is mainly realized by the meshing between gears or the transmission by the transmission rod. The present invention realizes the robotization of interventional surgery and prevents the surgeon from suffering from injuries caused by exposure to large amounts of radiation during surgery.The robotization of interventional surgery improves the stability and accuracy of surgery, and furthermore, remote control by the surgeon reduces the risk of cross-infection between medical staff and patients. Based on this, the present invention has been completed.

[0185] The present invention will be further described below with reference to specific examples. It should be understood that these examples are only used to explain the present invention and do not limit the scope of the present invention. In addition, the drawings are schematic diagrams, and the apparatus and equipment of the present invention are not limited by the size or ratio of the schematic diagrams.

[0186] In the claims and specification of this application, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not require or imply the existence of any such actual relationship or sequence between those entities or operations. And the terms "comprise", "include", or any other variant thereof imply a non-exclusive inclusion, such that a process, method, article, or apparatus comprising a set of elements not only comprises those elements, but also further comprises other elements not expressly listed, or further comprises elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0187] Example 1 The surgical robot system of this embodiment is as shown in Figures 1a to 16. The surgical robot system includes a remote microcomputer control terminal 56, a surgical robot arm 55, and a terminal execution system 54. The terminal execution system 54 includes a guidewire control module, a balloon / stent control module, and a guide catheter control module, and can control the advancement, retraction, and rotation of the guidewire, as well as the advancement, retraction, and rotation of the balloon catheter or stent catheter, and the guide catheter. The guidewire control module includes a rotation assembly and a feed assembly.

[0188] The rotation assembly is used to control the rotation of the guidewire and includes a rotation wheel set and Rotating wheel set The gear 15 includes a rotating shaft 8 concentrically connected to the rotating shaft 8, a planetary gear 16 fitted around the rotating shaft 8 and slidable relative to the rotating shaft, and a sun gear 15 meshing with the planetary gear 16. The sun gear 15 is provided with a wire groove 14 for receiving a guide wire. The wire groove becomes gradually smaller from the outside to the inside along the radius so as to receive guide wires of different diameters. The wire groove 14 opens at the bottom of the valley between the teeth of the sun gear 15 and does not affect the meshing of the sun gear 15 with other gears. The wire groove 14 opens from the bottom of the valley between the teeth of the sun gear 15 to the center of the sun gear 15, and the wire groove 14 is for receiving the guide wire and ensuring the coaxiality of the rotation of the guide wire. The rotating shaft 8 is a hexagonal shaft.

[0189] The feed assembly is for controlling the forward or backward movement of the guide wire, and includes a feed wheel set 5, a transmission screw rod 2 concentrically connected to the gears of the feed wheel set 5, and a fixed housing 10 for supporting a sun gear 15. The sun gear 15 and the planetary gear 16 are both arranged in the internal space of the fixed housing 10, and move with the forward and backward movement of the fixed housing 10. The near end of the transmission screw rod 2 is connected and fixed to the running bevel gear 11 of the feed wheel set 5, and the near end of the rotating shaft 8 is connected and fixed to the rotating wheel set. The far end of the transmission screw rod 2 and the far end of the rotating shaft are both fixed to a fixed plate 24 at the far end via bearings. The fixed plate 24 is provided with a wire groove 14 that allows the guide wire to be received. The feed wheel set 5 is composed of two sets of running bevel gears 11. The feed wheel set 5 further includes an interlocking belt 12 for connecting the running bevel gears 11, and the interlocking belt 12 realizes the interlocking of the running bevel gears 11 of the feed wheel set 5. The fixed housing 10 is a hollow housing, and the sun gear 15 is disposed in the hollow internal space of the fixed housing 10. The fixed housing 10 is further provided with a radial opening for receiving a guide wire. The sun gear 15 and the fixed housing 10 are disposed concentrically.

[0190] The rotating wheel set and the feed wheel set 5 are both located on the same cross section. Both the rotating wheel set and the feed wheel set 5 are driven by a motor, and the rotation of the rotating wheel set rotates the rotating shaft 8 concentrically connected thereto, which in turn rotates the planetary gear 16, which in turn rotates the sun gear 15 by meshing action.

[0191] The rotation of the gear of the feed wheel set 5 rotates the transmission screw rod 2, and the fixed housing 10 is screw-connected to the transmission screw rod 2 and moves forward or backward with the rotation of the transmission screw rod 2.

[0192] The fixed housing 10 is provided with at least two fixed gears 13, which are meshed with the sun gear 15 to fix the sun gear 15. The fixed gears 13 are symmetrically installed on the upper part of the fixed housing 10 and are used to provide symmetrical support for the sun gear 15 and clamp the rotating shaft 8.

[0193] Here, the combination of the sun gear 15, the fixed gear 13, the planetary gears 16 and the fixed housing 10 is referred to as a gear housing set 3.

[0194] The guidewire control module includes a locking device for locking the guidewire, and the locking device is fixed to the sun gear 15. The locking device includes a lock control assembly, a movable member 21, and a fixed member 22. The fixed member 22 is fixed to the sun gear 15 and is arranged parallel to one side of the wire groove 14. The movable member 21 is installed opposite to the fixed member 22 and is arranged parallel to the other side of the wire groove 14. The lock control assembly is connected to the movable member 21 to control the positional relationship of the movable member 21 with respect to the fixed member 22. The lock control assembly controls the movable member 21 to move away from the fixed member 22. That is, the wire groove 14 forms a passage and can receive the guidewire. The lock control assembly controls the movable member 21 to reach the fixed member 22 and clamps the guidewire received in the wire groove 14. The locking device can be driven by electricity or air pressure.

