CN114224493A - Intervene operation robot from end drive arrangement and consumptive material module - Google Patents
Intervene operation robot from end drive arrangement and consumptive material module Download PDFInfo
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- CN114224493A CN114224493A CN202111571932.8A CN202111571932A CN114224493A CN 114224493 A CN114224493 A CN 114224493A CN 202111571932 A CN202111571932 A CN 202111571932A CN 114224493 A CN114224493 A CN 114224493A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000013011 mating Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
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- 230000007774 longterm 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
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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
- 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
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
This specification provides a intervene surgical robot from end drive arrangement and consumptive material module, and the device includes: a push assembly comprising: a housing configured with a delivery channel; at least one pair of driving members disposed within the housing and disposed on both sides of the delivery channel in a direction along an axis perpendicular to the delivery channel; the first power source is arranged in the shell and used for driving at least one of the pair of driving pieces to rotate; a rotating assembly, comprising: a rotating member fixed relative to the housing; a second power source for rotating the rotating member about the axis of the delivery channel; an auxiliary assembly comprising: the stator and the active cell rotating relative to the stator are connected with a cable of the first power source. The application provides an intervene surgical robot from end drive arrangement and consumptive material module, wherein, push assembly and rotating assembly can act on pipe/seal wire alone, also can act on pipe/seal wire simultaneously, and power transmission does not influence each other, and the precision is high.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a slave end driving device and a consumable module of an interventional operation robot.
Background
Catheters, as well as guidewires, are useful in many minimally invasive medical procedures for the diagnosis and treatment of various vascular diseases. Manual insertion of a catheter or guidewire into a patient by a physician is a relatively conventional surgical procedure.
However, when the above-described procedure requires X-rays from DSA equipment to be performed, the doctor is exposed to a large amount of radiation, which may be harmful to the health of the doctor in long-term work. To reduce X-ray radiation to the physician, the catheter or guidewire may be driven by an interventional surgical robotic system and delivered to a desired location within the patient under the remote control of the physician.
In the prior art, at the slave end part of the known interventional surgical robot, axial movement and rotational movement of the catheter/guide wire are respectively driven by a pushing mechanism and a rotating mechanism, and specifically, see patents with publication numbers CN112353491B, CN211723416U, CN112120792A, FR3022147B1, CN107847279A, etc. In the above patent, the pushing mechanism and the rotating mechanism for controlling the catheter or the guide wire are two independent parts, and the pushing mechanism and the rotating mechanism are easy to interfere with each other in the power transmission process, so that the catheter/the guide wire cannot be pushed in the rotating process, or the catheter/the guide wire cannot be rotated in the pushing process, which causes certain limitation on the application of the interventional operation.
Disclosure of Invention
In order to solve the technical problem that exists among the prior art, this application provides an intervene surgical robot from end drive arrangement and consumptive material module, and push assembly and rotating assembly can act on pipe/seal wire alone, also can act on pipe/seal wire simultaneously, and power transmission does not have the influence each other, and the precision is high.
In order to achieve the above purpose, the technical solution provided by the present application is as follows:
a slave-end drive device of an interventional surgical robot, comprising:
a push assembly comprising: a housing configured with a delivery channel; at least one pair of drives disposed within the housing and disposed on either side of the delivery channel in a direction along an axis perpendicular to the delivery channel; the first power source is arranged in the shell and is used for driving at least one of the pair of driving pieces to rotate;
a rotating assembly, comprising: a rotating member fixed relative to the housing; a second power source for rotating the rotating member about the axis of the delivery channel;
an auxiliary assembly comprising: the stator and the active cell rotating relative to the stator are connected with the cable of the first power source.
As a preferred embodiment, the slave end driving device includes: the frame is used for installing the pushing assembly, the rotating assembly and the auxiliary assembly, wherein the rotating member is rotatably arranged on the frame, and the stator is relatively fixedly arranged on the frame.
