CN114191101A - Multifunctional slave end driving device of interventional operation robot - Google Patents
Multifunctional slave end driving device of interventional operation robot Download PDFInfo
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- CN114191101A CN114191101A CN202111329455.4A CN202111329455A CN114191101A CN 114191101 A CN114191101 A CN 114191101A CN 202111329455 A CN202111329455 A CN 202111329455A CN 114191101 A CN114191101 A CN 114191101A
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- 230000000694 effects Effects 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 210000004204 blood vessel Anatomy 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
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- 238000002955 isolation Methods 0.000 description 2
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The utility model provides a multi-functional operation robot of interveneeing from end drive arrangement for realize the centre gripping of slim type medical equipment, it includes the support frame, install the extension board of deciding on the support frame, a drive assembly, by a drive assembly drive the extension board that moves of extension board relative motion with deciding the extension board in the first direction, install respectively in two centre gripping groups on deciding the extension board and moving the extension board, a drive assembly drives in the first direction and moves the extension board and is close to or keep away from to deciding the extension board, let the centre gripping group on the extension board of moving and decide the centre gripping group on the extension board mutually support in order to press from both sides tightly or loosen slim type medical equipment. The invention can realize the switching of various operations, can meet different operation requirements of doctors, has good transmission effect, strong practicability, wide application range, compact structure and smaller occupied space, is greatly helpful for the operation of interventional operation, and has stronger popularization significance.
Description
Technical Field
The invention relates to a device in the field of medical robots, in particular to a slave end driving device of a multifunctional interventional operation robot.
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 medical instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital image 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 the doctor can treat a plurality of diseases which cannot be treated in the past, need surgical treatment or internal treatment and have poor curative effect, such as tumors, hemangioma, various kinds of bleeding and the like, 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.
In 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 operated remotely is developed in engineering. The slave end of the master-slave vascular interventional surgical robot can work in an intense radiation environment, and a doctor controls the master end of the master-slave vascular interventional surgical robot through the master end outside a radiation environment.
The interventional operation robot needs a corresponding transmission mechanism to drive in the process of executing the advance and retreat and the rotation of the guide wire (or the catheter), however, for the transmission mechanism of the existing interventional operation robot, the structural design is unreasonable, the transmission direction of the whole transmission mechanism is single, the transmission effect is not good, and the use requirement can not be met. And the whole volume of drive mechanism is too big, is unfavorable for surgical robot spatial layout, in the in-service use process, brings various inconveniences equally, influences the flexibility of using.
Disclosure of Invention
In view of the above, there is a need to provide an improved slave guidewire catheter twirling device for an interventional surgical robot, which overcomes the shortcomings of the prior art.
The utility model provides a multi-functional operation robot of interveneeing from end drive arrangement for realize the centre gripping of slim type medical equipment, it includes the support frame, install the fixed extension board on the support frame, a drive assembly, by a drive assembly drive with fixed extension board relative motion's movable support board in the first direction, install respectively in fixed extension board and movable two centre gripping groups on the extension board, a drive assembly drives alone in the first direction and moves the extension board and be close to or keep away from to fixed extension board, let the centre gripping group on the movable support board and the centre gripping group on the fixed extension board mutually support in order to press from both sides tight or loosen slim type medical equipment.
Furthermore, the driven end driving device of the multifunctional interventional surgical robot further comprises a second driving assembly, the second driving assembly drives the fixed support plate and the movable support plate to move in a direction opposite to the second direction different from the first direction, the fixed support plate and the movable support plate respectively drive the two clamping groups to move in the direction opposite to the second direction in the process of moving in the direction opposite to each other, and then the elongated medical equipment clamped between the two clamping groups is driven to rotate.
Furthermore, the slave-end driving device of the multifunctional interventional surgical robot further comprises a third driving assembly for driving the clamping group, and the third driving assembly drives the clamping group to enable the clamped slender medical equipment to linearly displace along a third direction different from the first direction and the second direction.
Furthermore, when the slave end driving device of the multifunctional interventional surgical robot executes a clamping mode on the slender medical equipment, the first driving assembly drives the two clamping groups to clamp the slender medical equipment in the first direction, and the second driving assembly and the third driving assembly are in a non-working state.