[0195] The lock control assembly includes a pressing key 17, an interlocking rod 18, a spring 19, and a position limiting block 20. The spring 19 and the position limiting block 20 are installed in the internal space of the movable member 21, and the position limiting block 20 is fixed and does not move. The spring 19 is located between the position limiting block 20 and the side wall of the movable member 21, and one end of the interlocking rod 18 is connected to the pressing key 17 and the other end is connected to the movable member 21. When the lock device is in the unlocked state, pressing the pressing key 17 moves the interlocking rod 18 outward, thereby moving the movable member 21 radially outward, and the movable member 21 moves away from the fixed member 22. At this time, the spring 19 is in a compressed state. When the lock device is in the locked state, if the pressing control on the pressing key 17 is released, the movable member 21 moves radially inward due to the elastic action of the spring 19 and reaches the fixed member 22, and the pressing key 17 returns to its initial position.

[0196] The contact surfaces of the movable member 21 and the fixed member 22 are tooth-like clamping surfaces, which provide a greater clamping force to the guidewire.

[0197] The guidewire control module includes a guidewire support rod, which is installed between the sun gear 15 and the fixed plate 24. The guidewire support rod is slidable along the axial direction of the guidewire.

[0198] The guide wire support rod comprises a support frame 25 and pulleys 9 on both sides. The support frame 25 has wire grooves corresponding to the wire grooves of the sun gear 15 and the fixed plate 24. In use, the guide wire is received in the wire groove, and the pulleys 9 on both sides can move within the corresponding slide grooves on both side walls.

[0199] The slide groove starts from both side wall surfaces corresponding to the intermediate portion between the sun gear 15 and the fixed plate 24 and ends at both side wall surfaces corresponding to the fixed plate 24 .

[0200] The slide groove starts at both side wall surfaces corresponding to the sun gear 15 and ends at both side wall surfaces corresponding to the fixed plate 24. Stoppers are provided in the portion of the slide groove corresponding to the intermediate portion between the sun gear 15 and the fixed plate 24, and the stoppers are used to prevent the intermediate support member from sliding.

[0201] A magnet is provided on the guide wire support rod, and another magnet is provided on the wheel housing cover corresponding to the magnet, and the two magnets are in a mutually attractive relationship. In the operation of conveying the guide wire, the guide wire support rod is initially located at the midpoint between the sun gear 15 and the fixed plate 24, and the guide wire is placed in the wire groove. As the fixed housing 10 moves to the far end along the transmission screw rod 2, an attractive effect occurs between the two magnets, and the guide wire support rod continues to move together with the fixed housing 10 toward the far end. In the operation of returning the guide wire, the guide wire support rod is returned together with the fixed housing 10 toward the near end. When the guide wire support rod is returned to the midpoint between the sun gear 15 and the fixed plate 24, the guide wire support rod is fixed without being returned any further due to the blocking effect of the stopper or the wall of the slide groove, and the fixed housing 10 continues to return.

[0202] A pair of guidewire transmission wheels 1 for supporting and transporting the guidewire at the distal end are provided at a position 5 to 15 mm away (center distance) from the fixed plate 24 on the distal end of the fixed plate 24. The joint of the guidewire transmission wheels 1 corresponds to the wire groove 14 of the fixed plate 24. The guidewire is disposed between the guidewire transmission wheels 1, and is transported by friction between the guidewire transmission wheels 1. A pair of guidewire transmission wheel lockers 4 are attached to the pair of guidewire transmission wheels 1 for controlling the distance between the guidewire transmission wheels 1 and controlling the locking state of the guidewire transmission wheels 1.

[0203] The balloon / stent control module includes a transmission wheel set 7 for controlling the advancement or retreat of the balloon catheter or stent catheter. The transmission wheel set 7 includes two pairs of friction wheel sets and a gear set connected below the friction wheel sets, and the gears are connected to a motor. In use, the motor drives the gears to rotate, which rotates the upper friction wheel set, and thus the balloon catheter or stent catheter clamped by the friction wheel set advances or retreats. The transmission wheel set 7 is also equipped with a transmission wheel set lock switch 23, which is used to control the distance between a pair of transmission wheel sets 7 and further control the locking status of the transmission wheel sets 7.

[0204] The guide catheter control module includes a Y-type assembly 6, which is used for Y-type combination of a guide wire (not shown) and a guide catheter (not shown). The Y-type assembly 6 is movable, and the guide catheter can be transported and returned by moving the Y-type assembly 6. The Y-type assembly 6 is Terminal execution system 54and is moved back and forth by meshing of gears (26, 28) with rack 27. Y-assembly body 6 is fixedly connected to rack 27, and drive gear 26 is connected to a motor, and drive gear 26 rotates interlocking gear 28 by meshing between the gears, which in turn mesh with rack 27, respectively. In use, the motor rotates drive gear 26, and the meshing action moves rack 27 forward or backward, thereby moving Y-assembly body 6 forward or backward.

[0205] The surgeon controls the guidewire control module, the balloon / stent control module, and the guide catheter by transmitting signals via a remote microcomputer control terminal 56. control The movement of the module is remotely controlled. The front end of the Y-type valve (Y-type assembly 6) is connected to the guide catheter, and the forward and backward movement of the guide catheter is controlled by controlling the forward and backward movement of the Y-type valve. The transmission wheel set 7 clamps the balloon catheter or stent balloon catheter and moves it forward or backward. The rotating wheel set and feed wheel set 5 control the rotation, forward or backward movement of the guide wire. The rotation, forward or backward movement of all components can be achieved by the surgeon operating and controlling a terminal controller outside the operating room. Terminal execution system 54 can be connected via wired, wireless (WiFi, Bluetooth, etc.) or internet Remote microcomputer control terminal 56 The operation terminal is a computer and includes a joystick and a tablet computer, and the surgeon adjusts parameters displayed on the tablet computer to adjust the distance of advancement or retraction of the guide wire and the rotation angle of the guide wire, adjust the distance of advancement or retraction of the guide catheter, and adjust the distance of advancement or retraction of the balloon catheter or stent catheter, and then operates the joystick to control the advancement, retraction, or rotation of the guide wire, operate the joystick to control the advancement or retraction of the balloon catheter or stent catheter, and operate the joystick to control the advancement, retraction, or rotation of the guide catheter.

