CN115295131A

CN115295131A - Interventional catheter room operation consumable management system

Info

Publication number: CN115295131A
Application number: CN202210858077.7A
Authority: CN
Inventors: 黄韬; 解菁; 杨贺
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2022-11-04

Abstract

The invention discloses an interventional catheter room operation consumable material management system.A goods outlet is formed in the side wall of a consumable material storage cabinet; the snakelike guide rail is fixed above the interior of the consumable storage cabinet; a plurality of pulleys are connected on the snake-shaped guide rail in a sliding way, and adjacent pulleys are connected through a connecting rod; each pulley is connected with a clamp, and the clamp is used for clamping surgical consumables; the pushing mechanism is arranged above the interior of the consumable storage cabinet, is used for being matched with the pulley and provides pushing force to enable the pulley to circularly move on the snake-shaped guide rail; the goods outlet mechanism is arranged above the interior of the consumable storage cabinet and corresponds to the goods outlet; the delivery mechanism is used for opening or releasing the clamp of the surgical consumables required to be taken and delivering the surgical consumables out of the delivery port. The invention automatically stores, records, searches, identifies and delivers consumables used in the operation, in particular to catheters, guide wires, brackets and the like of different types, and timely delivers the consumables required to be used to the interventional operation table in progress.

Description

Interventional catheter room operation consumable management system

Technical Field

The invention relates to the technical field of minimally invasive vascular interventional surgery, in particular to a management and delivery technology for consumables of a surgery and a robot in the interventional surgery. More specifically, the robot can automatically complete the functions of storing, extracting, delivering and the like of the interventional operation consumables.

Background

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually feeds a catheter, a guide wire, a bracket and other instruments into a patient to complete treatment.

The number of patients treated by interventional operation shows a trend of increasing year by year, and the pressure of the increase of the operation amount of the patients on medical care personnel in hospitals is also increased, which is more obvious in the third hospital. The consumables for interventional operation are various, and the surgical consumables such as guide wires and catheters are fragile and need to be carefully kept. In the operation, the doctor needs to know information such as quantity and the kind of current operation consumptive material according to the state of an illness of difference, needs the nurse to deliver the consumptive material for the doctor in the operation to normally accomplish the operation. For interventional procedures, intra-operative delivery of surgical consumables is an essential step.

There are several issues with consumable management and delivery in interventional procedures: (1) management can only be done manually; (2) intra-operative consumable delivery can only be performed manually; (3) the consumable materials are various in types and are easy to make mistakes; (4) The consumable delivery process and the operation need to be temporary, which affects the efficiency.

Therefore, how to provide a management system for consumables in an interventional catheter lab is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

In view of the above, the invention provides a management system for surgical consumables in an interventional catheter room, which aims to solve the problems that the management and delivery work of consumables in the existing interventional catheter room can only be completed manually, the workload of manual management and delivery consumables is large, consumables are various, manual searching time is long, errors are easy to occur, the surgical consumables delivered in the surgical process must be suspended, and the surgical efficiency is affected.

In order to achieve the purpose, the invention adopts the following technical scheme:

an interventional catheter room operation consumable material management system comprises a consumable material management module; the consumable management module includes:

a consumable storage cabinet; the side wall of the consumable storage cabinet is provided with a goods outlet;

a serpentine guide rail; the snakelike guide rail is fixed above the interior of the consumable storage cabinet; a plurality of pulleys are connected onto the snake-shaped guide rail in a sliding manner, and adjacent pulleys are connected through a connecting rod; each pulley is connected with a clamp, and the clamp is used for clamping surgical consumables;

a pushing mechanism; the pushing mechanism is arranged above the interior of the consumable storage cabinet, is used for being matched with the pulley and provides pushing force to enable the pulley to circularly move on the snake-shaped guide rail;

a delivery mechanism; the delivery mechanism is arranged above the inside of the consumable storage cabinet and corresponds to the delivery port; the delivery mechanism is used for opening or releasing the clips of the surgical consumables which need to be taken and delivering the surgical consumables out of the delivery port in a clamping mode.