Further, when the slave end driving device of the multifunctional interventional operation robot performs a clamping and delivering mode on the elongated medical device, the first driving assembly drives the two clamping groups to clamp the elongated medical device in the first direction, the third driving assembly delivers or withdraws the clamped elongated medical device, so that the elongated medical device performs a delivering or withdrawing operation, and the second driving assembly is in a non-working state.
Furthermore, when the slave end driving device of the multifunctional interventional operation robot executes a clamping and rotating mode on the slender medical equipment, the first driving assembly drives the two clamping groups to clamp the slender medical equipment in the first direction, the second driving assembly carries out thread rolling on the clamped slender medical equipment, so that the slender medical equipment executes forward rotation or reverse rotation operation along the axis of the slender medical equipment, and the third driving assembly is in a non-working state.
Further, when the slave end driving device of the multifunctional interventional operation robot performs clamping and simultaneous movement and rotation modes on the slender medical equipment, the first driving assembly drives the two clamping groups to clamp the slender medical equipment in the first direction, meanwhile, the second driving assembly performs thread rolling on the clamped slender medical equipment to enable the slender medical equipment to perform forward rotation or reverse rotation operation along the axis of the slender medical equipment, and the third driving assembly delivers or withdraws from the clamped slender medical equipment to enable the slender medical equipment to perform simultaneous movement and rotation operation.
Furthermore, the first direction, the second direction and the third direction are mutually vertical pairwise.
Further, the outer cover is a disposable medical consumable.
Further, the multifunctional interventional surgical robot slave end driving device is fixedly installed on the interventional surgical robot slave end.
In summary, the slave-end driving device of the multifunctional interventional surgical robot drives the two clamping groups to perform clamping, thread rolling rotation, moving delivery and simultaneous thread rolling rotation and moving delivery operations through the first driving assembly, the second driving assembly and the third driving assembly, so that switching of various operations is realized, different operation requirements of doctors can be met, and the multifunctional interventional surgical robot has the advantages of good transmission effect, strong practicability, wide application range, compact structure, small occupied space, great help for interventional operation and strong popularization significance.
Drawings
FIG. 1 is a schematic structural diagram of a slave-end driving device of a multifunctional interventional surgical robot according to the present invention;
FIG. 2 is a schematic view of the multi-functional interventional surgical robot of FIG. 1 with the outer cover removed from the end drive;
FIG. 3 is a schematic view of the multi-functional interventional surgical robot of FIG. 1 from another angle after removal of the housing from the end drive;
FIG. 4 is a schematic structural view of the multifunctional interventional surgical robot shown in FIG. 2 with the linkage wheel and the first drive motor further removed from the end drive device;
fig. 5 is a front view of the slave-end driving device of the multifunctional interventional surgical robot shown in fig. 4.
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 multifunctional slave-end driving device for an interventional surgical robot, which is installed on a slave end of the interventional surgical robot, and pushes a slender medical device (a guide wire or a catheter) 100 to perform operations of clamping, rotating and delivering, wherein the slender medical device (the guide wire or the catheter) 100 moves into a body of a surgical patient (specifically, a blood vessel in the body) in a forward rotation manner and moves out of the body of the surgical patient in a reverse rotation manner, so as to deliver or withdraw the slender medical device 100. In this embodiment, the multifunctional slave end driving device of the interventional surgical robot is fixedly installed on the slave end of the interventional surgical robot, and is located at the far end of the slave end of the interventional surgical robot. In other embodiments, the multi-functional interventional surgical robot slave end drive device is slidably mounted on the interventional surgical robot slave end.
The multifunctional slave-end driving device of the interventional surgical robot comprises a supporting frame 10, a fixed support plate 20 arranged on the supporting frame 10, a movable support plate 30 moving relative to the fixed support plate 20 in a first direction, two clamping groups 70 respectively arranged on the fixed support plate 20 and the movable support plate 30, a first driving component 40 driving the movable support plate 30 to approach or leave from the fixed support plate 20 in the first direction, a second driving component 50 driving the fixed support plate 20 and the movable support plate 30 to move in opposite directions in a second direction, and a third driving component 60 arranged on the fixed support plate 20 and connected with the clamping groups 70 arranged on the fixed support plate 20, wherein when the movable support plate 30 approaches or leaves from the fixed support plate 20 in the first direction, the clamping groups 70 arranged on the movable support plate 30 and the clamping groups 70 arranged on the fixed support plate 20 are matched with each other to clamp or loosen the slender medical equipment 100, the third driving component 60 drives the clamping groups 70 arranged on the fixed support plate 20 and the clamping groups 70 arranged on the movable support plate 30 to move synchronously, thereby allowing the clamped elongated medical device 100 to be delivered or withdrawn in a third direction different from the first and second directions. In this embodiment, the first direction, the second direction and the third direction are mutually perpendicular to each other two by two.