[0206] It should be noted that the fixing plate 24 has two or more wire grooves 14, and when two or three guidewires are used during surgery, each of the wire grooves 14 receives a guidewire.

[0207] Terminal execution system 54 The materials used for the diaphragm include plastic materials such as polycarbonate and nylon, or metal materials such as 304 stainless steel and 316 stainless steel, which are harmless to the human body, can be disinfected and sterilized, are inexpensive, and are suitable for disposable use.

[0208] As shown in FIGS. 17 to 21, the system preferably further includes a non-contact motor system installed in the end effector system 54 and used to provide transmission force for advancing, retreating and rotating the interventional equipment.

[0209] The terminal execution system 54 comprises an execution housing 32 and a drive housing 33, in which the execution housing 32 carries mechanical members for driving the advancement, retraction and rotation of the interventional equipment, and the drive housing 33 carries an electric assembly (e.g., power supply members and control members, but not limited to) for providing power to the mechanical members.

[0210] The non-contact motor system includes a motor 29 (the motor 29 is fixed in a drive housing 33), a first magnetic coupling 30 connected to the motor 29 and driven by the motor 29, a second magnetic coupling 31 (the second magnetic coupling 31 is fixed to the bottom wall of a drive housing 32) installed corresponding to the first magnetic coupling 30, and a transmission gear connected to the second magnetic coupling 31. The first magnetic coupling 30 and the second magnetic coupling 31 are coaxially opposed to each other.

[0211] In this embodiment, the number of non-contact motor systems is 4. The second magnetic coupling 31 can be connected to the feed wheel set 5, the rotating wheel set 34, the transmission wheel set 7, and the rack and pinion set for the guide catheter through transmission gears respectively to drive their movements.

[0212] Under the support of the pair of the first and second magnetic couplings, a space layer having a thickness of 2 to 20 mm is formed between the executive housing 32 and the drive housing 33. Due to the presence of this space layer, a sterile cloth (e.g., a blood-isolating sterile cloth) can be laid between the executive housing 32 and the drive housing 33, which is used to reduce contamination of members inside the drive housing 33.

[0213] The end execution system 54 includes a guidewire control module in the interventional equipment, the guidewire control module including a rotating assembly and a feed assembly. The feed assembly is for controlling the advancement and retreat of the guidewire, and the rotating assembly is for controlling the rotation of the guidewire. The rotating assembly includes a rotating wheel set, a rotating shaft concentrically connected to the rotating wheel set, a planetary gear fitted on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear. The sun gear is provided with a wire groove, which opens from the root between the teeth of the sun gear to the center of the sun gear, and is for receiving the guidewire and ensuring the coaxiality of the rotation of the guidewire. The feed assembly includes a feed wheel set, a transmission screw rod concentrically connected to the bevel gear of the feed wheel set, and a fixed housing for supporting the sun gear. Both the rotating wheel set and the feed wheel set are driven by the above-mentioned non-contact motor system. As shown in FIG. 19, the rotating wheel set 34, the feed wheel set 5, and the transmission gears that mesh with both gears are all bevel gear sets.

[0214] The end execution system 54 includes a balloon / stent control module in the interventional device. The balloon / stent control module is for controlling the advancement or retraction of the balloon catheter or stent catheter. The balloon / stent control module includes a transmission wheel assembly, which includes a friction wheel set, and the gears of the friction wheel set are meshed with each other on the lower side of the friction wheel set, and the friction wheel set clamps and advances or retracts the balloon catheter or stent catheter. The end execution system 54 further includes a guide catheter control module in the interventional device. The guide catheter control module is for controlling the advancement or retraction of the guide catheter. The guide catheter control module includes a Y-shaped assembly body, which includes an upper Y-shaped valve and a lower rack and pinion set. The distal end port of the Y-shaped valve is connected to the guide catheter, and a guide wire is inserted into the proximal end port, and the guide wire enters the guide catheter through the Y-shaped valve and passes through the inner space of the guide catheter to reach the surgical site. The rack and pinion set advances or retracts the Y-assembly, thereby advancing or retracting the guide catheter. Both the friction wheel set and the rack and pinion set are driven by a non-contact motor system, and the transmission wheel set 7 is a spur gear set, as shown in FIG.

[0215] The distal executive system 54 is fixed to the distal end of the surgical robotic arm 55 and moves with the surgical robotic arm 55 , and a remote microcomputer control terminal 56 controls the movement of the surgical robotic arm 55 and the internal movement of the distal executive system 54 .

[0216] 22 to 25, the terminal execution system 54 includes an execution housing 32 and a drive housing 33. The execution housing 32 is equipped with mechanical members for carrying, returning, and rotating the interventional equipment, and the drive housing 33 is equipped with an electric assembly for providing driving power to the mechanical members. The execution housing 32 and the drive housing 33 are connected to each other via a magnetic coupling pair 35, and a space layer 53 having a gap of 2 to 20 mm is formed between the execution housing 32 and the drive housing 33.

[0217] Distal execution system 54 includes a guidewire control module 45 for controlling the advancement, retraction, and rotation of the guidewire. Guidewire control module 45 includes a rotation assembly for controlling the rotation of the guidewire, and a feed assembly for controlling the advancement or retraction of the guidewire.