Through the technical scheme, the medical operation consumable supply device is used for automatically storing, recording, searching, identifying and delivering consumable supplies used in an operation, particularly catheters, guide wires, supports and the like of different types, and the operation consumable supplies required to be used are timely sent to an ongoing intervention operation table to assist a doctor in performing the intervention operation.

Preferably, in the above interventional catheter lab surgical consumables management system, the outlet is located on the front of the consumables storage cabinet; the front of the consumable storage cabinet is also provided with a glass window and a first touch screen. The first touch screen is used for performing human-computer interaction; the glass window is used for observing the condition in the cabinet; the goods outlet is used for taking the selected surgical consumables.

Preferably, in the above interventional catheter room surgical consumables management system, the pushing mechanism includes a first motor bracket fixed to an inner top wall of the consumables storage cabinet; the pushing motor is fixed on the first motor support, a power output shaft of the pushing motor is fixedly provided with a gear, the gear is provided with a plurality of divergent long tooth surfaces, and the long tooth surfaces are inserted into gaps between the adjacent pulleys. The gear is provided with a long tooth surface which can be matched with a plane on the pulley, such as the relationship of the gear and the rack. Therefore, when the pushing motor rotates, the pulley can be driven to move, and the whole pulleys are connected together and can move simultaneously.

Preferably, in the above-mentioned interventional catheter room surgical consumables management system, 200-300 pulleys are placed in the snake-shaped guide rail, and are rigidly connected with each other through a connecting rod, like a section of carriage in a long train; all be provided with the clip on every pulley, can place the operation consumptive material, every group all has the serial number of oneself, convenient inquiry and record.

Preferably, in the above-mentioned interventional catheter lab surgical consumables management system, the number of the pushing mechanisms is multiple, and the pushing mechanisms are arranged at intervals outside the serpentine guide rail. And preferably, two groups of pushing mechanisms with the same structure are arranged in the system, so that the pushing force is increased, and the whole pulley system can move smoothly. The pushing motor can be pushed forwards in a forward rotating mode and can be pushed backwards in a reverse rotating mode. The host computer can obtain the optimal pushing method through calculation, and pushes the surgical consumables to be found to the delivery mechanism, so that the delivery efficiency of the user is improved.

Preferably, in the above interventional catheter room surgical consumables management system, the delivery mechanism includes two delivery linear guide rails fixed on an inner top wall of the consumables storage cabinet, length directions of the two delivery linear guide rails both point to the delivery port, and delivery sliders are slidably connected to the two delivery linear guide rails; the two delivery sliders are fixedly connected with a double-layer connecting plate; a delivery screw motor is fixed on the inner top wall of the consumable storage cabinet through a second motor bracket, and a screw at the shaft end of the delivery screw motor is in threaded connection with a threaded hole at the side edge of the connecting plate; the first electric gripper and the second electric gripper are respectively arranged on an upper layer plate and a lower layer plate of the connecting plate, the first electric gripper is used for opening the clamp, and the second electric gripper is used for clamping the surgical consumables. The first electric gripper is used for being matched with the clamp and can clamp and release the clamp, so that the surgical consumables can be fixed and released. The second electric gripper is used for clamping released surgical consumables. The goods discharging screw motor can realize the movement of the whole body at the position of the goods discharging linear guide rail. The process of taking out surgical consumables in the whole process is as follows: firstly, the user selects the surgical consumables on the first touch screen or the robot communicates with the first touch screen to inform the first touch screen, so that the system can know the serial number of the surgical consumables to be found. Then the operation consumables with the corresponding numbers are moved to a delivery mechanism through a pushing mechanism, the operation consumables are taken by the delivery mechanism, then a delivery port is opened, and a user or a robot is informed to take the operation consumables. The surgical consumables are placed in the opposite direction to the removal process. The whole process system can record the information of the surgical consumables in the host and update the information to the first touch screen in real time.

Preferably, in the above interventional catheter room surgical consumables management system, a consumables delivery module cooperating with the delivery mechanism is further included; the consumable delivery module comprises a base walking part, a lifting part and an execution part which are sequentially connected from bottom to top. The operation of extraction, delivery, unpacking etc. of mainly accomplishing the consumptive material.