The support frame 10 comprises a bottom plate 11, a support plate 12 and a guide block 13 which are arranged on the bottom plate 11, two fixed blocks 14 connected to the inner side surface of the support plate 12, and two guide rods 15 fixed along a second direction, wherein the guide rods 15 are parallel to each other, a limit column 21 is arranged at the bottom of the fixed support plate 20, a movable groove extending inwards is formed in the end position of the limit column 21, when the fixed support plate 20 is installed in a matched manner with the support frame 10, one guide rod 15 of the support frame 10 extends into the movable groove, the limit column 21 can be adjusted in the second direction along the guide rod 15, the guide rod 15 extends into the innermost end position of the movable groove, and the guide rod 15 matched with the guide rod 15 supports the whole positioning plate 20. In this embodiment, the two guide rods 15 are fixed on the bottom plate 11 of the support frame 10.
The first driving assembly 40 includes a connecting plate 42 and a limiting rod 43 mounted on the connecting plate 42 along the second direction, the end of the limiting rod 43 penetrates through the movable support plate 30, so that the movable support plate 30 can be adjusted along the limiting rod 43 along the second direction, a guide pin 421 is convexly disposed at the bottom of the connecting plate 42, the guide pin 421 penetrates through the guide block 13 along the first direction, and the connecting plate 42 of the first driving assembly 40 can slide along the first direction on the bottom plate 11 of the support frame 10 through the cooperation of the guide pin 421 and the guide block 13. The first driving assembly 40 further includes an electromagnetic driver 41, the electromagnetic driver 41 is connected with the connecting plate 42 of the first driving assembly 40 in a direct or indirect manner, and by adjusting an opening/closing state of the electromagnetic driver 41, the movable support plate 30 on the first driving assembly 40 is driven to move towards or away from the fixed support plate 20 along a first direction, so that the clamping group 70 mounted on the movable support plate 30 and the clamping group 70 mounted on the fixed support plate 20 are clamped or released. In this embodiment, the electromagnetic driver 41 is mounted on the bottom plate 11 of the supporting frame 10.
It is understood that in the present embodiment, the electromagnetic driver 41 is used to drive the two clamping groups 70 to perform the clamping or unclamping actions, and in other embodiments, the first driving assembly 40 may also be in the form of a motor that drives the movable support 30 to slide, for example, the motor drives the rack to slide through a gear, so that the connecting plate 42 for mounting the rack slides synchronously to clamp or unclamp the two clamping groups 70.
The present invention further includes a detecting device 80, in this embodiment, the detecting device 80 is a grating sensor, the grating sensor includes a grating ruler 82 and a grating reading head 81, the grating ruler 82 is installed on the bottom plate 11 of the supporting frame 10 along a first direction, and the grating reading head 81 is installed on the connecting plate 42 and faces the grating ruler 82. When the first driving assembly 40 drives the two clamping groups 70 to clamp the elongated medical device 100, the grating sensor is used to acquire the relative displacement, and the measurement result is transmitted to the system controller and converted into the diameter of the elongated medical device 100.
The second driving assembly 50 includes two sliding seats 54 disposed opposite to each other, a linkage wheel 53 disposed between the two sliding seats 54 and allowing the two sliding seats 54 to synchronously move in opposite directions along a second direction, and a first driving motor 51 driving the linkage wheel 53 to rotate, wherein the circumferential surface of the linkage wheel 53 is provided with a latch, in this embodiment, the first driving motor 51 is connected to and drives the linkage wheel 53 through a gear set 52 to realize power transmission, and in other embodiments, the first driving motor 51 may also be directly connected to the linkage wheel 53.