As a preferred embodiment, the frame has a first side and a second side opposite to each other in the axial direction of the delivery passage, the frame forms an installation space between the first side and the second side, and the pushing assembly is operably disposed in the installation space.
As a preferred embodiment, the frame is provided with a mounting groove at the first side for mounting the stator, and the rotary member is disposed adjacent to the second side and in the mounting space, and the mounting space is formed by the frame being recessed inward from the first side to the second side.
As a preferred embodiment, a first mating portion is provided on the housing of the pushing assembly, and the rotating member is provided with a second mating portion, and the first mating portion and the second mating portion are matched to enable the housing and the rotating member to be rotatably connected.
As a preferred embodiment, a guide member extending outward from the delivery channel is detachably disposed on the housing of the pushing assembly, the guide member is provided with a hollow structure, and through holes adapted to the guide member are disposed on the stator and the mover.
In a preferred embodiment, when the guide member is inserted through the through hole, the axial direction of the hollow structure and the axial direction of the through hole coincide with the axial direction of the delivery passage.
As a preferred embodiment, a strip-shaped groove is formed in the rotating member along the radial direction of the rotating member, a projection is formed on the rotating member along the axis direction of the delivering channel, the strip-shaped groove extends to the position of the projection so as to be used for clamping a guide wire or a guide pipe into the delivering channel from the strip-shaped groove, and a notch communicated with the strip-shaped groove is formed in the position, corresponding to the rotating member, of the rack.
As a preferred embodiment, a terminal is provided at a cable end of the first power source, the housing is provided with an outlet for leading out the terminal, and the mover is provided with a connecting portion adapted to the terminal.
As a preferred embodiment, the pair of driving members includes: the driving wheel is connected with a first clamping gear, the driven wheel is connected with a second clamping gear meshed with the first clamping gear, and the first clamping gear is connected with the first power source through a first transmission assembly.
As a preferred embodiment, the first transmission assembly comprises: the first bevel gear is connected with the output part of the first power source, and the second bevel gear is meshed with the first bevel gear and is relatively fixed with the first clamping gear.
In a preferred embodiment, the rotating member is a rotating gear with an external gear ring, and the rotating member is connected with the output member of the second power source through a second transmission assembly.
A consumable module for an interventional surgical robot, a slave drive device for an interventional surgical robot, the slave drive device comprising: auxiliary assembly and rotating assembly, wherein, auxiliary assembly includes: the rotor is rotated relative to the stator; the rotating assembly includes: the rotating part and a second power source are used for driving the rotating part to rotate; the consumable module includes:
a housing configured with a delivery channel, the housing for relatively fixed connection with the rotating member;
at least one pair of drives disposed within the housing and disposed on either side of the delivery channel in a direction along an axis perpendicular to the delivery channel;
the first power source is arranged in the shell and used for driving at least one of the pair of driving pieces to rotate, and a cable of the first power source is used for being connected with the rotor.
Has the advantages that:
the intervention operation robot that this application embodiment provided is from end drive arrangement and consumptive material module, and seal wire or pipe can place the passageway that delivers in the casing, can drive at least one rotation in a pair of driving piece through first power supply, and then can drive seal wire or pipe axial motion through the frictional force of the mutually supporting production of a pair of driving piece.
When the second power source is started, the rotating part and the shell of the pushing assembly are relatively fixed, so that the whole pushing assembly can be driven to rotate while the rotating part is driven to rotate around the axis of the delivery channel, namely the driving part, the guide wire or the catheter arranged in the delivery channel can rotate along the axis of the delivery channel. Therefore, the driven end driving device and the consumable module can drive the axial movement and the rotary movement of the guide wire or the guide pipe independently, and can drive the guide wire or the guide pipe to rotate while driving the axial movement of the guide wire or the guide pipe.