Preferably, in the above interventional catheter room surgical consumables management system, the base walking part includes a bottom plate and a support plate fixed above the bottom plate by four pillars; automatic traveling wheel assemblies are mounted at four corners of the bottom plate; the automatic travelling wheel assembly comprises a first servo motor fixed on the top surface of the bottom plate, a power shaft of the first servo motor penetrates through a corresponding hole formed in the bottom plate and is connected with a right-angle plate through a bearing, a second servo motor is fixed on the right-angle plate, and a power shaft of the second servo motor penetrates through the right-angle plate and is connected with wheels; the bottom plate is provided with a host machine and a lithium battery, wherein the host machine is used for receiving information, storing information, processing information and sending instructions; install respectively on the bottom plate with install respectively in the backup pad and be used for carrying out driven first driver and second driver to each motor, install bluetooth module and wiFi module in the host computer, wireless transmission can be actual. The first servo motor can control the steering of the wheels, the second servo motor can control the advancing and retreating of the wheels, the first servo motor and the second servo motor are matched, and in addition, the four groups of wheels move together, so that the all-directional movement of the whole vehicle body can be realized.

Preferably, in the above interventional catheter lab surgical consumables management system, the lifting part includes two rail brackets fixed vertically and symmetrically on two sides of the top surface of the support plate; lifting linear guide rails are fixed on the corresponding surfaces of the two guide rail brackets; two side walls of the U-shaped lifting frame are respectively connected with the two lifting linear guide rails in a sliding mode through a lifting sliding block, two opposite corners of the bottom end of the U-shaped lifting frame are respectively provided with a threaded hole, and the two threaded holes are respectively in threaded connection with a first lifting screw motor and a second lifting screw motor on the top face of the U-shaped lifting frame; the execution part is arranged on the top surface of the U-shaped lifting frame. The first lifting screw motor and the second lifting screw motor can be matched to drive the U-shaped lifting frame to lift.

Preferably, in the above interventional catheter room surgical consumables management system, the executing part includes a head assembly, the head assembly includes a cylinder rotatably connected to the groove on the top surface of the U-shaped lifting frame through a bearing, and a turntable is fixed to the top end of the cylinder; a third motor bracket is fixed on the top surface of the U-shaped lifting frame, a third servo motor is fixed on the third motor bracket, a power shaft of the third servo motor is fixedly connected with a driving gear, and the driving gear is meshed with a driven gear fixedly sleeved on the cylinder; the turntable top surface is fixed with a fourth motor support, the fourth motor support is fixed with a fourth servo motor, the power shaft of the fourth servo motor is fixedly connected with a camera support, a second touch screen is fixed on the camera support, and two cameras located on two sides of the second touch screen are installed on two sides of the camera support. The third servo motor can control the whole head assembly to rotate in the horizontal direction, and the fourth servo motor can control the head assembly to move in the vertical direction, so that the whole head assembly can flexibly move, and the robot can observe objects at all angles. The second touch screen is used for human-computer interaction, people can perform some operations on the second touch screen, and meanwhile, system information can be displayed on the second touch screen. The two groups of cameras are the eyes of the robot and are used for observing the surrounding environment, detecting the distance and the like. The obtained information is sent to the host computer for analysis and processing.

Preferably, in the above interventional catheter lab surgical consumables management system, the execution part further includes two arm assemblies symmetrically disposed at two sides of the head assembly; the arm assembly comprises an arm linear guide rail fixed on the top surface of the U-shaped lifting frame, an arm sliding block is connected onto the arm linear guide rail in a sliding mode, a connecting piece is fixed onto the arm sliding block, and a rear arm is fixed onto the connecting piece; the front end of the rear arm is rotatably connected with a middle arm connecting piece, a fifth servo motor is mounted on the rear arm, and a power shaft of the fifth servo motor is fixed with the middle arm connecting piece; the middle arm connecting piece is fixed to the middle arm, the front end of the middle arm is rotatably connected with a front arm, a sixth servo motor is mounted on the middle arm, and a power shaft of the sixth servo motor is fixed to the front arm; a seventh servo motor is fixed at the front end of the front arm, and a third electric gripper is fixed on a power shaft of the seventh servo motor; an arm lead screw motor is installed on the U-shaped lifting frame, and a shaft end lead screw of the arm lead screw motor is in threaded connection with a threaded hole in the side face of the connecting piece. The arm screw motor can realize the extension and retraction of the arm, the fifth servo motor and the sixth servo motor can realize the rotation of the arm, and like joints of hands, the seventh servo motor can realize the rotation of the third electric gripper. Through controlling various motors, realize the cooperation of 2 arms, accomplish snatching of operation consumptive material, to the operations such as opening of wrapping paper.