[0218] The rotating assembly includes a rotating wheel set 34, a rotating shaft 8 concentrically connected to the rotating wheel set 34, planetary gears fitted on the rotating shaft 8 and slidable relative to the rotating shaft 8, and a sun gear 15 meshing with the planetary gear. The sun gear 15 is provided with a wire groove 14, which opens from the bottom of the teeth of the sun gear 15 to the center of the sun gear 15, and is for receiving a guide wire and ensuring the coaxiality of the rotation of the guide wire. In use, the rotation of the rotating wheel set 34 rotates the rotating shaft 8 concentrically connected thereto, which further rotates the planetary gears, which rotate the sun gear 15 by meshing action, thereby rotating the guide wire.

[0219] The feed assembly includes a feed wheel set 5, a transmission screw rod 2 concentrically connected to the bevel gear of the feed wheel set 5, and a fixed housing 10 for supporting a sun gear 15. In use, the transmission screw rod 2 rotates with the rotation of the bevel gear of the feed wheel set 5, the fixed housing 10 is threadably connected to the transmission screw rod 2 and advances or retreats with the rotation of the transmission screw rod 2, and the guide wire advances or retreats with the advancement or retreat of the fixed housing 10. The fixed housing 10 is provided with at least two fixed gears, which mesh with and connect to the teeth of the sun gear 15 and are used to fix the sun gear 15.

[0220] Both the rotating wheel set 34 and the feed wheel set 5 are connected to and driven by the motor in the drive housing 33 via the magnetic coupling pair 35 described above.

[0221] Guidewire control module 45 further includes a locking device 36 for locking the guidewire, where locking device 36 is fixed to sun gear 15. Locking device 36 includes a lock control assembly, a movable member, and a fixed member, where the fixed member is fixed to sun gear 15 and arranged parallel to one side of wire groove 14, and the movable member is disposed opposite to the fixed member and arranged parallel to the other side of wire groove 14. The lock control assembly is connected to the movable member to control the positional relationship of the movable member to the fixed member.

[0222] The lock control assembly controls the movable member to move away from the fixed member, i.e., the wire groove 14 forms a passageway and can receive the guide wire, and further controls the movable member to reach the fixed member and clamp the guide wire received in the wire groove 14. The lock device 36 may be an electrically operated clamp structure or a pneumatic clamp structure driven by air pressure.

[0223] The lock control assembly includes a pressing key, an interlocking rod, a spring, and a position limiting block, the spring and the position limiting block are installed in the inner space of the movable member, and the position limiting block is fixed and does not move. The spring is located between the position limiting block and the side wall of the movable member, and one end of the interlocking rod is connected to the pressing key and the other end is connected to the movable member.

[0224] When the locking device 36 is in the unlocked state, pressing the pressing key moves the interlocking rod outward, which moves the movable member radially outward and away from the fixed member. At this time, the spring is in a compressed state. When the locking device 36 is in the locked state, releasing the pressing control on the pressing key moves the movable member radially inward due to the elastic action of the spring until it reaches the fixed member, and the pressing key returns to its initial position.

[0225] In order to provide a larger clamping force for the guidewire, the contact surface between the movable member and the fixed member is preferably a toothed clamping surface, and more preferably the toothed clamping surface is covered with a silica gel coating layer.

[0226] The positioner assembly used in the vascular intervention robot in this embodiment includes a guidewire control module positioner and a surgical robot arm positioner.

[0227] The guidewire control module positioner is used to position the guidewire control module 45 of the terminal execution system 54. The guidewire control module positioner includes a first detection point 37 installed at the bottom of the fixed housing 10, a first sensor 38 for detecting the first detection point 37, a second detection point 39 installed at one end of the sun gear 15 opposite to the wire groove 14, and a second sensor 40 for detecting the second detection point 39, and the first sensor 38 and the second sensor 40 are both installed at the bottom of the terminal execution system 54. The first sensor 38 and the second sensor 40 are both installed in the drive housing 33, and the first detection point 37 and the second detection point 39 are both installed in the execution housing 32. In the execution housing 32, a sensor opening 41 is provided at a position corresponding to the first sensor 38 and the second sensor 40 of the drive housing 33, and the first sensor 38 and the second sensor 40 detect the first detection point 37 and the second detection point 39 through the sensor opening 41, respectively. Alternatively, the sensor opening 41 may not be provided in the bottom wall of the executive housing 32, and the portions corresponding to the first sensor 38 and the second sensor 40 may be made transparent, or the entire bottom wall of the executive housing 32 may be made transparent. Both the first sensor 38 and the second sensor 40 in this embodiment are laser sensors.

[0228] In operation, when the first sensor 38 detects a first detection point 37 on the bottom of the fixed housing 10 (the first detection point 37 is directly above the first sensor 38), a signal is sent to the remote microcomputer control terminal 56 (e.g., a computer) to perform axial positioning for the guidewire control module 45. When the second sensor 40 detects a second detection point 39 located at an end of the locking device 36 opposite the wire groove 14 (the second detection point 39 is directly above the second sensor 40), a signal is sent to the remote microcomputer control terminal 56 to perform radial positioning for the guidewire control module 45.

[0229] The purpose of the axial positioning for the interventional equipment control module 45 is to facilitate calculation of the distance advanced by the interventional equipment and to set the target distal and proximal positions for the interventional equipment. The purpose of the radial positioning for the interventional equipment control module 45 is to facilitate calculation of the rotation angle of the interventional equipment and to set the target angle for said interventional equipment.

[0230] The positioner assembly further includes a surgical robot arm positioner, which is mounted on the drive housing 33 of the distal execution system 54 and is used to detect whether the execution housing 32 is located on the drive housing 33. When the surgical robot arm positioner detects that the execution housing 32 is on the drive housing 33, the surgical robot arm 55 is fixed and does not move. When the surgical robot arm positioner detects that the execution housing 32 is removed from the drive housing 33, the surgical robot arm 55 is free to move. The surgical robot arm positioner is an infrared sensor.

