Slave end of interventional surgical robot, and driving apparatus therefor

Abstract

The present application relates to the technical field of medical devices, and relates to a slave end of an interventional surgical robot, and a driving apparatus therefor. A slave end driving apparatus comprises a support, a delivery wheel group, a first driving assembly, a first transmission gear set, a second transmission gear set, and a second driving assembly; the delivery wheel group comprises two delivery wheels distributed in a first direction; the delivery wheels of the same delivery wheel group are used for clamping a long and straight consumable extending in a second direction; the first transmission gear set is arranged on the support and comprises a first main transmission gear and a second main transmission gear that are meshed with each other; the first driving assembly is used for driving the first main transmission gear to rotate; the second main transmission gear is coaxially connected to a first end of one delivery wheel and can drive the delivery wheel to rotate; the second transmission gear set comprises a plurality of auxiliary transmission gears that are meshed and linked, and a second end of each delivery wheel is connected to one auxiliary transmission gear; the second driving assembly is used for driving the support to rotate around an axis extending in the second direction.

Description

Slave end of interventional surgery robot and its driving device

[0001] Cross-references

[0002] The present disclosure claims priority to Chinese patent application number 202322014271.X filed on July 28, 2013, entitled “Slave end of interventional surgical robot and its driving device”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of medical device technology, and in particular to a slave end of an interventional surgical robot and a driving device thereof. Background Art

[0004] Currently, interventional surgical robots are used in surgical procedures such as vascular intervention. They control the introduction and removal of long, straight interventional consumables (including but not limited to catheters, guidewires, balloons, and stents). However, existing interventional surgical robots use a relatively simple method to control the movement of these consumables, which is not conducive to improving work efficiency.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field.

[0006] Summary of the Invention

[0007] The purpose of this application is to overcome the shortcomings of the above-mentioned prior art and provide a slave end of an interventional surgical robot and its driving device, which can control long straight interventional consumables to achieve various modes of movement, improve work efficiency, and make the force on long straight interventional consumables more balanced, not easy to bend, and ensure the reliability of pushing.

[0008] According to one aspect of the present disclosure, a slave-end driving device of an interventional surgical robot is provided, comprising:

[0009] Support;

[0010] At least one delivery wheel assembly is disposed on the support; one delivery wheel assembly includes two delivery wheels distributed along a first direction, and the axes of the two delivery wheels are parallel; the delivery wheels of the same delivery wheel assembly are used to clamp a long straight interventional consumable extending along a second direction and can drive the long straight interventional consumable to move along the second direction;

[0011] a first drive assembly and a first transmission gear set, wherein the first transmission gear set is disposed on the support and includes a first main transmission gear and a second main transmission gear meshing with each other; the first drive assembly is used to drive the first main transmission gear to rotate; the second main transmission gear is coaxially connected to the first end of the delivery wheel and can drive the delivery wheel to rotate;

[0012] a second transmission gear set, disposed on the support, and comprising a plurality of meshing and linked auxiliary transmission gears, wherein the second end of each delivery wheel is connected to one of the auxiliary transmission gears;

[0013] The second driving assembly is used to drive the support to rotate around an axis extending along the second direction.

[0014] In an exemplary embodiment of the present disclosure, the number of the delivery wheel groups is multiple, and includes a first delivery wheel group and a second delivery wheel group distributed along the second direction; the first delivery wheel group includes a first delivery wheel and a second delivery wheel, and the second delivery wheel group includes a third delivery wheel and a fourth delivery wheel; the first delivery wheel and the third delivery wheel are located on the same side of the long straight interventional consumable;

[0015] The number of auxiliary transmission gears of the second transmission gear set is five, and includes first to fifth auxiliary transmission gears; the first auxiliary transmission gear is connected to the second end of the first delivery wheel, the second auxiliary transmission gear is connected to the second end of the second delivery wheel, the third auxiliary transmission gear is connected to the second end of the third delivery wheel, and the fourth auxiliary transmission gear is connected to the second end of the fourth delivery wheel; the first auxiliary transmission gear is meshed with the second auxiliary transmission gear, the third auxiliary transmission gear is meshed with the fourth auxiliary transmission gear, and the fifth auxiliary transmission gear is meshed with the first auxiliary transmission gear and the third auxiliary transmission gear at the same time.

[0016] In an exemplary embodiment of the present disclosure, the support includes a bottom plate and a top plate that are oppositely disposed, and a side plate connecting the bottom plate and the top plate;

[0017] The delivery wheel set is rotatably connected between the bottom plate and the top plate; the first transmission gear set is arranged on a side of the bottom plate away from the top plate; and the second transmission gear set is arranged on a side of the top plate away from the bottom plate.

[0018] In an exemplary embodiment of the present disclosure, the bottom plate includes a bottom fixed portion and a bottom movable portion; the top plate includes a top fixed portion and a top movable portion distributed along the first direction; the bottom movable portion is slidably provided on a surface of the bottom fixed portion close to the top plate; the bottom fixed portion and the top fixed portion are fixedly connected by the side plate, and the bottom movable portion and the top movable portion are movable along the first direction; the bottom movable portion is arranged opposite to the top fixed portion, and the bottom fixed portion is arranged opposite to the top fixed portion;

[0019] The first delivery wheel and the third delivery wheel are rotatably connected between the bottom fixed part and the top fixed part; the second delivery wheel and the fourth delivery wheel are rotatably connected between the bottom movable part and the top movable part.