Compared with the prior art, the interventional catheter room operation consumable management system has the following beneficial effects that:

1. the interventional operation consumable material management and delivery robot provided by the invention realizes automatic management and delivery of operation consumable materials by the robot, has the advantages of automation of the whole process, saved human resources, compact structure of the whole device and small volume, and is very suitable for the indoor environment of a catheter.

2. The robot for managing and delivering the interventional operation consumables, provided by the invention, has the advantages of high speed and high accuracy in searching the operation consumables, can continuously work for 24 hours, and improves the operation efficiency.

3. The interventional operation consumable material management and delivery robot provided by the invention can realize automatic movement and positioning, automatic unpacking of operation consumable material packages, all actions of manual operation, and can better adapt to the environments of different catheter rooms through machine learning, thereby effectively ensuring the safety in the operation.

4. The interventional operation consumable management and delivery robot provided by the invention has the advantages of simple structure of the whole device, modular design, low cost, convenience in use and simplicity in operation.

5. The interventional operation consumable material management and delivery robot provided by the invention can record the information of operation consumable materials, greatly improve the management efficiency of the operation consumable materials and realize the electronization of the operation consumable material management in a catheter room.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic overall view of an interventional catheter lab surgical consumables management system according to the present invention;

FIG. 2 is a schematic diagram of a consumable management module according to the present invention;

FIG. 3 is a schematic view of the entire interior of the consumable management module including surgical consumables according to the present invention;

FIG. 4 is a schematic view of the entire interior of the consumable management module of the present invention without surgical consumables;

FIG. 5 is an exploded view of a delivery mechanism of the consumable management module according to the present invention;

FIG. 6 is a schematic diagram of an overall structure of a pushing mechanism of the consumable management module according to the present invention;

FIG. 7 is a schematic side sectional view of a pushing mechanism of the consumable management module according to the present invention;

FIG. 8 is a schematic top sectional view of a pushing mechanism of the consumable management module according to the present invention;

FIG. 9 is a schematic front view of a consumable delivery module according to the present invention;

FIG. 10 is a schematic view of the entire backside of a consumable delivery module according to the present invention;

FIG. 11 is a schematic view of the base traveling part and the lifting part of the consumable delivery module according to the present invention;

FIG. 12 is an exploded view of a chassis walking portion of a consumable delivery module according to the present invention;

FIG. 13 is a schematic view of the head assembly and arm assembly of the consumable delivery module of the present invention;

fig. 14 is an exploded view of the head assembly and arm assembly of the consumable delivery module according to the present invention.

Wherein:

100-consumable management module; 101-a glass window; 102-a first touch screen; 103-a goods outlet; 104-consumable storage cabinet; 105-surgical consumables; 106-serpentine rail; 107-a pushing mechanism; 108-a delivery mechanism; 109-a first electric gripper; 110-shipment linear guide rails; 111-a second motor mount; 112-shipment lead screw motor; 113-a connecting plate; 114-a second electric gripper; 115-a clip; 116-a gear; 117-a push motor; 118-a first motor mount; 119-a pulley; 120-connecting rod; 121-shipping slide;

200-consumable delivery module; 201-a guide rail bracket; 202-lifting linear guide rails; 203-a support plate; 204-a first driver; 205-lithium batteries; 206-a host; 207-upright post; 208-wheels; 209-a first servomotor; 210-a second servo motor; 211-square plate; 212-a backplane; 213-a first lifting screw motor; 214-a second driver; 215-a second elevator screw motor; 216-a turntable; 217-camera; 218-camera mount; 219-a fourth motor mount; 220-sixth servo motor; 221-a second touch screen; 222-a fifth servomotor; 223-arm screw motor; 224-a connector; 225-rear arm; 226-arm linear guide; 227-a seventh servomotor; 228-middle arm; 229-middle arm attachment; 230-arm slider; 231-forearm; 232-a third electric gripper; 233-lifting slide block; 234-a third servomotor; 235-a third motor mount; 236-a driving gear; 237-U-shaped lifting frame; 238-a fourth servo motor; 239-driven gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1 to 14, an interventional catheter room surgical consumables management system according to an embodiment of the present invention includes a consumables management module 100; the consumable management module 100 includes:

