CN113693734A - From end intervention operation robot drive arrangement with fast traffic function - Google Patents
From end intervention operation robot drive arrangement with fast traffic function Download PDFInfo
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- CN113693734A CN113693734A CN202111146744.0A CN202111146744A CN113693734A CN 113693734 A CN113693734 A CN 113693734A CN 202111146744 A CN202111146744 A CN 202111146744A CN 113693734 A CN113693734 A CN 113693734A
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims abstract description 18
- 238000000926 separation method Methods 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims abstract description 3
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011241 protective layer Substances 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 201000011066 hemangioma Diseases 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a from end intervention operation robot drive arrangement with fast function of handing over, includes the drive seat, the drive seat including the shell main part that has the installation face and install in the device is handed over soon of installation face, the device is handed over soon includes just to driven device and the drive arrangement that sets up, forces the separating mechanism of driven device and the separation of drive arrangement, when will be in when centre gripping microscler medical instrument between driven device and the drive arrangement, the drive separating mechanism lets driven device and drive arrangement separate, when microscler medical instrument arranges in between driven device and the drive arrangement, driven device and drive arrangement mutually support to centre gripping medical instrument and drive microscler medical instrument displacement. The invention has flexible structure, can quickly finish the disassembly and assembly of medical instruments on the quick-handing device and saves the operation time.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a drive device of a slave-end interventional surgical robot with a quick-transit function.
Background
Interventional therapy is a minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, and the incision (puncture point) of the doctor is only rice grain in size, so that a plurality of diseases which cannot be treated in the past and have poor curative effect such as tumors, hemangiomas, various kinds of bleeding and the like can be treated without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
For the blood vessel interventional operation, doctors need to receive X-ray radiation for a long time, and therefore, a master-slave blood vessel interventional operation robot for remote operation is developed in engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment.
The operation robot is at the in-process of carrying out the operation, for realizing quick replacement medical equipment, generally can set up the fast handing over structure on drive arrangement, but the fast handing over structure of current equipment receives the influence of project organization, and the structure is not nimble enough, and medical instrument is not convenient for the dismouting on the fast handing over mechanism, brings the puzzlement for the operator.
Disclosure of Invention
In view of the above, it is necessary to provide a novel drive device for a slave-end interventional surgical robot with a quick-transit function, which overcomes the disadvantages of the prior art.
The utility model provides a from end intervention operation robot drive arrangement with fast function of handing over, its includes the drive seat, the drive seat including the shell main part that has the installation face and install in the device is handed over soon of installation face, the device is handed over soon including just to driven device and the drive arrangement that sets up, force the separating mechanism of driven device and drive arrangement separation, when will be in when centre gripping microscler medical instrument between driven device and the drive arrangement, the drive separating mechanism lets driven device and drive arrangement separate, when microscler medical instrument arranges in between driven device and the drive arrangement, driven device and drive arrangement mutually support to centre gripping medical instrument and drive microscler medical instrument displacement.
Furthermore, the separating mechanism comprises a fixed block fixed on the mounting surface and a movable block sliding relative to the fixed block, and the driven device is mounted on the movable block and can leave the driving device along with the movable block.
Furthermore, a pushing block for separating the driven device from the driving device is arranged on the movable block.
Furthermore, the separating mechanism further comprises a guide shaft which is arranged on the fixed block and allows the movable block to slide, and a spring which is arranged between the fixed block and the movable block and allows the driven device and the driving device to be matched with each other.
Furthermore, the separating mechanism further comprises an installation shaft arranged on the movable block, the driven device is a driven wheel rotatably arranged on the installation shaft, and the driving device comprises a driving shaft arranged on the installation surface and a driving wheel arranged on the driving shaft and corresponding to the driven wheel.
Furthermore, the mounting shaft is provided with a connecting plate for separating the driven wheel and the driving wheel.
Furthermore, the quick-crossing device also comprises a conversion device and a gear set, wherein the conversion device drives the driving device to rotate through the gear set.
Furthermore, the driving device also comprises a driving gear arranged on the driving shaft, and the gear set is meshed with the driving gear of the driving device.
Furthermore, the gear set comprises a connecting shaft penetrating through the mounting surface, and a first gear and a second gear which are arranged at two ends of the connecting shaft, wherein the first gear is positioned on the mounting surface and meshed with the driving gear, and the second gear is positioned on the back surface of the mounting surface.
Further, the conversion device comprises an installation frame installed on the back surface of the installation surface, a rotating shaft installed on the installation frame and capable of rotating on the installation frame, an input gear and an output gear connected to two ends of the rotating shaft, and the output gear is meshed with the second gear.
Furthermore, the drive device of the slave intervention surgical robot with the quick-handing function further comprises a power seat provided with a main drive gear, and when the drive seat is installed on the power seat, the main drive gear is meshed with the input gear.
Further, the main driving gear, the input gear and the output gear are all bevel gears.
Further, the shell main part is equipped with the butt joint groove with power seat complex one end, the drive seat can remove the cooperation installation through butt joint groove and power seat.