[0020] In an exemplary embodiment of the present disclosure, the side plate includes a connecting side plate and a limiting side plate, the connecting side plate connecting the bottom fixing portion and the top fixing portion; the limiting side plate is located on a side of the bottom movable portion and the top movable portion away from the bottom fixing portion and the top fixing portion, and is connected to the connecting side plate;

[0021] The slave-end driving device also includes an elastic member, which is arranged between at least one of the bottom moving part and the top moving part and the limiting side plate, and is used to apply a force toward the bottom fixed part and the top fixed part to at least one of the bottom moving part and the top moving part.

[0022] In an exemplary embodiment of the present disclosure, the slave-end drive device further comprises a bracket; the support is rotatably disposed on the bracket; the first drive assembly comprises a first input assembly, a first input bevel gear, a second input bevel gear, a first transmission bevel gear, and a second transmission bevel gear;

[0023] The second input bevel gear is rotatably mounted on the bracket and meshes with the first input bevel gear; the first input assembly is used to drive the first input bevel gear to rotate; and the axis of the second input bevel gear extends along the second direction;

[0024] The first transmission bevel gear and the second transmission bevel gear are meshed and located between the bottom plate and the top plate; the first transmission bevel gear is coaxially connected to the second input bevel gear, and the second transmission bevel gear is coaxially connected to the first main transmission gear.

[0025] In an exemplary embodiment of the present disclosure, the second drive assembly includes a second input assembly and a third input bevel gear and a fourth input bevel gear that are meshed with each other; the second input assembly is used to drive the third input bevel gear to rotate, the fourth input bevel gear is rotatably provided on the bracket and connected to the support, and the axis of the fourth input bevel gear extends along the second direction.

[0026] In an exemplary embodiment of the present disclosure, the first input assembly includes a first power device and a first bevel gear and a second bevel gear meshing with each other, the first power device is used to drive the first bevel gear to rotate, and the second bevel gear is coaxially connected to the first input bevel gear;

[0027] The second input assembly includes a second power device and a third bevel gear and a fourth bevel gear meshing with each other. The second power device is used to drive the third bevel gear to rotate. The fourth bevel gear is coaxially connected to the third input bevel gear.

[0028] In an exemplary embodiment of the present disclosure, a plurality of anti-slip grooves extending along the circumference of the delivery wheel are provided on the outer circumferential surface of the delivery wheel, and the anti-slip grooves are spaced apart along the circumferential direction.

[0029] In an exemplary embodiment of the present disclosure, guide rods are provided between the bottom moving portion, the top moving portion and the limiting side plates, and the elastic members are sleeved on the outside of the guide rods in a one-to-one correspondence.

[0030] In an exemplary embodiment of the present disclosure, the first input assembly further includes a first connecting shaft and a second connecting shaft, the second bevel gear is connected to one end of the first connecting shaft, and the first connecting shaft is provided with a mounting hole extending in an axial direction, the first input bevel gear is connected to one end of the second connecting shaft, and the other end of the second connecting shaft is inserted into the mounting hole;

[0031] The second input assembly also includes a third connecting shaft and a fourth connecting shaft. The fourth bevel gear is connected to one end of the third connecting shaft, and the third connecting shaft is provided with a second mounting hole extending in the axial direction. The third input bevel gear is connected to one end of the fourth connecting shaft, and the other end of the fourth connecting shaft can be inserted into the second mounting hole.

[0032] In an exemplary embodiment of the present disclosure, the slave-end drive device also includes a first rotating bevel gear and a second rotating bevel gear that are meshed with each other, the axis of the second rotating bevel gear is colinear with the axes of the second input bevel gear and the fourth input bevel gear, and the second rotating bevel gear is located on the side of the second input bevel gear away from the fourth input bevel gear.

[0033] According to one aspect of the present disclosure, a slave end of an interventional surgical robot is provided, comprising any one of the slave end driving devices described above.

[0034] The slave end and slave end driving device of the interventional surgical robot of the present application can clamp the long straight interventional consumable through the two delivery wheels of the delivery wheel group, and drive a delivery wheel to rotate through the first drive component and the first transmission gear group, and the delivery wheel can drive the other delivery wheels to rotate through the second transmission gear group, thereby driving the long straight interventional consumable to move forward or backward in the first direction, that is, to move along the axial direction of the long straight interventional consumable; in this process, the delivery wheels on both sides of the long straight interventional consumable rotate under the drive of the transmission gear, and apply force to the long straight interventional consumable from both sides, so that the force on both sides can be balanced, and it is not easy to bend or jam, so that the pushing process is smoother and more reliable; and compared with the transmission method in which only some delivery wheels rotate and other delivery wheels are driven by the long straight interventional consumable, the relative sliding between the long straight interventional consumable and the delivery wheel can be reduced, which is conducive to reducing wear.

[0035] In addition, the second drive component can drive the support to rotate, so that the long straight interventional consumables can not only move along the axis, but also rotate around its own axis, realizing multiple movement modes, enabling various surgical operations and improving work efficiency.

[0036] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0038] FIG1 is a schematic diagram of an interventional surgical robot at the slave end in an embodiment of the present application in which the support does not rotate.

[0039] FIG2 is a schematic diagram of the support after rotation in the first embodiment of the interventional surgical robot from the end of the present application.

[0040] FIG3 is a partial schematic diagram of the slave-end drive device of the interventional surgical robot of the present application.

[0041] FIG4 is a partial side view of the slave-end drive device of the interventional surgical robot of the present application.

[0042] FIG5 is a schematic diagram of the bracket and support of the slave-end drive device of the interventional surgical robot of the present application.

[0043] FIG6 is a schematic diagram of an embodiment of the interventional surgical robot from the first end of the present application with the cover of the housing opened.

[0044] FIG7 is a schematic diagram of a closed shell cover of a slave end embodiment of the interventional surgical robot of the present application.