a consumable storage cabinet 104; the side wall of the consumable storage cabinet 104 is provided with a goods outlet 103;

a serpentine guide 106; a serpentine rail 106 is fixed above the interior of the consumable storage bin 104; a plurality of pulleys 119 are connected on the serpentine guide rail 106 in a sliding manner, and adjacent pulleys 119 are connected through a connecting rod 120; a clamp 115 is connected to each pulley 119, the clamp 115 being configured to hold surgical consumables 105;

a pushing mechanism 107; the pushing mechanism 107 is installed above the inside of the consumable storage cabinet 104 and is used for cooperating with the pulley 119 and providing a pushing force to enable the pulley 119 to move circularly on the snake-shaped guide rail 106;

a delivery mechanism 108; the delivery mechanism 108 is arranged above the interior of the consumable storage and dispensing cabinet 104 and corresponds to the delivery port 103; the delivery mechanism 108 is used for opening or releasing the clamp 115 of the surgical consumables 105 required to be taken, and clamping and delivering the surgical consumables 105 out of the delivery port 103.

In order to further optimize the technical scheme, the goods outlet 103 is positioned on the front surface of the consumable material storage cabinet 104; the front of the consumable storage cabinet 104 is also mounted with a glass window 101 and a first touch screen 102.

In order to further optimize the above technical solution, the pushing mechanism 107 comprises a first motor bracket 118 fixed on the inner top wall of the consumable storage cabinet 104; the pushing motor 117 is fixed on the first motor bracket 118, a gear 116 is fixedly mounted on a power output shaft of the pushing motor 117, and the gear 116 has a plurality of long tooth surfaces with divergent shapes, and the long tooth surfaces are inserted into gaps between adjacent pulleys 119.

In order to further optimize the above technical solution, the pushing mechanisms 107 are multiple sets and are arranged at intervals outside the serpentine guide rail 106.

In order to further optimize the technical scheme, the delivery mechanism 108 comprises two delivery linear guide rails 110 fixed on the inner top wall of the consumable storage and dispensing cabinet 104, the length directions of the two delivery linear guide rails 110 both point to the delivery port 103, and the delivery sliders 121 are connected to the two delivery linear guide rails 110 in a sliding manner; the two delivery sliders 121 are fixedly connected with a double-layer connecting plate 113; the delivery screw motor 112 is fixed on the inner top wall of the consumable storage cabinet 104 through the second motor bracket 111, and a screw at the shaft end of the delivery screw motor 112 is in threaded connection with a threaded hole at the side edge of the connecting plate 113; the first electric hand grip 109 and the second electric hand grip 114 are respectively arranged on the upper layer plate and the lower layer plate of the connecting plate 113, the first electric hand grip 109 is used for realizing the opening of the clamp 115, and the second electric hand grip 114 is used for realizing the clamping of the surgical consumables 105.

In order to further optimize the above technical solution, the system further comprises a consumable delivery module 200 cooperating with the delivery mechanism 108; the consumable delivery module 200 includes a base walking part, a lifting part and an executing part, which are connected in sequence from bottom to top.

In order to further optimize the technical scheme, the base walking part comprises a bottom plate 212 and a supporting plate 203 fixed above the bottom plate 212 through four upright posts 207; automatic traveling wheel assemblies are arranged at four corners of the bottom plate 212; the automatic travelling wheel assembly comprises a first servo motor 209 fixed on the top surface of a base plate 212, a power shaft of the first servo motor 209 penetrates through a corresponding hole formed in the base plate 212 and is connected with a right-angle plate 211 through a bearing, a second servo motor 210 is fixed on the right-angle plate 211, and a power shaft of the second servo motor 210 penetrates through the right-angle plate 211 and is connected with wheels 208; a host 206 for receiving, storing, processing and sending information and a lithium battery 205 are mounted on the bottom plate 212; a first driver 204 and a second driver 214 for driving the respective motors are mounted on the base plate 212 and the support plate 203, respectively.