In conclusion, the drive device of the slave-end interventional surgical robot with the quick-handing function is provided with the separation mechanism, the driven device is arranged on the separation mechanism, and an operator can manually drive the separation mechanism to separate the driven device from the driving device so as to place or take out medical instruments.
Drawings
FIG. 1 is a schematic structural view of a driving base and a power base of a driving device of a slave-end interventional surgical robot with a quick-transit function according to the present invention when assembled;
FIG. 2 is a schematic structural view of the first driving seat and the power seat shown in FIG. 1 at another angle during assembly;
FIG. 3 is a schematic structural view of the driving base of the present invention after the outer box is opened;
FIG. 4 is a schematic structural view of a quick-cross apparatus on the driving seat shown in FIG. 3;
fig. 5 is a schematic structural view of the fast crossing device shown in fig. 4 at another angle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 5, the present invention provides a drive device for a slave-end interventional surgical robot with a quick-handing function, which is installed on a slave-end robot to implement a delivery operation of a medical device 100, and the drive device for a slave-end interventional surgical robot with a quick-handing function includes a power base 10 and a drive base 20, wherein the drive base 20 can be freely detached from the power base 10, so as to detach or install the drive base 20 from the power base 10 according to actual use requirements, and the drive base 20 is a disposable consumable and cannot be reused, and the medical device 100 can be different types of guide wires or catheters (such as microcatheter, balloon catheter, etc.).
The driving seat 20 comprises a shell body 21 with a mounting surface 22 and a quick-cross device 30 mounted on the mounting surface 22, wherein a butt joint groove 211 is formed in one end, matched with the power seat 10, of the shell body 21, the driving seat 20 is manually and removably installed in a matched manner with the power seat 10 through the butt joint groove 211, and the quick-cross device 30 comprises a driven device 32 and a driving device 31 which are oppositely arranged, and a separation mechanism 33 forcing the driven device 32 and the driving device 31 to be separated.
The separating mechanism 33 includes a fixed block 331 fixed on the mounting surface 22, a movable block 332 located on the fixed block 331 and sliding relative to the fixed block 331, a guide shaft 335 installed on the fixed block 331 and slidably guiding the movable block 332, a spring disposed between the fixed block 331 and the movable block 332 and allowing the driven device 32 and the driving device 31 to cooperate with each other, and a mounting shaft 334 installed on the movable block 332, wherein the driven device 32 is installed on the movable block 332 and can leave the driving device 31 along with the movable block 332. In this embodiment, the driving device 31 includes a driving shaft 312 mounted on the mounting surface 22, a driving wheel 311 mounted on an end of the driving shaft 312 and disposed corresponding to the driven wheel 321, and a driving gear 313 mounted on the driving shaft 312. The driven device 32 is a driven wheel 321 rotatably mounted on a mounting shaft 334, the movable block 332 is provided with a push block 333 for manually separating the driven device 32 from the driving device 31, and the mounting shaft 334 is provided with a connecting plate 336 for manually separating the driven wheel 321 from the driving wheel 311. The outer surfaces of the driven wheel 321 and the driving wheel 311 are attached with protective layers, and the protective layers may be made of silica gel or latex materials, such as materials used for manufacturing gloves for doctors.
The quick-exchanging device 30 further comprises a switching device 34 and a gear set 35, wherein the switching device 34 drives the driving device 31 to rotate through the gear set 35, and the gear set 35 is meshed with the driving gear 313 of the driving device 31. Specifically, the gear set 35 includes a connecting shaft 351 penetrating the mounting surface 22, and a first gear 352 and a second gear 353 mounted at two ends of the connecting shaft 351, the first gear 352 is located on the mounting surface 22 and meshed with the driving gear 313, the second gear 353 is located at the back of the mounting surface 22, and the second gear 353 is connected to the conversion device 34.
The conversion device 34 includes a mounting frame 341 mounted on the back surface of the mounting surface 22, a rotating shaft 342 mounted on the mounting frame 341 and rotatable on the mounting frame 341, an input gear 343 and an output gear 344 connected to both ends of the rotating shaft 342, wherein the output gear 344 is engaged with the second gear 353. The power base 10 comprises a main driving motor 11 and a main driving gear 12 connected to the main driving motor 11, when the driving base 20 is installed on the power base 10, the main driving gear 12 is engaged with the input gear 343, and in order to change the power transmission direction in the vertical direction, the main driving gear 12, the input gear 343, and the output gear 344 are all bevel gears.
The driving seat 20 is installed on the power seat 10, and the main driving gear 12 on the power seat 10 is meshed with the input gear 343 on the driving seat 20 to realize power transmission. When the elongated medical device 100 is to be clamped between the driven device 32 and the driving device 31, the pushing block 333 or the connecting plate 336 is pressed outward, the driven device 32 and the driving device 31 are in a separated state, and the spring further elastically contracts. Then, the elongated medical device 100 is placed between the driven device 32 and the driving device 31, the pushing block 333 is released, the spring pushes the movable block 332 and the driven wheel 321 indirectly connected to the movable block 332, and the driven wheel 321 is pressed on the driving wheel 311 to clamp the elongated medical device 100. The driving gear 12 of the power base 10 drives the driving wheel 311 to rotate through the switching device 34 and the gear set 35, and since the long medical device 100 is clamped between the driving wheel 311 and the driven wheel 321, the driving wheel 311 synchronously drives the long medical device 100 to deliver or withdraw when rotating, and the driven wheel 321 rotates along with the driving wheel.