[0045] Explanation of the accompanying reference numerals: 01, long straight interventional consumable; 02, catheter; 1, support; 11, bottom plate; 111, bottom fixing portion; 112, bottom moving portion; 12, top plate; 121, top fixing portion; 122, top moving portion; 13, side plate; 131, connecting side plate; 132, limiting side plate; 21, first delivery wheel; 22, third delivery wheel; 311, first power device; 312, first bevel gear; 313, second bevel gear; 314, first connecting shaft; 315, second connecting shaft; 32, first input bevel gear; 33, second input bevel gear; 34, first transmission bevel gear; 35, second transmission bevel gear; 41, first main transmission gear; 42, second main transmission gear; 51, first auxiliary transmission gear; 52, second auxiliary transmission gear; 53, third auxiliary transmission gear; 54, fourth auxiliary transmission gear; 55, fifth auxiliary transmission gear; 611. Second power unit; 612. Third bevel gear; 613. Fourth bevel gear; 614. Third connecting shaft; 615. Fourth connecting shaft; 62. Third input bevel gear; 63. Fourth input bevel gear; 7. Elastic member; 8. First rotating bevel gear; 9. Second rotating bevel gear; 10. Housing; 101. Shell; 1011. First flange; 102. Shell cover; 1021. Second flange; 103. Magnet; 14. Bracket; 141. Base frame; 142. Side frame. DETAILED DESCRIPTION

[0046] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed descriptions will be omitted. Furthermore, the figures are merely schematic illustrations of the present application and are not necessarily drawn to scale.

[0047] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first", "second", etc. are used only as labels and are not intended to limit the quantity of their objects.

[0048] As shown in Figures 1-7, embodiments of the present application provide a slave drive device for an interventional surgical robot that can control the movement of a long straight interventional consumable 01 during interventional surgery, for example, controlling the forward, backward, and rotational movement of the long straight interventional consumable 01. The slave drive device may include a support 1, a delivery wheel set, a first drive assembly, a first transmission gear set, a second transmission gear set, and a second drive assembly, wherein:

[0049] There is at least one delivery wheel assembly, which is installed on the support 1; one delivery wheel assembly includes two delivery wheels distributed along the first direction X, and the axes of the two delivery wheels are parallel; the delivery wheels of the same delivery wheel assembly are used to clamp the long straight interventional consumable 01 extending along the second direction Y, and can drive the long straight interventional consumable 01 to move along the second direction Y.

[0050] The first transmission gear assembly is provided on the support 1 and includes a first main transmission gear 41 and a second main transmission gear 42 that mesh with each other; the first driving assembly is used to drive the first main transmission gear 41 to rotate; the second main transmission gear 42 is coaxially connected to the first end of a delivery wheel and can drive the delivery wheel to rotate;

[0051] The second transmission gear set is provided on the support 1 and includes a plurality of meshing and linked auxiliary transmission gears, the second end of each delivery wheel is connected to an auxiliary transmission gear. The second drive assembly is used to drive the support 1 to rotate around an axis extending along the second direction Y.

[0052] The slave-end driving device of the embodiment of the present application can clamp the long straight interventional consumable 01 through the two delivery wheels of the delivery wheel group, and drive a delivery wheel to rotate through the first driving component and the first transmission gear group, and the delivery wheel can drive the other delivery wheels to rotate through the second transmission gear group, thereby driving the long straight interventional consumable 01 to move forward or backward along the first direction X, that is, to move along the axial direction of the long straight interventional consumable 01; in this process, the delivery wheels on both sides of the long straight interventional consumable 01 are driven by the transmission gears, and apply force to the long straight interventional consumable 01 from both sides, so that the force on both sides can be balanced and it is not easy to bend or jam; and compared with the method in which only some delivery wheels rotate and other delivery wheels are driven by the long straight interventional consumable 01, the relative sliding between the long straight interventional consumable 01 and the delivery wheels can be reduced, which is conducive to reducing wear.

[0053] In addition, the second drive component can drive the support 1 to rotate, so that the long straight interventional consumable 01 can not only move along the axis, but also rotate around its own axis, realizing multiple movement modes, realizing multiple surgical operations, and improving work efficiency.

[0054] The slave drive device of this application is described in detail below:

[0055] As shown in Figures 1-5, support 1 serves as the base of the slave drive device, carrying the load. It can be composed of multiple connected units such as flat plates or connecting rods, and its structure is not specifically limited here. Long straight interventional consumable 01 can pass through support 1; alternatively, it may not pass through support 1 but intersect with it in space.

[0056] In some embodiments of the present application, the support 1 may include a bottom plate 11, a top plate 12, and a plurality of side plates 13. The bottom plate 11 and the top plate 12 are disposed opposite each other, and the side plates 13 connect the bottom plate 11 and the side plates 13, thereby forming a polyhedron structure. For example, the bottom plate 11 and the top plate 12 are both rectangular flat plates, and the side plates 13 may be distributed along the edges of the bottom plate 11 and the top plate 12. When the support 1 is generally rectangular, the number of side plates 13 is less than four, allowing the support 1 to be open and facilitate the installation and removal of other structures.

[0057] In order to facilitate the installation of the support 1, the slave end driving device may further include a bracket 14, and the support 1 can be rotatably provided on the bracket 14, and the rotation axis can extend along the second direction Y.