[0231] In order to prevent contamination of the components inside the drive housing 33 during surgery, it is preferable that a sterile cloth is placed between the execution housing 32 and the drive housing 33. The area of ​​the sterile cloth that corresponds to the sensor is transparent.

[0232] In the guidewire control module 45 (i.e., the guidewire moving / rotating module), one end of the guidewire is clamped by the sun gear 15, and the other end is placed on the case cylinder of the guidewire control module 45. At this time, as shown in Figs. 26-27, one guidewire support slide rod 42 is arranged between the sun gear 15 and the case cylinder, and the guidewire support slide rod 42 has a semicircular structure, and two L-shaped brackets extend from the bottom of the semicircle, and are received in slide rail grooves on both sides of the case cylinder, so that the guidewire support slide rod 42 can move back and forth within the slide rail groove. The guidewire support slide rod 42 has a receiving groove 43 with a width of 0.1-5 mm opened from the top to near the center of the circle, and the height of the bottom of the receiving groove 43 is on the same horizontal line as the center of the sun gear 15 and the height of the guidewire arrangement point on the case cylinder of the guidewire control module 45. A circular through hole 44 is opened on each side of the semicircular structure of the guidewire support slide rod 42, and the diameter of the circular through hole 44 is 0.1 to 3 mm. Two flexible tubes are inserted into both ends of the circular through hole 44, and after passing through the circular through hole 44, the flexible tubes abut against each other in the receiving groove 43, thereby preventing the guidewire from warping or rolling, and ultimately from coming off the receiving groove 43 of the guidewire support slide rod 42.

[0233] A first magnet 50 is provided on the guide wire support slide rod 42, and a second magnet 50 is provided on the fixed housing 10 corresponding to this, and the first magnet 50 and the second magnet 50 are attracted to each other.

[0234] In the operation of conveying the guide wire, the guide wire support slide rod 42 is located at the intermediate portion between the sun gear 15 and the case cylinder, and the guide wire is placed in the receiving groove 43, and as the fixed housing 10 moves toward the proximal end along the transmission screw rod 2, an attraction action occurs between the second magnet 50 and the first magnet 50, and the guide wire support slide rod 42 continues to move together with the fixed housing 10 toward the proximal end. In the operation of returning the guide wire, the guide wire support slide rod 42 is returned toward the distal end together with the fixed housing 10, and when it is returned to the intermediate position between the sun gear 15 and the case cylinder, the guide wire support slide rod 42 is fixed without being returned any further due to the blocking action of the stopper or the wall of the slide rail groove, and the fixed housing 10 may be returned continuously.

[0235] As shown in Figs. 40 to 42, the Y-type assembly body 6 preferably further includes a guide catheter support member for supporting the guide catheter 71 extending from the Y-type valve. This guide catheter support member includes a sliding sleeve 68, a sliding sleeve handle 69, and a sliding sleeve track 70. The sliding sleeve track 70 for accommodating the sliding sleeve 68 is provided in the Y-type valve, and the sliding sleeve 68 can slide in the sliding sleeve track 70 to extend from the Y-type valve or retract into the Y-type valve. The sliding sleeve handle 69 is provided at the distal end (the end farther from the operator) of the sliding sleeve 68, and the operator can control the advancement of the guide catheter 71 by moving the sliding sleeve handle 69. In one embodiment, the sliding sleeve handle 69 is a protrusion located at the distal end of the sliding sleeve 68. A long slit is provided in the upper part of the sliding sleeve 68 in the axial direction, and the guide catheter 71 can enter the sliding sleeve 68 through the long slit in the axial direction and be accommodated therein.

[0236] When the guide catheter 71 extends too far from the Y-valve, the sliding sleeve 68 is pulled out of the sliding sleeve track 70 by pulling the sliding sleeve handle 69 to support the extended guide catheter 71. When this is no longer necessary, the sliding sleeve 68 is pushed back into the Y-valve.

[0237] Example 2 The terminal execution system 54 of this embodiment is similar to that of embodiment 1, but differs in that, as shown in Figures 28 to 32, the terminal execution system 54 of this embodiment further includes a guidewire central fixator 46, and a guidewire locker 47 is used instead of the locking device 36 of embodiment 1.

[0238] The guidewire center fixator 46 is installed on the sun gear 15 and has an arrangement similar to that of the receiving groove 43 and the pair of circular through holes 44 in the above-mentioned guidewire support slide rod 42, and is installed corresponding to the wire groove 14 and used to fix the guidewire that has passed through the wire groove 14. The guidewire center fixator 46 has a cylindrical structure and is fixedly connected to the same center as the sun gear 15. Like the sun gear 15, a groove is opened up to the center and corresponds to the wire groove 14, and circular through holes 44 are opened on both sides of the groove, each of which is used for inserting a soft material. The guidewire is received by the sun gear 15 and the limiting groove, and the soft material holds the guidewire in place.

[0239] The guidewire locker 47 is detachably installed on the side of the proximal end of the sun gear 15 and is used to lock the guidewire. The guidewire locker 47 is divided into two parts, an upper part 48 and a lower part 49, which are fitted together so that the lid is closed by the attraction of a magnet 50 (note that the upper part 48 and the lower part 49 can be fitted together so that the lid is closed by other methods such as engagement, fitting, adhesion, frictional fixing, etc., but are not limited to these). The bottom surface of the upper part 48 and the top surface of the lower part 26 are each provided with a semicircular groove, and when the upper part 48 and the lower part 49 are fitted together so that the lid is closed, the two semicircular grooves combine to form a guidewire hole 51, and a guidewire lock knob 52 is further provided at the tail end.