In summary, the driving device of the end-to-end interventional surgical robot with a quick-handing function of the present invention is provided with the separating mechanism 33, the driven device 32 is mounted on the separating mechanism 33, and the operator can manually drive the separating mechanism 33 to separate the driven device 32 from the driving device 31 for placing or taking out the medical instrument 100.
The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.
Claims (13)
1. The utility model provides a from end intervention operation robot drive arrangement with fast handing over function, its characterized in that, includes the drive seat, the drive seat including the shell main part that has the installation face and install in the device is handed over soon of installation face, the device is handed over soon including just driven device and the drive arrangement that sets up, compels the separating mechanism of driven device and drive arrangement separation, when will be in when centre gripping microscler medical instrument between driven device and the drive arrangement, the drive separating mechanism lets driven device and drive arrangement separate, when microscler medical instrument is arranged in between driven device and the drive arrangement, driven device and drive arrangement mutually support to centre gripping medical instrument and drive microscler medical instrument displacement.
2. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 1, wherein: the separation mechanism comprises a fixed block fixed on the mounting surface and a movable block sliding relative to the fixed block, and the driven device is mounted on the movable block and can leave the driving device along with the movable block.
3. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 2, wherein: and the movable block is provided with a push block for separating the driven device from the driving device.
4. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 2, wherein: the separating mechanism also comprises a guide shaft which is arranged on the fixed block and allows the movable block to slide, and a spring which is arranged between the fixed block and the movable block and allows the driven device and the driving device to be matched with each other.
5. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 4, wherein: the separating mechanism further comprises an installation shaft arranged on the movable block, the driven device is a driven wheel rotatably arranged on the installation shaft, and the driving device comprises a driving shaft arranged on the installation surface and a driving wheel arranged on the driving shaft and corresponding to the driven wheel.
6. A slave-end-intervention surgical robot drive device with a fast-transit function, according to claim 5, wherein: and the mounting shaft is provided with a connecting plate for separating the driven wheel and the driving wheel.
7. A slave-end-intervention surgical robot drive device with a fast-transit function, according to claim 5, wherein: the quick-crossing device further comprises a conversion device and a gear set, wherein the conversion device drives the driving device to rotate through the gear set.
8. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, according to claim 7, wherein: the driving device also comprises a driving gear arranged on the driving shaft, and the gear set is meshed with the driving gear of the driving device.
9. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, according to claim 8, wherein: the gear set comprises a connecting shaft penetrating through the mounting surface, and a first gear and a second gear which are arranged at two ends of the connecting shaft, the first gear is positioned on the mounting surface and meshed with the driving gear, and the second gear is positioned on the back of the mounting surface.
10. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, according to claim 9, wherein: the conversion device comprises a mounting frame arranged on the back surface of the mounting surface, a rotating shaft arranged on the mounting frame and capable of rotating on the mounting frame, an input gear and an output gear, wherein the input gear and the output gear are connected to two ends of the rotating shaft, and the output gear is meshed with the second gear.
11. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, as recited in claim 10, wherein: the drive device of the slave intervention operation robot with the quick delivery function further comprises a power seat provided with a main drive gear, and when the drive seat is installed on the power seat, the main drive gear is meshed with the input gear.
12. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, as recited in claim 11, wherein: the main driving gear, the input gear and the output gear are all bevel gears.
13. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, as recited in claim 11, wherein: the shell main part is equipped with the butt joint groove with power seat complex one end, drive seat can remove the cooperation installation through butt joint groove and power seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111146744.0A CN113693734A (en) | 2021-09-28 | 2021-09-28 | From end intervention operation robot drive arrangement with fast traffic function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111146744.0A CN113693734A (en) | 2021-09-28 | 2021-09-28 | From end intervention operation robot drive arrangement with fast traffic function |
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| Publication Number | Publication Date |
|---|---|
| CN113693734A true CN113693734A (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111146744.0A Pending CN113693734A (en) | 2021-09-28 | 2021-09-28 | From end intervention operation robot drive arrangement with fast traffic function |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023050821A1 (en) * | 2021-09-28 | 2023-04-06 | 深圳市爱博医疗机器人有限公司 | Detachable slave interventional surgical robot driving device |
| WO2023142292A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Slave-end power base of interventional surgical robot |
| WO2023142293A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Slave end driving seat of interventional surgical robot |
-
2021
- 2021-09-28 CN CN202111146744.0A patent/CN113693734A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023050821A1 (en) * | 2021-09-28 | 2023-04-06 | 深圳市爱博医疗机器人有限公司 | Detachable slave interventional surgical robot driving device |
| WO2023142292A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Slave-end power base of interventional surgical robot |
| WO2023142293A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Slave end driving seat of interventional surgical robot |
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| CB02 | Change of applicant information |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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