Each sliding seat 54 comprises a sliding rod 542 and a driving rack 541 connected to the sliding rod 542, and the driving racks 541 on the two sliding seats 54 are oppositely arranged and simultaneously engaged with the latch on the circumferential surface of the linkage wheel 53 through the latch. The sliding rod 542 passes through the corresponding fixed block 14 in the second direction, so that the sliding seats 54 can slide in the second direction, and when the first driving motor 51 drives the linkage wheel 53 to rotate through the gear set 52, the linkage wheel 53 drives the two sliding seats 54 to move in opposite directions synchronously during the rotation process.
The two slide seats 54 are respectively matched with the movable support plate 30 and the fixed support plate 20, wherein the bottom of the fixed support plate 20, which faces away from the corresponding clamping group 70, is provided with a connector 22, the slide seat 54 matched with the fixed support plate 20 is provided with a fixing head 543, the connector 22 and the fixing head 543 are connected and fixed through a fixing pin 23, the bottom of the movable support plate 30, which faces away from the clamping group 70, is provided with an adjusting head 31, one side of the adjusting head 31, which is close to the slide seat 54 matched with the fixed support plate 20, is provided with a long adjusting groove 32 extending along a first direction, the slide seat 54 matched with the fixed support plate 20 is provided with a slide column 544, the slide column 544 of the slide seat 54 passes through the adjusting groove 32, and when the first driving component 40 drives the clamping group 70 installed on the movable support plate 30 to clamp or loosen the long and thin medical device 100 together with the clamping group 70 installed on the fixed support plate 20, the slide column 544 is matched with the adjusting groove 32 at different positions in the first direction, the spool 544 switches from a clamped position or an undamped position within the positioning slot 32. By arranging the long positioning slot 32, the movable support plate 30 can move relative to the corresponding slide seat 54 in the process of moving along the first direction, so that the two clamping groups 70 clamp the long and thin medical equipment 100, after clamping is completed, the second driving assembly 50 drives the two driving racks 541 to move in opposite directions through the linkage wheel 53, the two sliding rods 542 synchronously slide relative to the corresponding fixed block 14, the fixed support plate 20 and the movable support plate 30 connected to the two sliding rods 542 slide relative to the guide rod 15 and the limiting rod 43 respectively, and the two clamping groups 70 can be further driven to perform thread rolling action (i.e. the long and thin medical equipment 100 is driven to rotate in the forward or reverse direction). In this embodiment, the positioning groove 32 is an open groove, which is convenient for disassembly, replacement and maintenance. Of the two guide rods 15, one guide rod 15 is fixed to the electromagnetic actuator 41, the other guide rod 15 is inserted into a fixed block 14, and a sliding rod 542 of the sliding base 54, which is matched with the fixed support plate 20, passes through the fixed block 14.
The third driving assembly 60 is mounted on the fixed support plate 20, the third driving assembly 60 and the clamping groups 70 mounted on the fixed support plate 20 realize power transmission, each clamping group 70 includes a plurality of rotating shafts 72 distributed side by side and a roller 71 mounted on each rotating shaft 72, the rotating shafts 72 of the two clamping groups 70 are mounted on the fixed support plate 20 and the movable support plate 30 through bearings, and the rotating shafts 72 can rotate around the axes thereof. The third driving assembly 60 includes a second driving motor 61, a gear set 62 and a delivery gear 63, the delivery gear 63 is mounted on the clamping set 70 on the fixed support plate 20, the second driving motor 61 is mounted on the fixed support plate 20, and the gear set 62 of the third driving assembly 60 is connected to the second driving motor 61 and the delivery gear 63. When the clamping group 70 on the movable support plate 30 and the clamping group 70 on the fixed support plate 20 clamp the elongated medical device 100, the second driving motor 61 of the third driving assembly 60 drives the rotating shaft 72 installed on the fixed support plate 20 and in power connection therewith and the roller 71 installed on the rotating shaft 72 to rotate together, and the roller 71 cooperates with the rotating shaft 72 and the roller 71 on the other clamping group 70 to rotate together in the rotating process to deliver or withdraw the elongated medical device 100.