In order to further optimize the technical scheme, the lifting part comprises two guide rail brackets 201 which are vertically and symmetrically fixed on two sides of the top surface of the supporting plate 203; lifting linear guide rails 202 are fixed on the corresponding surfaces of the two guide rail brackets 201; two side walls of the U-shaped lifting frame 237 are respectively connected with the two lifting linear guide rails 202 in a sliding manner through a lifting slide block 233, two opposite corners at the bottom end of the U-shaped lifting frame 237 are respectively provided with a threaded hole, and the two threaded holes are respectively in threaded connection with a first lifting screw motor 213 and a screw rod of a second lifting screw motor 215 on the top surface of the U-shaped lifting frame 237; the implement is mounted on the top of the U-shaped crane 237.

In order to further optimize the technical scheme, the executing part comprises a head assembly, the head assembly comprises a cylinder which is rotatably connected with a groove on the top surface of the U-shaped lifting frame 237 through a bearing, and the top end of the cylinder is fixed with a turntable 216; the third motor bracket 235 is fixed on the top surface of the U-shaped lifting frame 237, the third servo motor 234 is fixed on the third motor bracket 235, a power shaft of the third servo motor 234 is fixedly connected with a driving gear 236, and the driving gear 236 is meshed with a driven gear 239 fixedly sleeved on the cylinder; a fourth motor support 219 is fixed to the top surface of the turntable 216, a fourth servo motor 238 is fixed to the fourth motor support 219, a camera support 218 is fixedly connected to a power shaft of the fourth servo motor 238, a second touch screen 221 is fixed to the camera support 218, and two cameras 217 located on two sides of the second touch screen 221 are installed on two sides of the camera support 218.

In order to further optimize the technical scheme, the executing part also comprises two arm components which are symmetrically arranged at two sides of the head component; the arm assembly comprises an arm linear guide rail 226 fixed on the top surface of the U-shaped lifting frame 237, an arm sliding block 230 is connected on the arm linear guide rail 226 in a sliding way, a connecting piece 224 is fixed on the arm sliding block 230, and a rear arm 225 is fixed on the connecting piece 224; the front end of the rear arm 225 is rotatably connected with a middle arm connecting piece 229, the rear arm 225 is provided with a fifth servo motor 222, and a power shaft of the fifth servo motor 222 is fixed with the middle arm connecting piece 229; the middle arm connecting piece 229 is fixed with the middle arm 228, the front end of the middle arm 228 is rotatably connected with a front arm 231, the middle arm 228 is provided with a sixth servo motor 220, and a power shaft of the sixth servo motor 220 is fixed with the front arm 231; a seventh servo motor 227 is fixed at the front end of the front arm 231, and a third electric hand grip 232 is fixed on a power shaft of the seventh servo motor 227; an arm screw motor 223 is installed on the U-shaped lifting frame 237, and a shaft end screw of the arm screw motor 223 is in threaded connection with a threaded hole in the side surface of the connecting piece 224.

The control method and the control principle of the embodiment are as follows:

the consumable management module 100 is used to manage surgical consumables 105, wherein the first touch screen 102 receives and feeds back information, which is transmitted to the host 206 for processing, and the host 206 controls the movement of various parts of the system. The pushing mechanism 107 is used for controlling the surgical consumables 105 to move on the snake-shaped guide rail 106, and finding the specified surgical consumables 105. Comprises two groups of pushing motors 117, gears 119 and the like. The delivery mechanism 108 is used to deliver the selected surgical consumables 105 and to receive replenishment of the consumables. 200-300 groups of clamps 115 are arranged in the consumable management module 100, each clamp 115 can clamp one surgical consumable 105, the system numbers each clamp 115, and records the information of each surgical consumable 105 in detail, so that the numbers are in one-to-one correspondence. When the surgical consumables 105 are required to be searched, the system can search for the serial numbers of the surgical consumables 105, move the surgical consumables 105 to the delivery mechanism 108, take the surgical consumables down by the delivery mechanism 108, deliver the surgical consumables 105 to the user, and update the use information of the surgical consumables 105.