When the second power source is started to drive the pushing assembly to rotate integrally, the cable of the first power source is connected to the rotor of the auxiliary assembly, and the rotor can rotate relative to the stator, so that relative rotation movement does not exist between the cable and the rotor, the cable of the first power source cannot be wound when the rotation is guaranteed, and smooth rotation is guaranteed.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic structural diagram of a slave-end driving device of an interventional surgical robot provided in an embodiment of the present specification;
fig. 2 is an internal structural view of a slave-end driving device of an interventional surgical robot provided in an embodiment of the present specification;
fig. 3 is a cross-sectional structural view of a slave end driving device of an interventional surgical robot provided in an embodiment of the present specification;
FIG. 4 is a schematic view of an interventional surgical robot consumable module provided in an embodiment of the present disclosure when connected to a rotating member;
description of reference numerals:
1. a push assembly; 11. a housing; 111. a first mating portion; 12. a delivery channel; 13. a first power source; 131. a cable; 132. a terminal; 14. a guide; 15. a driving wheel; 16. a driven wheel; 17. a first clamping gear; 18. a second clamping gear; 19. a driving member fixing plate; 201. a first bevel gear; 202. a second bevel gear; 2. a rotating assembly; 21. a rotating member; 211. a second mating portion; 212. a strip-shaped groove; 22. a second power source; 23. an intermediate gear; 3. an auxiliary component; 31. a stator; 32. a mover; 4. a frame; 41. a notch; 5. a guidewire/catheter.
Detailed Description
While the invention will be described in detail with reference to the drawings and specific embodiments, it is to be understood that these embodiments are merely illustrative of and not restrictive on the broad invention, and that various equivalent modifications can be effected therein by those skilled in the art upon reading the disclosure.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
The slave end driving device and the consumable module of the interventional surgical robot according to the embodiment of the present specification will be explained and explained with reference to fig. 1 to 4. It should be noted that, in the embodiments of the present invention, like reference numerals denote like components. And for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments, and the descriptions of the same components may be mutually referred to and cited.
As used herein, the terms "anterior", "front side" refer to the side of the interventional surgical robot that faces the patient from the end drive and consumable module. The terms "posterior" and "rear" refer to the side of the interventional surgical robot from the end drive and consumable module away from the patient. The terms "advancing", "pushing" or "delivering" refer to the process of moving from the side away from the patient towards the side facing the patient. The term "withdrawal" or "withdrawal" refers to the process of movement from the side facing the patient toward the side away from the patient.
The present specification provides a slave-end driving device of an interventional surgical robot, as shown in fig. 1 to 4, comprising: push subassembly 1 includes: a housing 11, said housing 11 being configured with a delivery channel 12; at least one pair of driving members disposed within the housing 11 and disposed on both sides of the delivery channel 12 in a direction along an axis perpendicular to the delivery channel 12; a first power source 13 disposed in the housing 11 and configured to rotate at least one of the pair of driving members; rotating assembly 2, comprising: a rotary member 21 fixed relative to the housing 11; a second power source 22 for rotating the rotary member 21 about the axis of the delivery passage 12; auxiliary assembly 3, comprising: a stator 31 and a mover 32 rotating relative to the stator 31, wherein the mover 32 is connected to a cable 131 of the first power source 13.
The pushing assembly 1 is provided with a shell 11, the pushing assembly 1 forms an independent module through the shell 11, and the pushing assembly 1 can be integrally installed on a slave end device of the interventional operation robot and also can be integrally detached from the slave end device of the interventional operation robot. When the pushing assembly 1 is used as a stand-alone module, the pushing assembly can be driven to rotate as a whole, and when the pushing assembly 1 is rotated as a whole, the driving member in the housing 11 and the first power source 13 are rotated, and likewise, the guide wire/catheter 5 clamped between the pair of driving members is rotated.