[0058] In some embodiments of the present application, the bracket 14 may include a base frame 141 and two side frames 142, wherein the base frame 141 and the side frames 142 may be flat plate structures or frame structures, and their structures are not particularly limited herein. The two side frames 142 may be connected to the same side of the base frame 141 along the second direction Y, thereby forming a U-shaped structure with the base frame 141. The support 1 may be arranged between the two side frames 142 and rotatably cooperate with the side frames 142, so that the support 1 can rotate between the two side frames 142. Furthermore, at least one side frame 142 and the base frame 141 may be connected in a detachable manner such as snap connection or screw connection to facilitate disassembly and assembly.

[0059] The slave drive device can enable the long straight interventional consumable 01 to achieve at least two movements, including movement along its own axis and rotation around its own axis. The axial movement can be achieved by the delivery wheel set, the first transmission gear set, the second transmission gear set and the first drive assembly, which are described in detail below:

[0060] As shown in Figures 1-5 , there is at least one delivery wheel assembly, rotatably mounted on a support 1. Each delivery wheel assembly may include two delivery wheels distributed along a first direction X, with the axes of the two delivery wheels being parallel. The first direction X may be perpendicular to the direction of advance and retreat of the long straight interventional consumable 01. The delivery wheels of the same delivery wheel assembly are used to clamp the long straight interventional consumable 01 extending along a second direction Y. Rotating at least one delivery wheel can drive the long straight interventional consumable 01 along the second direction Y, which is the direction of advance and retreat of the long straight interventional consumable 01. Each delivery wheel may have two ends, namely a first end and a second end.

[0061] For example, as shown in Figures 1 to 5, the delivery wheel assembly can be arranged between the top plate 12 and the bottom plate 11, and each delivery wheel can be rotatably connected to the top plate 12 and the bottom plate 11 via a delivery wheel axle, so that it can rotate within the support 1, and the axis of the delivery wheel can be perpendicular to the bottom plate 11 and the top plate 12. The delivery wheel axle can pass through the top plate 12 and the bottom plate 11 and rotate in conjunction with the top plate 12 and the bottom plate 11. The delivery wheel axle and the delivery wheel can be an integral structure or independent structures assembled together. For ease of expression, the first end of the delivery wheel can be defined as the end close to the bottom plate 11, and the second end can be defined as the end close to the top plate 12. Of course, the first end and the second end can also be interchangeable. It should also be noted that the definition of the bottom plate 11 and the top plate 12 is only with reference to the posture of the support 1 shown in Figure 1. However, since the support 1 can be rotated, the positions of the bottom plate 11 and the top plate 12 are also constantly changing. As shown in Figure 2, the bottom plate 11 may be at the top and the top plate 12 may be at the bottom. This is only a definition for the convenience of description and is not a restrictive description.

[0062] In some embodiments of the present application, there are multiple delivery wheel assemblies. For example, in this embodiment, two delivery wheel assemblies are used, including a first delivery wheel assembly and a second delivery wheel assembly distributed along the second direction Y. The first delivery wheel assembly and the second delivery wheel assembly can both be disposed between the top plate 12 and the bottom plate 11. The first delivery wheel assembly includes a first delivery wheel 21 and a second delivery wheel, and the second delivery wheel assembly includes a third delivery wheel 22 and a fourth delivery wheel. The first delivery wheel 21 and the third delivery wheel 22 are located on the same side of the long straight interventional consumable 01, while the second delivery wheel and the fourth delivery wheel are located on the other side of the long straight interventional consumable 01.

[0063] In some embodiments of the present application, the outer circumference of the delivery wheel may be provided with a plurality of anti-skid grooves extending along the axial direction of the delivery wheel, and the anti-skid grooves are spaced apart along the circumference of the delivery wheel, and the movement direction of the long straight interventional consumable 01 may be perpendicular to the axial direction of the delivery wheel. The anti-skid grooves can be formed by depressions on the outer circumference of the delivery wheel, or by ridges formed on the outer circumference of the delivery wheel, and the spaces between the ridges are the anti-skid grooves. In addition, the outer circumference of the delivery wheel can also be covered with an anti-skid cover made of a flexible material such as silicone. Of course, the outer circumference of the delivery wheel can also be a smooth surface.

[0064] As shown in Figures 1 to 5, the first transmission gear set can be provided on the support 1 and include a first main transmission gear 41 and a second main transmission gear 42 that mesh with each other. For example, the first transmission gear set can be provided on the side of the bottom plate 11 away from the top plate 12. At the same time, the first drive assembly is connected to the first main transmission gear 41 and can drive the first main transmission gear 41 to rotate. The second main transmission gear 42 is coaxially connected to the first end of a delivery wheel. For example, the second main transmission gear 42 can be sleeved on one end connected to a delivery wheel shaft and can be connected by a key connection or other means, thereby driving the delivery wheel to rotate. The axes of the first main transmission gear 41 and the second main transmission gear 42 are parallel, and both can be spur gears, helical gears, etc. There is no special limitation on the type of gears here, as long as they can transmit rotation between parallel axes.

[0065] As shown in Figures 1-5, the second transmission gear set can be disposed on the support 1, for example, on the side of the top plate 12 away from the bottom plate 11. The second transmission gear set can include multiple meshing and interconnected auxiliary transmission gears. Interconnection here means that rotation of any auxiliary transmission gear drives the rotation of the other gears. The second end of each delivery wheel is connected to an auxiliary transmission gear. For example, the delivery wheel axle can extend through the top plate 12, and the auxiliary transmission gear is sleeved on the delivery wheel axle and connected by a key connection or other means.

[0066] Referring to FIG5 , when the delivery wheel connected to the second main transmission gear 42 rotates, it drives the auxiliary transmission gear connected to it to rotate, and the rotation of the auxiliary transmission gear drives other auxiliary transmission gears to rotate, thereby driving the delivery wheels not connected to the second main transmission gear 42 to rotate, and transmitting the torque output by the first drive assembly to each delivery wheel, so that the forces on both sides of the long straight interventional consumable 01 are balanced, and it is not easy to wear or slip.