The consumable delivery module 200 is used to transport the surgical consumables 105 to the surgeon for the interventional procedure. Wherein, base walking part and lift portion mainly used realize the removal of robot, lift robot. The base walking part controls the movement of the whole robot and comprises four groups of wheel devices controlled by motors. The lift portion can raise or lower the height of the head assembly and arm assembly of the system. The head assembly and the arm assembly are mainly used for completing system identification and arm control. The head assembly is the viewing and output end of the system. There are 2 cameras 217 provided for observing the external environment. The second touch screen 221 is provided for information feedback to the user and receiving an instruction of the user, and is a control end of the user. The head assembly can move in all directions to achieve better environmental observation. The arm assembly is used for finishing grabbing the object. The arm component can stretch back and forth, and when the arm component needs to be grabbed, the arm can be unfolded. After the grabbing is completed, the arm is retracted. Grasping of the surgical consumables 105 and opening of the packaging can be accomplished by the arm assembly.

The consumable management module 100 and the consumable delivery module 200 can perform wireless communication through bluetooth, and thus can cooperate well.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An interventional catheter room surgical consumables management system, comprising a consumables management module (100); the consumable management module (100) comprises:

a consumable storage cabinet (104); the side wall of the consumable storage cabinet (104) is provided with a goods outlet (103);

a serpentine guide rail (106); the serpentine rail (106) is fixed above the interior of the consumable storage cabinet (104); a plurality of pulleys (119) are connected onto the snake-shaped guide rail (106) in a sliding manner, and adjacent pulleys (119) are connected through a connecting rod (120); a clamp (115) is connected with each pulley (119), and the clamp (115) is used for clamping surgical consumables (105);

a pushing mechanism (107); the pushing mechanism (107) is arranged above the interior of the consumable storage cabinet (104) and is used for being matched with the pulley (119) and providing pushing force to enable the pulley (119) to move circularly on the snake-shaped guide rail (106);

a delivery mechanism (108); the delivery mechanism (108) is arranged above the interior of the consumable storage cabinet (104) and corresponds to the delivery port (103); the delivery mechanism (108) is used for opening or releasing the clamp (115) of the surgical consumables (105) required to be taken, and clamping and delivering the surgical consumables (105) out of the delivery port (103).

2. The interventional catheter room surgical consumables management system of claim 1, wherein the outlet port (103) is located at a front side of the consumables storage cabinet (104); the front surface of the consumable storage cabinet (104) is also provided with a glass window (101) and a first touch screen (102).

3. The interventional catheter room procedure consumables management system of claim 1 wherein the pushing mechanism (107) includes a first motor mount (118) secured to an interior ceiling of the consumables storage bin (104); the pushing motor (117) is fixed on the first motor bracket (118), a gear (116) is fixedly mounted on a power output shaft of the pushing motor (117), the gear (116) is provided with a plurality of divergent long tooth surfaces, and the long tooth surfaces are inserted into gaps between the adjacent pulleys (119).

4. The interventional catheter room surgical consumables management system of claim 1, wherein the pushing mechanisms (107) are in a plurality of sets and are spaced apart outside of the serpentine rail (106).

5. The interventional catheter room surgical consumables management system according to any one of claims 1 to 4, wherein the delivery mechanism (108) comprises two delivery linear rails (110) fixed on an inner top wall of the consumables storage cabinet (104), the length directions of the two delivery linear rails (110) are both directed to the delivery port (103), and a delivery slider (121) is slidably connected to each of the two delivery linear rails (110); the two delivery sliders (121) are fixedly connected with a double-layer connecting plate (113); a delivery screw motor (112) is fixed on the inner top wall of the consumable storage cabinet (104) through a second motor bracket (111), and a screw rod at the shaft end of the delivery screw motor (112) is in threaded connection with a threaded hole at the side edge of the connecting plate (113); the first electric hand grip (109) and the second electric hand grip (114) are respectively installed on the upper layer plate and the lower layer plate of the connecting plate (113), the first electric hand grip (109) is used for opening the clamp (115), and the second electric hand grip (114) is used for clamping the surgical consumables (105).