It should be understood that in the present embodiment, the third driving component 60 is mounted on the fixed support plate 20 and is in power connection with the clamping group 70 mounted on the fixed support plate 20, in other embodiments, the third driving component 60 may also be mounted on the movable support plate 30 and is in power connection with the clamping group 70 mounted on the movable support plate 30, and of course, two sets of the third driving components 60 may also be used to respectively drive the two clamping groups 70 to rotate synchronously. In addition, the invention further comprises an outer cover 90, the outer cover 90 is matched with the support frame 10, the fixed support plate 20, the movable support plate 30, the clamping groups 70, the first driving assembly 40, the second driving assembly 50 and the third driving assembly 60 are subjected to aseptic isolation, through holes 91 are respectively formed in two sides of the outer cover 90 so that the slender medical equipment 100 can pass through the through holes 91, the through holes 91 formed in the two sides of the outer cover 90 are oppositely arranged along the third direction, and the slender medical equipment 100 passing through the through holes 91 formed in the two sides of the outer cover passes through the space between the two clamping groups 70. The specific structure of the cover 90 can be seen in the patent names: an interventional surgical robot slave end driving device with a protection and isolation function, and the following patent application numbers: 202111018209.7, the entire contents of which are incorporated herein by reference. The housing 90 may include a first housing for housing and a second housing sleeved on the first housing, and the second housing may be a disposable medical consumable. In addition, the present invention also includes a force detection device for detecting the amount of resistance when the elongated medical device 100 is delivered or withdrawn in a third direction, and the specific structure of the force detection device can be found in the patent names: an interventional surgical robot slave end guide wire catheter driving device with force detection function, patent application number: 202111010059.5, the entire contents of which are incorporated herein by reference.
In other embodiments, the clamping set 70 mounted on the stationary supporting plate 20 and the clamping set 70 mounted on the movable supporting plate 30 can be detachably mounted by a manual snap, so as to be conveniently detached and replaced. In addition, the clamping group 70 or the roller 71 thereof may be a disposable medical consumable.
When the slave end driving device of the multifunctional interventional operation robot works, at least the following four modes can be executed on the medical equipment 100 according to the use requirement:
1. in the clamping mode, the first driving assembly 40 drives the two clamping groups 70 to clamp the elongated medical device 100 in a first direction, so as to initially position the elongated medical device 100;
2. a clamping and delivery mode, in which the third drive assembly 60 delivers the clamped elongated medical device 100, causing the elongated medical device 100 to perform delivery and withdrawal operations;
3. in the clamping and rotating mode, the second driving assembly 50 performs thread rolling on the clamped slender medical device 100, so that the slender medical device 100 performs forward rotation or reverse rotation along the axis thereof;
4. in the clamping and simultaneous movement and rotation mode, the second driving assembly 50 performs thread rolling on the clamped slender medical device 100 to make the slender medical device 100 perform forward rotation or reverse rotation along the axis thereof, and meanwhile, the third driving assembly 60 delivers the clamped slender medical device 100 to make the slender medical device 100 perform simultaneous movement and rotation.
In summary, the slave-end driving device of the multifunctional interventional surgical robot drives the two clamping groups 70 to perform the operations of clamping, thread rolling rotation, moving delivery, and simultaneously thread rolling rotation and moving delivery by the first driving assembly 40, the second driving assembly 50, and the third driving assembly 60, so that the switching of various operations is realized, different operation requirements of doctors can be met, and the multifunctional interventional surgical robot has the advantages of good transmission effect, strong practicability, wide application range, compact structure, small occupied space, great help for the operation of interventional surgery, and strong popularization significance.
In the present invention, the first direction, the second direction, and the third direction are bidirectional. For example, when the first direction is a horizontal direction, it includes both a leftward direction and a rightward direction; when the second direction is a vertical direction, the second direction includes both an upward direction and a downward direction; when the third direction is perpendicular to both the first direction and the second direction, the third direction includes a forward direction and a backward direction.
In addition, the clamped and undamped positions are variable. For example, the clamping position may vary depending on the diameter of the guide wire catheter clamped between the two clamping groups 70, and the clamping position may vary slightly depending on the magnitude of the clamping force.
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 (10)
1. The utility model provides a multi-functional operation robot of interveneeing from end drive arrangement for realize the centre gripping of slim type medical equipment, a serial communication port, including the support frame, install the fixed extension board on the support frame, a drive assembly, by a drive assembly drive with fixed extension board relative motion's movable support board in the first direction, install respectively in fixed extension board and two centre gripping groups on the movable support board, a drive assembly drives movable support board in the first direction and is close to or keeps away from to fixed extension board, let the centre gripping group on the movable support board and the centre gripping group on the fixed extension board mutually support in order to press from both sides tightly or loosen slim type medical equipment.