The housing 11 is a hollow structure, which may be square, cylindrical or any other configuration. As shown in fig. 1 and 3, the housing 11 is configured with a delivery channel 12, the delivery channel 12 being an elongated structure, and in use, the guide wire/catheter 5 can be placed in the delivery channel 12 of the housing 11 and clamped between the pair of driving members. At least one of the pair of driving members can be driven to rotate by the first power source 13, and the guide wire/catheter 5 can be driven to move axially by the friction force generated by the mutual matching of the pair of driving members, including the delivery and the retraction of the guide wire/catheter 5.
The delivery channel 12 passes from one side of the housing 11 to the other so that the guide wire/catheter 5 passes through the housing 11. The driving members have at least one pair, and when the driving members have a plurality of pairs, they are arranged along the axial direction of the delivery channel 12. Wherein a pair of driving members are respectively arranged at both sides of the delivery channel 12, preferably symmetrically. The driving member may be a roller structure, and the guide wire/catheter is advanced and retracted by generating friction force through rotation of at least one pair of rollers.
The rotation of the housing 11 is achieved by means of a rotating assembly 2, the rotating assembly 2 comprising: the rotating part 21 and the shell 11 are relatively fixed, and when the rotating part 21 is driven to rotate by the second power source 22, the shell 11 and parts inside the shell 11 can be driven to rotate together.
The first power source 13 is specifically a motor, and is disposed inside the housing 11. When the housing 11 rotates, the first power source 13 and the cable 131 of the first power source 13 rotate, and the cable 131 is likely to be entangled. In order to avoid this, the cable 131 is connected to the mover 32, and since the mover 32 can rotate relative to the stator 31, there is no relative rotational movement between the cable 131 and the mover 32, and it is ensured that the cable 131 of the first power source 13 is not wound during rotation, and smooth rotation is ensured.
In one embodiment, as shown in fig. 2, the pair of driving members includes: the driving wheel 15 is connected with a first clamping gear 17, the driven wheel 16 is connected with a second clamping gear 18 meshed with the first clamping gear 17, and the first clamping gear 17 is connected with the first power source 13 through a first transmission assembly.
In the embodiment, the first power source 13 drives the first clamping gear 17 to rotate and drives the second clamping gear 18 to rotate, and since the first clamping gear 17 is fixedly connected with the driving wheel 15 and the second clamping gear 18 is fixedly connected with the driven wheel 16, the driving wheel 15 and the driven wheel 16 can rotate in opposite directions to cooperate with the delivery or withdrawal of the guide wire/catheter 5.
Further, the first clamping gear 17 may be disposed below the driving wheel 15, and the second clamping gear 18 may be disposed below the driven wheel 16. The first clamp gear 17 and the second clamp gear 18 constitute an external gear pair.
In another embodiment, the pair of driving members includes a pair of rollers, and each roller is driven by a corresponding one of the first power sources 13 to rotate in opposite directions. Alternatively, in other possible embodiments, the pair of driving members includes: the driving wheel and the driven wheel are provided with outer gear rings to realize meshing transmission.
Specifically, the first transmission assembly is disposed in the housing 11, and may include: a first bevel gear 201 connected with the output member of the first power source 13, and a second bevel gear 202 engaged with the first bevel gear 201, wherein the second bevel gear 202 is fixed relative to the first clamping gear 17. Further, the first clamping gear 17 and the second bevel gear 202 are fixed relatively through a connecting shaft, that is, the second bevel gear 202 is fixed at one end of the connecting shaft, and the first clamping gear 17 is fixed at the other end of the connecting shaft. Thus, when the second bevel gear 202 rotates, the connecting shaft and the first clamp gear 17 are rotated.
Of course, in other possible embodiments, the first transmission assembly may also be in other forms as long as the power transmission between the first power source 13 and the first clamping gear 17 can be realized, and this is not limited in this specification.
