CN115517777A

CN115517777A - Intervene operation robot from end power seat

Info

Publication number: CN115517777A
Application number: CN202210111676.2A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Medical Robot Co Ltd
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2022-12-27
Also published as: WO2023142292A1

Abstract

The invention is suitable for the field of medical robots, and provides a slave-end power seat of an interventional operation robot, which is assembled on a sliding mechanism and comprises: the power mechanism comprises a power output end; the shell is provided with an accommodating cavity, and a first run-through avoidance hole is formed in the shell; the connecting piece is connected with the sliding mechanism and the shell; the power mechanism is arranged in the accommodating cavity, the power output end penetrates through the first avoiding hole and is exposed out of the shell, and the power output end is arranged below the joint of the connecting piece and the sliding mechanism. The invention reduces the installation height of the power output end, reduces the distance between the medical instrument arranged on the driven end driving seat and the treated person, and the medical instrument can be inserted into the body of the treated person at a smaller angle, thereby reducing the difficulty of the interventional operation and being beneficial to the smooth implementation of the interventional operation.

Description

Intervene operation robot from end power seat

Technical Field

The invention belongs to the field of medical robots, is applied to a master-slave vascular interventional surgical robot, and particularly relates to a slave-end power base of an interventional surgical robot.

Background

In the existing interventional operation robot, a doctor can directly operate a master end device by establishing a master-slave mapping relation between the master end device and a slave end robot, so that the motion control of the slave end robot is realized. The slave robot drives the corresponding element to execute the related operation through the motion control mechanism. The motion control mechanism mainly comprises a driven end power seat and a driven end driving seat. The driven end power seat provides power for the driven end driving seat, and the driven end driving seat drives medical instruments such as guide wires and catheters to move and/or rotate. In order to facilitate the movement of the motion control mechanism, the slave end robot further comprises a sliding mechanism, the slave end power seat is assembled on the sliding mechanism, and the sliding mechanism drives the slave end power seat to move along the sliding rail. After the existing driven end power seat and the sliding mechanism are assembled, the medical instrument arranged on the driven end driving seat is far away from the body of a treated person, and the medical instrument needs to be inserted into the body of the treated person at a larger angle in the operation process, so that the difficulty of interventional operation is increased.

Disclosure of Invention

The invention aims to provide a slave-end power seat of an interventional operation robot, and aims to solve the technical problems that after the slave-end power seat and a sliding mechanism are assembled in the prior art, a guide wire and a guide pipe which are arranged on a slave-end driving seat are far away from the body of a treated person, and a medical instrument needs to be inserted into the body of the treated person at a large angle in the operation process, so that the difficulty of the interventional operation is increased.

The invention is realized by the following steps: a slave-end power mount for an interventional surgical robot, mounted on a slide mechanism, comprising: the power mechanism comprises a power output end; the shell is provided with an accommodating cavity, and a first run-through avoidance hole is formed in the shell; a connector connected to the sliding mechanism and the housing; the power mechanism is arranged in the accommodating cavity, the power output end penetrates through the first avoidance hole to be exposed out of the shell, and the power output end is arranged below the joint of the connecting piece and the sliding mechanism.

Further, the casing includes main part and bellying, the bellying extends to the direction that is close to slide mechanism along the surface of main part, the main part has hold the chamber, the connecting piece is fixed in the bellying.

Further, the connecting piece is arranged on one side of the protruding portion facing the sliding mechanism.

Further, the main part includes casing and lower casing, go up the casing with the casing encloses to close down and forms hold the chamber, upward seted up on the casing first dodge the hole.

Furthermore, the lower shell comprises a bottom plate and a transition plate connected to the bottom plate, the transition plate and the bottom plate are arranged at an included angle, and the power mechanism is arranged between the bottom plate and the upper shell.

Furthermore, the auxiliary power base of the interventional operation robot comprises two power mechanisms.

Furthermore, two first avoidance holes are formed in the upper shell, and correspond to the power output ends one to one.

Further, go up the casing and include first plate body and second plate body, first plate body with one has been seted up respectively on the second plate body first hole of dodging, the surface of first plate body with the surface setting of straying of second plate body.

Furthermore, the auxiliary power base of the interventional operation robot further comprises a support, the support is arranged in the accommodating cavity, and the power mechanism is fixed on the support.

Furthermore, a through second avoiding hole is formed in the support, the power mechanism is arranged between the lower shell and the support, and the power output end penetrates through the second avoiding hole.

Furthermore, the first avoidance hole and the second avoidance hole are coaxially arranged.

Further, the surface of casing is provided with keeps off the ring, keep off the ring cover and locate the first drill way department of dodging the hole, power take off end wears to locate keep off the ring and expose keep off outside the ring.

The invention has the beneficial effects that: the power output end of the invention is arranged below the joint of the connecting piece and the sliding mechanism, so that the mounting height of the power output end is reduced, correspondingly, the mounting height of the driven end driving seat is reduced, the distance between the medical instrument arranged on the driven end driving seat and a treated person is reduced, the medical instrument can be inserted into the body of the treated person at a smaller angle, the difficulty of interventional operation is reduced, and the smooth implementation of the interventional operation is facilitated.