[0240] When operating the guidewire locker 47, the top cover of the guidewire locker 47 is removed, the guidewire is passed through the guidewire lock knob 52, and the guidewire is placed in the guidewire hole 51. Upper part 48 and lower part 49 The guidewire lock knob 52 is rotated to secure the guidewire locker 47 to the sun gear 15. In this manner, the guidewire can rotate as the sun gear 15 rotates.

[0241] In another embodiment, the guidewire locker 47 is a stud and nut structure, where the guidewire is sandwiched between the lower edge of the stud and the upper edge of the nut, and the stud and nut are tightened to clamp the guidewire. One of the stud or nut is fixed to the sun gear 15.

[0242] In another embodiment, the guidewire locker 47 is a clip structure that is attached to the sun gear 15, the clip can be loosened to place the guidewire, and the clip can be tightened to clamp the guidewire.

[0243] Example 3 The distal execution system 54 of this embodiment is similar to that of the first embodiment, except that, as shown in FIGS. 33 to 36, the rack and pinion set for the guide catheter of this embodiment is Spar This is achieved by gear 57 and is positioned by a magnetic member set.

[0244] The robot is used for interventional treatment and comprises a remote microcomputer control terminal, a surgical positioning robot arm, and a distal execution system, the distal execution system being fixed to the end of the surgical positioning robot arm and moving together with the surgical positioning robot arm, and the remote microcomputer control terminal controlling the movement of the surgical positioning robot arm and the internal movement of the distal execution system.

[0245] The distal execution system includes a guide catheter control module in the interventional device for controlling the advancement or retraction of the guide catheter. The guide catheter control module includes a Y-type assembly including an upper Y-type valve 63 and a lower rack and pinion set.

[0246] The distal end port of the Y-valve 63 is connected to a guide catheter, and a guidewire is inserted into the proximal end port. The guidewire passes through the Y-valve 63 and into the guide catheter, passing through the internal space of the guide catheter to reach the surgical site.

[0247] The rack and pinion set consists of a rack frame and Spar It includes a gear 57, a movable magnetic member 61 attached to the rack frame, and a fixed magnetic member 62 that interacts with the movable magnetic member 61. A Y-type valve 63 is fixed to the rack frame and moves with the movement of the rack frame. Spar The gear 57 is meshed with a straight rack on the rack frame. The fixed magnetic member 62 is fixed to the execution housing of the end execution system.

[0248] The rack frame includes a first toothed edge 58, a second straight edge 59, and a third connecting edge 60. The first toothed edge 58 includes: SparA straight rack is provided to mesh with the gear 57, and the second straight edge 59 and the first tooth edge 58 are arranged in parallel and opposite to each other. The third connecting edge 60 connects the first tooth edge 58 and the second straight edge 59 together to form a semi-encircling structure. Spar Gear 57 is located within the semi-encircling structure. Spar One end of the gear 57 meshes with the straight rack of the first tooth edge 58, Spar The other end of the gear 57 abuts against the second straight edge 59. The movable magnetic member 61 is fixed to the third connecting edge 60.

[0249] The rack frame is prevented from sliding freely by the interaction of the movable magnetic member 61 with the fixed magnetic member 62 which is fixed to the housing of the end execution system.

[0250] During the operation, the drive unit Spar The gear 57 is driven to rotate. Spar Due to the meshing relationship between the gear 57 and the rack frame, the rack frame moves forward while overcoming the force of the fixed magnetic member 62, thereby moving the Y-type valve 63 forward and avoiding loss of precision due to unnecessary relative displacement between each member.

[0251] The driving device is a non-contact motor system. The non-contact motor system includes a motor, a first magnetic coupling connected to the motor and driven by the motor, a second magnetic coupling installed corresponding to the first magnetic coupling, and a transmission gear set connected to the second magnetic coupling, the first magnetic coupling and the second magnetic coupling facing each other coaxially, and the distance between the first magnetic coupling and the second magnetic coupling is 2 to 20 mm.

[0252] Example 4 The end execution system 54 of this embodiment is similar to that of the first embodiment, but the difference is that the second magnetic coupling 31 in this embodiment is directly connected to the fixed housing 10, the transmission screw rod 2 and the motor 29 for rotating the transmission screw rod 2 are moved to the side of the end execution system 54, the motor shaft of the motor 29 is directly connected to the shaft of the transmission screw rod 2, the motor 29 rotates the transmission screw rod 2, and an intermediate connecting member 72 is added, which is fitted on the transmission screw rod 2 and is screwed and connected to the transmission screw rod 2, so that the intermediate connecting member 72 can move back and forth with the rotation of the transmission screw rod 2, the first magnetic coupling 30 is fixedly connected to the intermediate connecting member 72, the second magnetic coupling 31 also faces the side, and is used in combination with the first magnetic coupling 30 connected to the intermediate connecting member 72 located on the side by the magnetic force action, thereby forming a new feeding mechanism for the gear housing set 3, and when the motor 29 rotates, the gear housing set 3 can move forward and backward, as shown in FIG. 37.

[0253] Example 5 As shown in Figures 38 and 39, the end execution system 54 of this embodiment is similar to that of the fourth embodiment, but the difference is that the transmission screw rod 2 and the motor 29 that rotates the transmission screw rod 2 in this embodiment are moved into the drive housing 33, and the first magnetic coupling 30 and the second magnetic coupling 31 form a vertically combined relationship. In addition, the motor 29 that rotates the planetary gear 16 is also moved into the drive housing 33, and the rotating shaft 8 is removed, and instead, the motor 29 that rotates the planetary gear 16 is attached to the intermediate connection member 72 (for example, via the tray 64 in Figure 38), and advances in synchronization with the gear housing set 3 as the transmission screw rod 2 rotates. Correspondingly, in the execution housing 32, the planetary gears 16 are fixed within the fixed housing 10 via an optical axis 65, the planetary gears 16 can rotate relative to the optical axis 65, and one of the planetary gears 16 (for example, the planetary gear located in the lower right corner of FIG. 38) meshes with the second magnetic coupling 31 via a worm 66, a transmission gear (set), etc.