[0067] As shown in FIG1-FIG5 , in some embodiments of the present application, the number of delivery wheel groups is two, including four delivery wheels, such as the first delivery wheel 21 to the fourth delivery wheel mentioned above, and the number of auxiliary transmission gears of the second transmission gear group is five, including a first auxiliary transmission gear 51, a second auxiliary transmission gear 52, a third auxiliary transmission gear 53, a fourth auxiliary transmission gear 54 and a fifth auxiliary transmission gear 55, wherein:

[0068] The first auxiliary transmission gear 51 can be connected to the second end of the first delivery wheel 21, the second auxiliary transmission gear 52 is connected to the second end of the second delivery wheel, the third auxiliary transmission gear 53 is connected to the second end of the third delivery wheel 22, and the fourth auxiliary transmission gear 54 is connected to the second end of the fourth delivery wheel. The first auxiliary transmission gear 51 meshes with the second auxiliary transmission gear 52, and the third auxiliary transmission gear 53 meshes with the fourth auxiliary transmission gear 54. Simultaneously, the first and third auxiliary transmission gears 51 and 53 are located on one side of the long straight interventional consumable 01 and are not meshed, while the second auxiliary transmission gear 52 is located on the other side of the fourth auxiliary transmission gear 54 and is not meshed. The fifth auxiliary transmission gear 55 meshes with both the first and third auxiliary transmission gears 51 and 53.

[0069] As shown in FIG1-FIG5 , in some embodiments of the present application, the first drive assembly may include a first input assembly, a first input bevel gear 32 , a second input bevel gear 33 , a first transmission bevel gear 34 , and a second transmission bevel gear 35 , wherein:

[0070] The first input bevel gear 32 meshes with the second input bevel gear 33 , which is rotatably mounted on the bracket 14 , with its axis extending in the second direction Y. Simultaneously, the first transmission bevel gear 34 and the second transmission bevel gear 35 mesh and are positioned between the bottom plate 11 and the top plate 12 of the support 1 . The first transmission bevel gear 34 and the second input bevel gear 33 are coaxially fixedly connected (i.e., they rotate synchronously), while the second transmission bevel gear 35 is coaxially fixedly connected to the first main transmission gear 41 .

[0071] For example, the second input bevel gear 33 can be connected to the first transmission bevel gear 34 via the same transmission shaft. This transmission shaft can extend in the second direction Y and pass through the side frame 142 and a side plate 13 of the support 1. Rotatably engaged with the side frame 142 and the side plate 13, the second input bevel gear 33 and the first transmission bevel gear 34 can rotate synchronously relative to the bracket 14 and the support 1. Furthermore, the transmission shaft can be provided with a through hole extending in the second direction Y, through which the long straight interventional consumable 01 can pass to facilitate movement.

[0072] As shown in FIG. 1 to FIG. 5 , in some embodiments of the present application, the first input assembly may include a first power device 311 , a first bevel gear 312 , and a second bevel gear 313 , wherein:

[0073] The first power unit 311 can drive the first bevel gear 312 to rotate. The second bevel gear 313 is coaxially connected to the first input bevel gear 32 and meshes with the first bevel gear 312. The first power unit 311 can drive the first input bevel gear 312 to rotate. For example, the first power unit 311 can be a motor. The first bevel gear 312 can be connected to the output shaft of the motor and rotate under the control of the motor. The second bevel gear 313 can mesh with the first bevel gear 312. The first input assembly may also include a first connecting shaft 314 and a second connecting shaft 315. The second bevel gear 313 is connected to one end of the first connecting shaft 314. The first connecting shaft 314 has a first mounting hole extending axially. The first input bevel gear 32 is connected to one end of the second connecting shaft 315. The other end of the second connecting shaft 315 can be inserted into the first mounting hole and connected to the first connecting shaft 314 via a key connection such as a spline, thereby connecting the first input bevel gear 32 and the second bevel gear 313 to achieve synchronous rotation.

[0074] When controlling the axial movement of the long straight interventional consumable 01, the first power unit 311 can drive the first bevel gear 312 to rotate. The first bevel gear 312 drives the second bevel gear 313 to rotate, causing the second bevel gear 313 to rotate the first input bevel gear 32, which in turn rotates the second input bevel gear 33. This in turn drives the first main transmission gear 41 through the first transmission bevel gear 34 and the second transmission bevel gear 35, and then drives the first delivery wheel 21 through the second main transmission gear 42. As a result, the first input assembly outputs torque to the delivery wheel, driving the delivery wheel to rotate and control the movement of the long straight interventional consumable 01 in the second direction Y, that is, along the axial direction of the long straight interventional consumable 01. During this process, the speed of the delivery wheel can be controlled by controlling the first power unit 311, achieving stop, fast forward, fast reverse, slow forward, and slow reverse.

[0075] The following is a detailed description of the solution for rotating the long straight interventional consumable 01 around its own axis:

[0076] As shown in Figures 1 to 5, the second driving component can drive the support 1 to rotate around the axis extending along the second direction Y, driving the delivery wheel to rotate. When the delivery wheel clamps the long straight interventional consumable 01, the long straight interventional consumable 01 can be rotated around its own axis.