Further, in order to fix the first power source 13 and the driving member, a driving member fixing plate 19 is further provided inside the housing 11. The driving member fixing plate 19 may have a main surface on which the driving wheel 15, the driven wheel 16, the first clamp gear 17, and the second clamp gear 18 may be disposed. The driver fixation plate 19 is further provided with a side surface, the first power source 13 may be arranged at the side surface, and the first transmission assembly may be arranged between the side surface and the main surface.
In this specification, the rotary member 21 is a rotary gear having an external gear ring, and the rotary member 21 and the output member of the second power source 22 are connected by a second transmission assembly. The second power source 22 may be an electric motor, and the second transmission assembly may be an intermediate gear 23 disposed between an output shaft of the electric motor and the rotary member 21. The second transmission assembly may be in other forms, such as a worm gear transmission mode, a gear engagement transmission mode, as long as the power transmission between the rotating member 21 and the output shaft of the motor can be realized.
In this specification, as shown in fig. 1, the slave end driving apparatus includes: a frame 4 for mounting the pushing assembly 1, the rotating assembly 2 and the auxiliary assembly 3, wherein the rotating member 21 is rotatably disposed on the frame 4, and the stator 31 is relatively fixedly disposed on the frame 4.
Specifically, the frame 4 has a first side and a second side opposite to each other in the axial direction of the delivery passage 12, the frame 4 forms an installation space between the first side and the second side, and the pushing assembly 1 is operably arranged in the installation space. When the second power source 22 is activated, the rotating member 21 will drive the pushing assembly 1 to rotate integrally, so the installation space should allow the pushing assembly 1 to rotate integrally.
Further, the frame 4 is provided with a mounting groove for mounting the stator 31 at the first side, the rotating member 21 is close to the second side and is disposed in the mounting space, and the mounting space is formed by inward recessing of the frame 4 from the first side to the second side.
The mounting slot may be an arc-shaped slot provided on the first side, into which the stator 31 is snapped such that the stator 31 remains relatively fixed with respect to the frame 4. The rotating part 21 is arranged in the mounting space and located on the second side, the mounting space is of a concave structure, the space can be saved, the overall stability of the rack 4 is good, and particularly, the center of gravity can be kept low in the rotating process of the pushing assembly 1.
Further, in order to fix the rotating assembly 2, the bottom of the frame 4 is provided with a mounting portion for accommodating a second power source 22 and a second transmission assembly, and the rotating member 21 is rotatably disposed on the frame 4 and is in transmission connection with the second transmission assembly at the bottom of the frame 4.
In order to mount the pushing assembly 1 and the rack 4, in this specification, as shown in fig. 4, a first mating portion 111 is provided on the housing 11 of the pushing assembly 1, the rotating member 21 is provided with a second mating portion 211, and the first mating portion 111 and the second mating portion 211 are matched to enable the housing 11 and the rotating member 21 to be rotatably connected. Specifically, the first mating portion 111 and the second mating portion 211 may be in a snap connection manner, a screw connection manner, or other connection manners.
In this specification, as shown in fig. 3 and 4, a strip-shaped groove 212 is formed in the rotating member 21 along a radial direction thereof, a projection is formed on the delivering channel 12 along an axial direction thereof on the rotating member 21, the strip-shaped groove 212 extends to a position of the projection so as to be used for clamping a guide wire or a catheter into the delivering channel 12 from the strip-shaped groove 212, and a notch 41 communicated with the strip-shaped groove 212 is provided in a position of the rack 4 corresponding to the rotating member 21. When the guide wire is placed or replaced, the rotating member 21 returns to the original position, i.e. the strip-shaped groove 212 is vertically upward, so that the guide wire/catheter 5 can be conveniently placed.
Further, in order to protect the guide wire/catheter 5, the notch 41 may be provided with a sterile film (not shown) to wrap the guide wire/catheter 5 around the circumference of the guide wire/catheter 5, acting as a sterile barrier.