[0254] When the motor 29 rotates the transmission screw rod 2, the gear housing set 3 is advanced via one intermediate connecting member 72 and a magnetic coupling pair, and the motor 29, which rotates the planetary gear 16 in conjunction with the rotation of the transmission screw rod 2, is advanced in synchronization with the gear housing set 3, and the motor 29, which rotates the planetary gear 16, rotates the planetary gear 16 in the fixed housing 10 via another magnetic coupling pair, thereby rotating the sun gear 15 that meshes with the planetary gear 16.

[0255] A support guide rail 67 is preferably provided below the motor 29 that rotates the planetary gear 16 to support the motor 29 that rotates the planetary gear 16 and to guide its travel. In a preferred example, the support guide rail 67 includes a guide rail installed in the drive housing 33 and a roller attached below the motor 29 that rotates the planetary gear 16, and the roller can slide on the guide rail, thereby fulfilling the role of support and guide. In another preferred example, the support guide rail 67 is a guide bar with a smooth surface installed in the drive housing 33, and the upper surface of the guide bar slides against (or is supported and guided by magnetic levitation, etc.) the lower surface of the motor 29 that drives the planetary gear 16 to provide support and guide. The above-mentioned embodiment of the support guide rail 67 is not meant to be limiting, and various other embodiments may be used as long as they can guide and support the motor 29 that rotates the planetary gear 16.

[0256] All documents mentioned in the present application are incorporated herein by reference as if each document was incorporated by reference alone. Furthermore, after reading the above description of the present invention, one skilled in the art may make various changes or modifications to the present invention, and such equivalents are also intended to be included in the scope defined by the claims of this application. [Explanation of symbols]

[0257] The symbols in the drawings are as follows: 1 Guide wire drive wheel 2 Transmission screw rod 3 Gear Case Set 4 Guidewire transmission wheel locker 5 Sending Wheel Set 6 Y-type assembly 7 Transmission Wheel Set 8 Rotation Axis 9 Pulley 10 Fixed enclosure 11 Rotating bevel gear 12 Interlocking belt 13 Fixed Gear 14 Wire Groove 15 Sun Gear 16 Planetary Gear 17 Pressing Keys 18 Link rod 19 Spring 20 Position Restriction Block 21 Movable parts 22 Fixing member 23 Transmission wheel set lock switch 24 Fixed plate 25 Guidewire support rod 26 Drive Gear 27 LACK 28 Interlocking Gears 29 Motor 30 First magnetic coupling 31 Second magnetic coupling 32 Executive Housing 33 Drive housing 34 Rotating Wheel Set 35 Magnetic Coupling Pairs 36 Locking device 37 First detection point 38 First Sensor 39 Second detection point 40 Second Sensor 41 Sensor opening 42 Guidewire support slide rod 43 Receiving groove 44 Circular Through Hole 45 Guidewire Control Module 46 Guidewire central fixator 47 Guidewire Locker 48 Upper part 49 Lower part 50 Magnet 51 Guidewire hole 52 Guidewire lock knob 53 Spatial layer 54 End-to-end execution system 55 Surgical Robot Arm 56 Remote Microcomputer Control Terminal 57 Spar Gear 58 First tooth margin 59 Second straight edge 60 Third connecting edge 61 Movable magnetic parts 62 Fixed magnetic member 63 Y-type valve 64 Tray 65 Optical axis 66 Warm 67 Support guide rail 68 Slide Sleeve 69 Slide Sleeve Handle 70 Slide Sleeve Track 71 Guide Catheter 72 Intermediate connecting member

Claims

1. a remote microcomputer control terminal, a surgical robotic arm, and a terminal execution system; The terminal execution system includes a guidewire control module that advances, retracts, and rotates a guidewire, a balloon / stent control module that is spaced apart from the guidewire control module and advances or retracts a balloon catheter or a stent catheter in a second direction that intersects a first direction in which the guidewire advances or retracts, and a guide catheter control module that is spaced apart from the guidewire control module and the balloon / stent control module and advances or retracts a guide catheter, the guidewire control module comprises a rotation assembly for rotating the guidewire, a locking device for locking the guidewire, and a feed assembly for advancing or retracting the guidewire; the rotating assembly includes a rotating wheel set, a rotating shaft concentrically connected to the rotating wheel set, a planetary gear fitted on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear, the sun gear is provided with a wire groove, the wire groove opens from a valley between teeth of the sun gear to a center of the sun gear, the wire groove receives the guide wire, and the guide wire is locked by the locking device, thereby ensuring the coaxiality of the rotation of the guide wire; The locking device is fixed to the sun gear, the feed assembly includes a feed wheel set, a transmission screw rod concentrically connected to a bevel gear of the feed wheel set, and a fixed housing supporting the sun gear and threadedly connected to the transmission screw rod, wherein rotation of the bevel gear rotates the transmission screw rod, and the fixed housing and the sun gear supported by the fixed housing advance or retreat with the rotation of the transmission screw rod, and the advance or retreat of the sun gear advances or retreats the guide wire locked to the sun gear by the locking device, The balloon / stent control module comprises a transmission wheel assembly, the transmission wheel assembly comprises a friction wheel set, the gears of the friction wheel set mesh with each other on the lower side of the friction wheel set, and the friction wheel set clamps the balloon catheter or the stent catheter to advance or retreat; the guide catheter control module comprises a Y-type assembly, the Y-type assembly comprising an upper Y-type valve and a lower rack and pinion set, the distal end port of the Y-type valve is connected to the guide catheter, the guide wire is inserted into the proximal end port in the first direction, the guide wire advanced in the first direction by the guide wire control module passes through the Y-type valve and enters the guide catheter, passes through the internal space of the guide catheter and reaches the surgical site, the rack and pinion set advances or retreats the Y-type assembly to advance or retreat the guide catheter, the balloon catheter or the stent catheter is inserted into the proximal end port in the second direction, the balloon catheter or the stent catheter advanced in the second direction by the balloon / stent control module passes through the Y-type valve and passes through the internal space of the guide catheter to reach the surgical site, A surgical robot system, characterized in that the rotating wheel set, the bevel gear, the friction wheel set, and the Y-shaped assembly are all driven by motors and connected to and controlled by the remote microcomputer control terminal.