[0077] In some embodiments of the present application, the second drive assembly may include a second input assembly, a third input bevel gear 62 and a fourth input bevel gear 63, wherein:

[0078] The fourth input bevel gear 63 is connected to the support 1. For example, the fourth input bevel gear 63 is rotatably mounted on the support 14. For example, the fourth input bevel gear 63 is rotatably connected to the side frame 142 of the support 14 (which is connected to a different side frame 142 than the second input bevel gear 33) via a transmission shaft. The fourth input bevel gear 63 can be fixedly connected to a side plate 13 of the support 1, and the axis of the fourth input bevel gear 63 is collinear with the axis of the second input bevel gear 33, both of which extend in the second direction Y. Furthermore, a through hole extending in the second direction Y is provided in the center of the fourth input bevel gear 63 for the passage of the long straight interventional consumable 01. This through hole extends through the transmission shaft, allowing the long straight interventional consumable 01 to pass through the fourth input bevel gear 63, the side frame 142, the support 1, and the second input bevel gear 33.

[0079] The third input bevel gear 62 and the fourth input bevel gear 63 are engaged, and the second input assembly can drive the third input bevel gear 62 to rotate, thereby driving the fourth input bevel gear 63 to rotate, thereby driving the support 1 and the delivery wheel set, the first transmission gear set, the second transmission gear set, etc. located on the support 1 to rotate.

[0080] As shown in Figures 1-5, in some embodiments of the present disclosure, the second input assembly may include a second power device 611 and a third bevel gear 612 and a fourth bevel gear 613 that are meshed with each other. The second power device 611 is used to drive the third bevel gear 612 to rotate, and the fourth bevel gear 613 is coaxially connected to the third input bevel gear 62.

[0081] For example, the second power device 611 can be a motor, and the third bevel gear 612 can be connected to the output shaft of the motor and can rotate under the control of the motor. The fourth bevel gear 613 can mesh with the third bevel gear 612. The second input assembly can also include a third connecting shaft 614 and a fourth connecting shaft 615. The fourth bevel gear 613 is connected to one end of the third connecting shaft 614, and the third connecting shaft 614 is provided with a second mounting hole extending in the axial direction. The third input bevel gear 62 is connected to one end of the fourth connecting shaft 615, and the other end of the fourth connecting shaft 615 can be inserted into the above-mentioned second mounting hole and can be connected to the third connecting shaft 614 via a key connection method such as a spline, thereby connecting the third input bevel gear 62 and the fourth bevel gear 613 to achieve synchronous rotation.

[0082] In order to facilitate the clamping of the long straight interventional consumable 01 between the delivery wheels, as shown in FIG1 to FIG5 , in some embodiments of the present disclosure, part of the delivery wheels may be configured as a floating structure. Specifically:

[0083] The bottom plate 11 may include a bottom fixed portion 111 and a bottom movable portion 112. The bottom movable portion 112 is slidably disposed on a surface of the bottom fixed portion 111 near the top plate 12. The top plate 12 includes a top fixed portion 121 and a top movable portion 122 distributed along a first direction X. The bottom fixed portion 111 and the top fixed portion 121 are fixedly connected via the side plate 13, and the bottom movable portion 112 and the top movable portion 122 are movable along the first direction X. The bottom movable portion 112 and the top fixed portion 121 are disposed opposite each other, and the bottom fixed portion 111 and the top fixed portion 121 are disposed opposite each other, that is, facing each other in a direction perpendicular to the bottom plate 11 and the top plate 12.

[0084] The first and third delivery wheels 21 and 22 are rotatably connected between the bottom fixed portion 111 and the top fixed portion 121, and the second and fourth delivery wheels are rotatably connected between the bottom movable portion 112 and the top movable portion 122. For example, the delivery wheel axles of the first and third delivery wheels 21 and 22 are rotatably disposed through the bottom fixed portion 111 and the top fixed portion 121, while the delivery wheel axles of the second and fourth delivery wheels are rotatably disposed through the bottom movable portion 112 and the top movable portion 122. By moving the bottom movable portion 112 and the top movable portion 122 along the first direction X, the second and fourth delivery wheels can be driven to move synchronously, thereby adjusting the distance between the first and second delivery wheels 21 and the distance between the third and fourth delivery wheels 22.

[0085] To adjustably clamp the long straight interventional consumable 01, the elastic member 7 can apply a force toward the first and second delivery wheels 21 and 22 to the third and fourth delivery wheels. The multiple side panels 13 of the support 1 may include a connecting side panel 131 and a limiting side panel 132. The connecting side panels 131 may be two and distributed along the second direction Y, connecting the bottom fixed portion 111 and the top fixed portion 121. The bottom movable portion 112 and the top movable portion 122 can slide relative to the connecting side panels 131. The second input bevel gear 33 may be located on one connecting side panel 131, and the fourth input bevel gear 63 may be located on the other connecting side panel 131.

[0086] The limiting side plate 132 can be located on the side of the bottom movable portion 112 and the top movable portion 122 away from the bottom fixed portion 111 and the top fixed portion 121, and can be removably connected to the connecting side plate 131 via screws or other means. The surface of the support 1 opposite the limiting side plate 132 can be open to facilitate installation of a delivery wheel, etc. within the support 1. Furthermore, an elastic member 7 can be provided between at least one of the bottom movable portion 112 and the top movable portion 122 and the limiting side plate 132 to apply a force toward the bottom fixed portion 111 and the top fixed portion 121 to clamp the long straight interventional consumable 01. For example, multiple elastic members 7 can be provided, with each elastic member 7 provided between the bottom movable portion 112 and the bottom fixed portion 111, and between the top movable portion 122 and the top fixed portion 121. The elastic member 7 can be a spring or an elastic element made of an elastic material such as rubber, as long as it can apply the aforementioned force. Furthermore, guide rods may be provided between the bottom movable portion 112 and the top movable portion 122 and the limiting side plates 132, and elastic members, such as springs, may be sleeved onto the guide rods in a one-to-one correspondence. The guide rods may be slidably disposed through the limiting side plates 132 or slidably disposed within the bottom movable portion 112 and the top movable portion 122.