6. The interventional catheter room procedure consumable management system of claim 5, further comprising a consumable delivery module (200) engaged with the shipment authority (108); the consumable delivery module (200) comprises a base walking part, a lifting part and an execution part which are sequentially connected from bottom to top.

7. An interventional catheter room procedure consumables management system according to claim 1, wherein the base chassis comprises a base plate (212), and a support plate (203) fixed above the base plate (212) by four posts (207); automatic traveling wheel assemblies are arranged at four corners of the bottom plate (212); the automatic travelling wheel assembly comprises a first servo motor (209) fixed on the top surface of the base plate (212), a power shaft of the first servo motor (209) penetrates through a corresponding hole formed in the base plate (212) and is connected with a right-angle plate (211) through a bearing, a second servo motor (210) is fixed on the right-angle plate (211), and a power shaft of the second servo motor (210) penetrates through the right-angle plate (211) and is connected with wheels (208); a host (206) for receiving information, storing information, processing information and sending instructions and a lithium battery (205) are arranged on the bottom plate (212); and a first driver (204) and a second driver (214) for driving each motor are respectively arranged on the bottom plate (212) and the supporting plate (203).

8. The interventional catheter room surgical consumables management system of claim 7, wherein the elevating portion includes two rail brackets (201) vertically and symmetrically fixed on both sides of the top surface of the support plate (203); lifting linear guide rails (202) are fixed on the corresponding surfaces of the two guide rail brackets (201); two side walls of the U-shaped lifting frame (237) are respectively in sliding connection with the two lifting linear guide rails (202) through a lifting sliding block (233), two opposite corners of the bottom end of the U-shaped lifting frame (237) are respectively provided with a threaded hole, and the two threaded holes are respectively in threaded connection with a first lifting screw motor (213) and a second lifting screw motor (215) on the top surface of the U-shaped lifting frame (237); the execution part is arranged on the top surface of the U-shaped lifting frame (237).

9. The interventional catheter room surgical consumables management system of claim 8, wherein the implement part comprises a head assembly, the head assembly comprises a cylinder rotatably connected with a groove on the top surface of the U-shaped lifting frame (237) through a bearing, and a turntable (216) is fixed at the top end of the cylinder; a third motor bracket (235) is fixed on the top surface of the U-shaped lifting frame (237), a third servo motor (234) is fixed on the third motor bracket (235), a power shaft of the third servo motor (234) is fixedly connected with a driving gear (236), and the driving gear (236) is meshed with a driven gear (239) fixedly sleeved on the cylinder; the top surface of the turntable (216) is fixed with a fourth motor support (219), the fourth motor support (219) is fixed with a fourth servo motor (238), a power shaft of the fourth servo motor (238) is fixedly connected with a camera support (218), a second touch screen (221) is fixed on the camera support (218), and two cameras (217) located on two sides of the second touch screen (221) are installed on two sides of the camera support (218).

10. The interventional catheter room procedure consumables management system of claim 9, wherein the implement portion further comprises two arm assemblies symmetrically disposed on either side of the head assembly; the arm assembly comprises an arm linear guide rail (226) fixed on the top surface of the U-shaped lifting frame (237), an arm sliding block (230) is connected onto the arm linear guide rail (226) in a sliding manner, a connecting piece (224) is fixed onto the arm sliding block (230), and a rear arm (225) is fixed onto the connecting piece (224); the front end of the rear arm (225) is rotatably connected with a middle arm connecting piece (229), a fifth servo motor (222) is installed on the rear arm (225), and a power shaft of the fifth servo motor (222) is fixed with the middle arm connecting piece (229); the middle arm connecting piece (229) is fixed to a middle arm (228), the front end of the middle arm (228) is rotatably connected with a front arm (231), a sixth servo motor (220) is installed on the middle arm (228), and a power shaft of the sixth servo motor (220) is fixed to the front arm (231); a seventh servo motor (227) is fixed at the front end of the front arm (231), and a third electric gripper (232) is fixed on a power shaft of the seventh servo motor (227); an arm screw motor (223) is installed on the U-shaped lifting frame (237), and a shaft end screw of the arm screw motor (223) is in threaded connection with a threaded hole in the side face of the connecting piece (224).