In addition, a guide 14 extending outward from the delivery channel 12 is detachably disposed on the housing 11 of the pushing assembly 1, the guide 14 is provided with a hollow structure, and the stator 31 and the mover 32 are provided with through holes corresponding to the guide 14. The guiding element 14 is detachably connected to the housing 11, so that when the pushing assembly 1 is installed, one end of the guiding element 14 extends from the through hole on the auxiliary assembly 3 until reaching the housing 11 of the pushing assembly 1, and is connected to the housing 11 at a corresponding position of the housing 11, so that the pushing assembly 1 can be connected between the rotating element 21 and the rotor 32.
When clamping the guide wire/catheter 5 in the delivery channel 12, the guide wire/catheter 5 can enter the hollow structure of the guide 14 from the delivery channel 12 and pass out of the through hole of the accessory assembly 3. The guide 14 and the housing 11 may be connected by a snap connection, a screw connection, or other connection methods. Further, when the guide 14 is inserted through the through hole, the axial direction of the hollow structure of the guide 14 and the axial direction of the through hole are consistent with the axial direction of the delivery channel 12.
In this embodiment, when the pushing assembly 1 is provided as a separate module, the pushing assembly 1 is generally disposable and is a consumable part, and thus the housing 11, the driving member, the first transmission assembly and the first power source 13, the guide wire/catheter 5 and the guide member 14 are all disposable parts. When a surgery is completed, the pushing assembly 1 needs to be detached from the frame 4, and the guide wire/catheter 5 and the auxiliary assembly 3 are separated by the guide 14, so that the auxiliary assembly 3 can be protected from pollution. And the frame 4, the rotating assembly 2 and the auxiliary assembly 3 are non-consumable parts and can be reused.
In one embodiment, as shown in fig. 4, the cable 131 of the first power source 13 is provided with a terminal 132 at the end, the housing 11 is provided with an outlet for leading out the terminal 132, and the mover 32 is provided with a connecting portion adapted to the terminal 132. The connecting portion may be a cable port, and when the pushing assembly 1 is mounted on the frame 4, the terminal 132 of the cable 131 is connected to the cable port of the mover 32, so as to lead out the signal of the first power source 13 through the stator 31.
The present specification also provides a consumable module of an interventional surgical robot, as shown in fig. 1 to 4, the consumable module is used on a slave end driving device of the interventional surgical robot, the slave end driving device includes: auxiliary assembly 3 and rotating assembly 2, wherein auxiliary assembly 3 includes: a stator 31 and a mover 32 that rotates relative to the stator 31; the rotating assembly 2 comprises: a rotating member 21 and a second power source 22 for rotating the rotating member 21; the consumable module includes: a housing 11, said housing 11 being configured with a delivery channel 12, said housing 11 being intended for a relatively fixed connection with said rotary member 21; at least one pair of driving members disposed within the housing 11 and disposed on both sides of the delivery channel 12 in a direction along an axis perpendicular to the delivery channel 12; and a first power source 13 disposed in the housing 11 and configured to drive at least one of the pair of driving members to rotate, wherein a cable 131 of the first power source 13 is configured to be connected to the mover 32.
The consumable module can achieve the technical problems solved by the above embodiments, and accordingly achieves the technical effects of the above embodiments, and specific details of the present application are not repeated herein.
It should be noted that, in the description of the present specification, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no order is present therebetween, and no indication or suggestion of relative importance is to be made. Further, in the description of the present specification, "a plurality" means two or more unless otherwise specified.
The above embodiments are merely illustrative of the technical concepts and features of the present application, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present application and implement the present application, and not to limit the protection scope of the present application. All equivalent changes and modifications made according to the spirit of the present application should be covered in the protection scope of the present application.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes.