[0087] As shown in Figures 1-5, in some embodiments of the present disclosure, a long straight interventional consumable 01 can be used as a guidewire for interventional surgery. The slave end drive device may further include a first rotating bevel gear 8 and a second rotating bevel gear 9 that mesh with each other. The axis of the second rotating bevel gear 9 is collinear with the axes of the second input bevel gear 33 and the fourth input bevel gear 63, and the second rotating bevel gear 9 is located on the side of the second input bevel gear 33 away from the fourth input bevel gear 63. A catheter 02 can be arranged along the second direction Y through the second rotating bevel gear 9 and the second input bevel gear 33 and fixedly connected to at least one of the second rotating bevel gear 9 and the second input bevel gear 33, thereby driving the catheter 02 to rotate synchronously, and the guidewire can pass through the catheter 02.

[0088] The following briefly describes the various modes in which the slave drive device drives the long straight interventional consumable 01:

[0089] Single Linear Movement Mode: The first drive assembly, first transmission gear set, second transmission gear set, and delivery wheel set drive the long straight interventional consumable 01 in the second direction Y. The specific transmission process has been described in detail above and will not be repeated here. The specific control in this mode is as follows: The second drive assembly is deactivated, and the support 1 does not rotate. For example, the output speed of the first power unit 311 is non-zero, while the output speed of the second power unit 611 is zero.

[0090] Single-rotation mode: The second drive assembly, support 1, and delivery wheel assembly drive the long straight interventional consumable 01 to rotate about its own axis, that is, about the rotation axis of support 1. The specific transmission process has been described in detail above and will not be repeated here. The specific control in this mode is as follows: the first drive assembly can be activated simultaneously, and the rotation speed of the second input bevel gear 33 is made equal to the rotation speed of the first transmission bevel gear 34, the second transmission bevel gear 35, and the first transmission gear set to achieve offset and prevent axial movement of the long straight interventional consumable 01. For example, the output speeds of the first power unit 311 and the second power unit 611 are equal and non-zero.

[0091] Linear movement + rotation mode: By independently controlling the first drive component and the second drive component so that the output speeds of the two are different, a mode in which linear movement and rotation coexist can be achieved. In special cases, the output speed of the first power device 311 can be zero, as long as the output speed of the second power device 611 is not zero.

[0092] As shown in Figures 6 and 7, the present application also provides a slave end of an interventional surgical robot. The slave end may include a slave end drive device according to any of the above-described embodiments. The structure and beneficial effects of the slave end drive device are not further described herein. The slave end may also include a housing 10. The slave end drive device may be disposed within the housing 10. The bracket 14 may be fixedly connected to the housing 10, or at least a portion of the bracket 14 may be integrally formed with the housing 10. Alternatively, the support 1 may be directly rotatably disposed on the inner wall of the housing 10 without the need for a dedicated bracket 14.

[0093] The long straight interventional consumable 01 can pass through the housing 10 along the second direction Y. In some embodiments of the present disclosure, the housing 10 may include a shell 101 and a shell cover 102. The slave end drive device may be provided in the shell 101, and the shell 101 has an open end. The shell cover 102 may be connected to the shell 101 in an openable manner so as to open or close the open end. For example, the shell cover 102 may be hinged to the shell 101, or detachably connected by a snap connection or the like. There may be multiple shell covers 102, and they may be distributed along the second direction Y. Each shell cover 102 can be opened or closed independently. Of course, there may also be only one shell cover 102, and the open end can be closed.

[0094] Furthermore, as shown in Figures 5 and 6, at least a portion of the edge of the open end of the housing 101 may be provided with a first flange 1011, and the housing cover 102 may be provided with a second flange 1021 at a position corresponding to the first flange 1011. When the housing cover 102 is closed, the first flange 1011 and the second flange 1021 fit together. Furthermore, the first flange 1011 and the second flange 1021 are provided with magnets 103 that attract each other, thereby securing the housing cover 102.

[0095] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the appended claims.

Claims

1. A slave end driving device of an interventional surgical robot, characterized in that: include: Support; At least one delivery wheel set is disposed on the support; one delivery wheel set includes two delivery wheels distributed along a first direction, and the axes of the two delivery wheels are parallel; the delivery wheels of the same delivery wheel set are used to clamp the long straight interventional consumable extending along a second direction, and can drive the long straight interventional consumable to move along the second direction; A first driving assembly and a first transmission gear set, wherein the first transmission gear set is disposed on the support and comprises a first main transmission gear and a second main transmission gear meshing with each other; the first driving assembly is used to drive the first main transmission gear to rotate; the second main transmission gear is coaxially connected to a first end of the delivery wheel and can drive the delivery wheel to rotate; A second transmission gear set is disposed on the support and includes a plurality of meshing and linked auxiliary transmission gears, wherein the second end of each delivery wheel is connected to one of the auxiliary transmission gears; The second driving assembly is used to drive the support to rotate around an axis extending along the second direction.