2. 2. The surgical robot system of claim 1, wherein rotation of the rotating wheel set in the guidewire control module rotates the concentrically connected rotating shafts together, which further rotate the planetary gears, which in turn rotate the sun gear through meshing action, thereby rotating the guidewire.

3. The surgical robot system of claim 1, characterized in that rotation of the gear in the friction wheel set of the transmission wheel assembly in the balloon / stent control module rotates an upper friction wheel, and rotation of the friction wheel advances or retreats the balloon catheter or stent catheter clamped by the friction wheel.

4. The surgical robot system of claim 1, wherein a pinion in the rack and pinion set of the Y-type assembly in the guide catheter control module moves a rack that meshes with the pinion to advance or retract the Y-type valve and the connected guide catheter.

5. A plurality of wire grooves are provided in which a guide wire can be directly placed from top to bottom from the proximal end to the distal end in the longitudinal direction of the terminal execution system, 2. The surgical robot system of claim 1, wherein the wire groove is provided in the outer box, the gear housing set, the guidewire support rod, and the fixing plate, facilitating the placement of the guidewire before surgery and the removal and replacement of the guidewire during surgery, and also facilitating the use of a combination of the guidewire and a balloon catheter or a stent catheter.

6. The surgical robot system according to claim 1, characterized in that the fixed housing is provided with at least two fixed gears, the fixed gears being meshed with the sun gear to fix the sun gear.

7. the locking device includes a lock control assembly, a movable member, and a fixed member, the fixed member being fixed to the sun gear and disposed parallel to one side of the wire groove, the movable member being disposed opposite the fixed member and disposed parallel to the other side of the wire groove, and the lock control assembly being connected to the movable member to control a positional relationship of the movable member with respect to the fixed member; 2. The surgical robot system of claim 1, wherein the lock control assembly comprises a pressing key, an interlocking rod, a spring, and a position limiting block, the spring and the position limiting block being installed in the internal space of the movable member, the position limiting block being fixed and immovable, the spring being located between the position limiting block and a side wall of the movable member, one end of the interlocking rod being connected to the pressing key and the other end being connected to the movable member.

8. The surgical robot system of claim 1 , wherein the guidewire control module comprises a guidewire support rod, the guidewire support rod being installed between a gear housing set and a fixed plate.

9. 2. The surgical robot system of claim 1, wherein an operator remotely controls the movements of the guidewire control module, the balloon / stent control module, and the guide catheter control module by transmitting signals via the remote microcomputer control terminal.

10. A non-contact motor system is provided in the end execution system and is used to provide a transmission force for advancing, retreating and rotating the interventional equipment; The surgical robot system of claim 1, wherein the non-contact motor system comprises a motor, a first magnetic coupling connected to the motor and driven by the motor, a second magnetic coupling installed corresponding to the first magnetic coupling, and a transmission structure connected to the second magnetic coupling, the first magnetic coupling and the second magnetic coupling facing each other coaxially, and a distance between the first magnetic coupling and the second magnetic coupling is 0 to 20 mm.

11. The surgical robot system of claim 1, wherein the rack and pinion set comprises a rack frame to which the Y-type valve is fixed, a gear that meshes with and connects to a straight rack on the rack frame, a movable magnetic member attached to the rack frame, and a fixed magnetic member that interacts with the movable magnetic member, the fixed magnetic member being fixed to a housing of the terminal execution system.

12. a positioner assembly; the positioner assembly includes a guidewire control module positioner, the guidewire control module positioner being adapted to position the guidewire control module in the distal implementation system; the guidewire control module positioner comprises a first detection point installed on the bottom of the fixed housing, a first sensor for detecting the first detection point, a second detection point installed on an end of the sun gear opposite to the wire groove, and a second sensor for detecting the second detection point, the first sensor and the second sensor being installed on the bottom of the terminal execution system; 2. The surgical robot system according to claim 1, wherein the first sensor determines the position of the fixed housing by detecting the first detection point, and when the position of the fixed housing has been determined, the second sensor determines the angular position of the sun gear by detecting the second detection point.

13. The rotating assembly includes a first non-contact motor system that rotates the planetary gears; the feed assembly includes a second non-contact motor system connecting the transmission screw rod and the fixed housing; the fixed housing supports the planetary gears, The surgical robot system of claim 1, wherein the transmission screw rod is installed coaxially with the motor shaft of the motor of the second non-contact motor system, and the fixed housing advances and retreats with the rotation of the motor of the second non-contact motor system.

14. The surgical robot system of claim 13, wherein the terminal execution system comprises a drive housing and an execution housing, the planetary gear, the sun gear and the fixed housing are installed in the execution housing, the transmission screw rod is installed in the drive housing, the drive housing and the execution housing are connected as a whole via the first non-contact motor system and the second non-contact motor system, and the motor of the first non-contact motor system is attached to the transmission screw rod via an intermediate connecting member and moves forward and backward together with the fixed housing.

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