2. A multifunctional interventional surgical robotic slave-end drive device according to claim 1, wherein: the multifunctional interventional surgical robot slave end driving device further comprises a second driving assembly, the second driving assembly drives the fixed support plate and the movable support plate to move in a mutually reverse direction in a second direction different from the first direction, the fixed support plate and the movable support plate respectively drive the two clamping groups to move in a mutually reverse direction in the second direction in the mutually reverse movement process, and then the slender medical equipment clamped between the two clamping groups is driven to rotate.
3. A multifunctional interventional surgical robotic slave-end drive device according to claim 2, wherein: the multifunctional interventional surgical robot slave end driving device further comprises a third driving assembly used for driving the clamping group, and the third driving assembly drives the clamping group to enable the clamped slender medical equipment to linearly displace along a third direction different from the first direction and the second direction.
4. A multifunctional interventional surgical robotic slave-end drive device according to claim 3, wherein: when the multifunctional interventional operation robot carries out a clamping mode on the slender medical equipment from the end driving device, the first driving assembly drives the two clamping groups to clamp the slender medical equipment in the first direction, and the second driving assembly and the third driving assembly are in a non-working state.
5. A multifunctional interventional surgical robotic slave-end drive device according to claim 3, wherein: when the slave end driving device of the multifunctional interventional operation robot carries out clamping and delivery modes on the slender medical equipment, the first driving assembly drives the two clamping groups to clamp the slender medical equipment in the first direction, the third driving assembly carries out delivery or withdrawal on the clamped slender medical equipment, the slender medical equipment is enabled to carry out delivery or withdrawal operation, and the second driving assembly is in a non-working state.
6. A multifunctional interventional surgical robotic slave-end drive device according to claim 3, wherein: when the slave end driving device of the multifunctional interventional operation robot executes a clamping and rotating mode on a slender medical device, the first driving assembly drives the two clamping groups to clamp the slender medical device in a first direction, the second driving assembly carries out thread rolling on the clamped slender medical device, the slender medical device is enabled to execute positive rotation or reverse rotation operation along the axis of the slender medical device, and the third driving assembly is in a non-working state.
7. A multifunctional interventional surgical robotic slave-end drive device according to claim 3, wherein: when the slave end driving device of the multifunctional interventional operation robot carries out clamping and simultaneous movement and rotation modes on the slender medical equipment, the first driving assembly drives the two clamping groups to clamp the slender medical equipment in the first direction, the second driving assembly carries out thread rolling on the clamped slender medical equipment to enable the slender medical equipment to carry out forward rotation or reverse rotation operation along the axis of the slender medical equipment, and the third driving assembly carries out delivery or withdrawal on the clamped slender medical equipment to enable the slender medical equipment to carry out simultaneous movement and rotation operation.
8. A multifunctional interventional surgical robotic slave-end drive device according to claim 3, wherein: the first direction, the second direction and the third direction are mutually vertical pairwise.
9. A multifunctional interventional surgical robotic slave-end drive device according to claim 8, wherein: the outer cover is a disposable medical consumable.
10. A multifunctional interventional surgical robotic slave-end drive device according to claim 1, wherein: the multifunctional interventional operation robot slave end driving device is fixedly arranged on the interventional operation robot slave end.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111329455.4A CN114191101A (en) | 2021-11-10 | 2021-11-10 | Multifunctional slave end driving device of interventional operation robot |
| PCT/CN2022/094225 WO2023082592A1 (en) | 2021-11-10 | 2022-05-20 | Multifunctional interventional surgical robot slave-end driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111329455.4A CN114191101A (en) | 2021-11-10 | 2021-11-10 | Multifunctional slave end driving device of interventional operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN114191101A true CN114191101A (en) | 2022-03-18 |
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|---|---|---|---|
| CN202111329455.4A Pending CN114191101A (en) | 2021-11-10 | 2021-11-10 | Multifunctional slave end driving device of interventional operation robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114191101A (en) |
| WO (1) | WO2023082592A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| Publication number | Publication date |
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| WO2023082592A1 (en) | 2023-05-19 |
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