Claims (13)
1. A slave-end drive device for an interventional surgical robot, comprising:
a push assembly comprising: a housing configured with a delivery channel; at least one pair of drives disposed within the housing and disposed on either side of the delivery channel in a direction along an axis perpendicular to the delivery channel; the first power source is arranged in the shell and is used for driving at least one of the pair of driving pieces to rotate;
a rotating assembly, comprising: a rotating member fixed relative to the housing; a second power source for rotating the rotating member about the axis of the delivery channel;
an auxiliary assembly comprising: the stator and the active cell rotating relative to the stator are connected with the cable of the first power source.
2. A slave end drive of an interventional surgical robot according to claim 1, wherein the slave end drive comprises: the frame is used for installing the pushing assembly, the rotating assembly and the auxiliary assembly, wherein the rotating member is rotatably arranged on the frame, and the stator is relatively fixedly arranged on the frame.
3. An interventional surgical robot slave end drive apparatus according to claim 2, wherein the frame has first and second opposing sides in an axial direction of the delivery channel, the frame defining an installation space between the first side and the second side, the pushing assembly being operably disposed in the installation space.
4. An interventional surgical robot slave end driving device according to claim 3, wherein the frame is provided with a mounting groove for mounting the stator at the first side, the rotary member is provided near the second side and in the mounting space formed by the frame being recessed inward from the first side to the second side.
5. An interventional surgical robot slave-end driving device according to claim 1, wherein a first mating portion is provided on the housing of the pushing assembly, and the rotating member is provided with a second mating portion, and the mating of the first mating portion and the second mating portion enables the rotating connection of the housing and the rotating member.
6. An interventional surgical robot slave end driving device according to claim 1, wherein a guide extending outward from the delivery channel is detachably provided on the housing of the pushing assembly, the guide is provided with a hollow structure, and the stator and the mover are provided with through holes adapted to the guide.
7. An interventional surgical robot slave-end driving device according to claim 6, wherein an axial direction of the hollow structure and an axial direction of the through hole coincide with an axial direction of the delivery passage when the guide is penetrated from the through hole.
8. The slave end driving device of the interventional surgical robot according to claim 2, wherein the rotating member is radially provided with a strip-shaped groove, the delivery channel is formed with a projection along an axial direction thereof on the rotating member, the strip-shaped groove extends to a position of the projection so as to be used for clamping a guide wire or a catheter into the delivery channel from the strip-shaped groove, and a notch communicated with the strip-shaped groove is provided on the rack at a position corresponding to the rotating member.
9. An interventional surgical robot slave end driving device according to claim 1, wherein a cable end of the first power source is provided with a terminal, the housing is provided with an outlet for leading out the terminal, and the mover is provided with a connecting portion adapted to the terminal.
10. An interventional surgical robotic slave-end drive device according to claim 1, wherein the pair of drives comprises: the driving wheel is connected with a first clamping gear, the driven wheel is connected with a second clamping gear meshed with the first clamping gear, and the first clamping gear is connected with the first power source through a first transmission assembly.
11. An interventional surgical robotic slave-end drive device according to claim 10, wherein the first transmission assembly comprises: the first bevel gear is connected with the output part of the first power source, and the second bevel gear is meshed with the first bevel gear and is relatively fixed with the first clamping gear.
12. An interventional surgical robot slave-end drive device according to claim 2, wherein the rotating member is a rotating gear having an outer gear ring, and the rotating member is connected to the output of the second power source through a second transmission assembly.
13. A consumable module for an interventional surgical robot, characterized by a slave end drive for an interventional surgical robot, the slave end drive comprising: auxiliary assembly and rotating assembly, wherein, auxiliary assembly includes: the rotor is rotated relative to the stator; the rotating assembly includes: the rotating part and a second power source are used for driving the rotating part to rotate; the consumable module includes:
a housing configured with a delivery channel, the housing for relatively fixed connection with the rotating member;
at least one pair of drives disposed within the housing and disposed on either side of the delivery channel in a direction along an axis perpendicular to the delivery channel;
the first power source is arranged in the shell and used for driving at least one of the pair of driving pieces to rotate, and a cable of the first power source is used for being connected with the rotor.
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