2. The slave end driving device according to claim 1, characterized in that: The delivery wheel group includes a first delivery wheel group and a second delivery wheel group distributed along the second direction; The first delivery wheel set includes a first delivery wheel and a second delivery wheel, and the second delivery wheel set includes a third delivery wheel and a fourth delivery wheel; the first delivery wheel and the third delivery wheel are located on the same side of the long straight interventional consumable; The number of auxiliary transmission gears of the second transmission gear set is five, and includes the first auxiliary transmission gear to the fifth auxiliary transmission gear; the first auxiliary transmission gear is connected to the second end of the first delivery wheel, the second auxiliary transmission gear is connected to the second end of the second delivery wheel, the third auxiliary transmission gear is connected to the second end of the third delivery wheel, and the fourth auxiliary transmission gear is connected to the second end of the fourth delivery wheel; the first auxiliary transmission gear is meshed with the second auxiliary transmission gear, the third auxiliary transmission gear is meshed with the fourth auxiliary transmission gear, and the fifth auxiliary transmission gear is meshed with the first auxiliary transmission gear and the third auxiliary transmission gear at the same time.

3. The slave end driving device according to claim 2, characterized in that: The support comprises a bottom plate and a top plate which are arranged opposite to each other and a side plate connecting the bottom plate and the top plate; The delivery wheel set is rotatably connected between the bottom plate and the top plate; the first transmission gear set is arranged on a side of the bottom plate away from the top plate; and the second transmission gear set is arranged on a side of the top plate away from the bottom plate.

4. The slave end driving device according to claim 3, characterized in that: The bottom plate includes a bottom fixed portion and a bottom movable portion; the top plate includes a top fixed portion and a top movable portion distributed along the first direction; the bottom movable portion is slidably arranged on a surface of the bottom fixed portion close to the top plate; the bottom fixed portion and the top fixed portion are fixedly connected via the side plate, and the bottom movable portion and the top movable portion can move along the first direction; the bottom movable portion is arranged opposite to the top fixed portion, and the bottom fixed portion is arranged opposite to the top fixed portion; The first delivery wheel and the third delivery wheel are rotatably connected between the bottom fixed part and the top fixed part; the second delivery wheel and the fourth delivery wheel are rotatably connected between the bottom movable part and the top movable part.

5. The slave end driving device according to claim 4, characterized in that: The side plate comprises a connecting side plate and a limiting side plate, wherein the connecting side plate connects the bottom fixing part and the top fixing part; the limiting side plate is located at a side of the bottom movable part and the top movable part away from the bottom fixing part and the top fixing part, and is connected to the connecting side plate; The slave-end driving device also includes an elastic member, which is arranged between at least one of the bottom movable part and the top movable part and the limiting side plate, and is used to apply a force toward the bottom fixed part and the top fixed part to at least one of the bottom movable part and the top movable part.

6. The slave end driving device according to claim 3, characterized in that: The slave end drive device further comprises a bracket; the support is rotatably arranged on the bracket; the first drive assembly comprises a first input assembly, a first input bevel gear, a second input bevel gear, a first transmission bevel gear and a second transmission bevel gear; The second input bevel gear is rotatably disposed on the bracket and meshes with the first input bevel gear; the first input assembly is used to drive the first input bevel gear to rotate; and the axis of the second input bevel gear extends along the second direction; The first transmission bevel gear and the second transmission bevel gear are meshed and located between the bottom plate and the top plate; the first transmission bevel gear is coaxially connected to the second input bevel gear, and the second transmission bevel gear is coaxially connected to the first main transmission gear.

7. The slave end driving device according to claim 6, characterized in that: The second drive assembly includes a second input assembly and a third input bevel gear and a fourth input bevel gear meshing with each other; The second input assembly is used to drive the third input bevel gear to rotate. The fourth input bevel gear is rotatably disposed on the bracket and connected to the support. The axis of the fourth input bevel gear extends along the second direction.

8. The slave end driving device according to claim 7, characterized in that: The first input assembly includes a first power device and a first bevel gear and a second bevel gear meshing with each other, the first power device is used to drive the first bevel gear to rotate, and the second bevel gear is coaxially connected to the first input bevel gear; The second input assembly includes a second power device and a third bevel gear and a fourth bevel gear meshing with each other. The second power device is used to drive the third bevel gear to rotate. The fourth bevel gear is coaxially connected to the third input bevel gear.

9. The slave end driving device according to any one of claims 1 to 8, characterized in that: The outer circumferential surface of the delivery wheel is provided with a plurality of anti-skid grooves extending along the circumference of the delivery wheel, and the anti-skid grooves are distributed at intervals along the circumference.

10. The slave end driving device according to claim 5, characterized in that: Guide rods are arranged between the bottom moving part, the top moving part and the limiting side plate, and the elastic members are sleeved outside the guide rods in a one-to-one correspondence.

11. The slave end driving device according to claim 8, characterized in that: The first input assembly further includes a first connecting shaft and a second connecting shaft, the second bevel gear is connected to one end of the first connecting shaft, and the first connecting shaft is provided with a mounting hole extending in the axial direction, the first input bevel gear is connected to one end of the second connecting shaft, and the other end of the second connecting shaft is inserted into the mounting hole; The second input component also includes a third connecting shaft and a fourth connecting shaft, the fourth bevel gear is connected to one end of the third connecting shaft, and the third connecting shaft is provided with a second mounting hole extending axially, the third input bevel gear is connected to one end of the fourth connecting shaft, and the other end of the fourth connecting shaft can be inserted into the second mounting hole.

12. The slave end driving device according to claim 7, characterized in that: The slave end drive device also includes a first rotating bevel gear and a second rotating bevel gear meshing with each other, the axis of the second rotating bevel gear is colinear with the axes of the second input bevel gear and the fourth input bevel gear, and the second rotating bevel gear is located on the side of the second input bevel gear away from the fourth input bevel gear.

13. A slave end of an interventional surgery robot, characterized in that: It comprises the slave end driving device as described in any one of claims 1-12.

Images