Drawings

FIG. 1 is a diagram illustrating a state of use of a slave-end power base of an interventional surgical robot provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a slave-end power base of an interventional surgical robot provided in an embodiment of the present invention;

FIG. 3 is a longitudinal cross-sectional view of FIG. 2;

FIG. 4 is an assembled schematic view of FIG. 2;

fig. 5 is an assembly schematic diagram of a housing of a slave-end power socket of an interventional surgical robot provided by an embodiment of the invention.

100-slave end power seat,

1-power mechanism, 11-power output end, 12-motor,

2-a shell body,

2 a-a main body part,

2 b-a convex part,

21-containing cavity,

22-a first avoiding hole,

23-upper shell, 23 a-top plate, 231-first plate body, 232-second plate body, 233-side plate, 2331-notch,

24-lower shell, 241-bottom plate, 242-transition plate, 243-baffle, 244-abutting part,

25-baffle ring,

3-connecting piece,

4-bracket, 41-second avoidance hole, 42-supporting plate, 43-connecting plate,

200-sliding mechanism.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in 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.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed, even movably connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present invention.

As used herein, the direction "distal" is toward the patient and the direction "proximal" is away from the patient. The terms "upper" and "upper" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower" refer to the general direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device, "forward" refers to the direction of displacement of a guide wire or catheter into the body of the surgical patient. The term "posterior" refers to the side of the interventional surgical robot facing away from the user from the end device, "retrograde" refers to the direction of displacement of the guide wire or catheter out of the body of the surgical patient. The term "inwardly" refers to the interior portion of a feature. The term "outwardly" refers to the outer portion of a feature. The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to a direction in which a guide wire or catheter is rotated into the body of a patient being operated, and "reverse rotation" refers to a direction in which a guide wire or catheter is rotated out of the body of a patient being operated.

Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more.

Finally, it should be noted that, if not conflicting, the embodiments of the present invention and the features of the embodiments may be combined with each other within the scope of protection of the present invention.

The guide wire includes but is not limited to guide wires, micro guide wires, stents and other guide and support interventional medical devices, and the catheter includes but is not limited to guide catheters, micro catheters, contrast catheters, multifunctional tubes (also called middle catheters), thrombolysis catheters, balloon dilatation catheters, balloon stent catheters and other therapeutic interventional medical devices.

As shown in fig. 1, a slave-end power base 100 of an interventional surgical robot provided in an embodiment of the present invention is assembled on a sliding mechanism 200 (i.e., a screw-motor rail-slider integrated mechanism). In this embodiment, the sliding mechanism 200 includes both a screw-motor power portion and a rail-slider guide portion. The slave end power socket 100 includes: power unit 1, casing 2 and connecting piece 3. The power mechanism 1 is mounted in the housing 2. The link 3 is connected to the slide mechanism 200 and the housing 2. The power mechanism 1 can provide power to the slave-end drive socket when the slave-end drive socket (not shown) is mated with the slave-end power socket 100.

As shown in fig. 1 to 3, the power mechanism 1 of the present embodiment includes a power output end 11 and a motor 12. The power take-off 11 is adapted to be connected to the power take-off of the slave drive socket. The power take-off 11 is arranged below the connection of the coupling piece 3 and the sliding mechanism 200, i.e. in the direction of gravity. The power mechanism 1 transmits power to the driven end driving seat through the power output end 11. The power take-off 11 of this embodiment comprises a gear wheel mounted directly on the output shaft of the motor 12. Of course, in other embodiments, a transmission mechanism may be disposed between the motor 12 and the gear, and the motor 12 is connected to the gear through the transmission mechanism. Suitable gears can be selected according to design requirements, bevel gears are selected for the gears of the embodiment, and of course, other types of gears can be selected for use in other embodiments. One or more power mechanisms 1 may be provided in the slave end power mount 100 based on the power requirements of the slave end drive mount. The slave-end power base 100 of the present embodiment includes two power mechanisms 1. The relative position of the two power mechanisms 1 can be adjusted according to design requirements, for example, the two power mechanisms 1 can be arranged in the same direction, in the opposite direction, and vertically, or in a certain included angle. In the present embodiment, the two power mechanisms 1 are arranged in the same direction, that is, the power output ends 11 of the two power mechanisms 1 are located at the same side.

As shown in fig. 3, the housing 2 of the present embodiment has a receiving cavity 21, the receiving cavity 21 should have enough space, and the power mechanism 1 is disposed in the receiving cavity 21. In order to facilitate the power output end 11 of the power mechanism 1 to be exposed outside the housing 2, the housing 2 is provided with a first avoiding hole 22. The aperture size of the first avoidance hole 22 should satisfy the penetrating requirement of the power output end 11. The power output end 11 is disposed through the first avoiding hole 22 and exposed outside the housing 2. The height of the power output end 11 exposed outside the housing 2 can be set according to design requirements, but at least the part of the power output end 11 connected with the driven end driving seat is exposed outside the housing 2, so that the power input end of the driven end driving seat is conveniently connected with the power output end 11 of the power mechanism 1.

In order to better protect the power take-off 11 exposed outside the housing 2, in one embodiment, the surface of the housing 2 is provided with a stop ring 25. The stopper ring 25 is disposed corresponding to the first avoidance hole 22. The baffle ring 25 is located at the periphery of the first avoidance hole 22, and the baffle ring 25 covers the orifice of the first avoidance hole 22. The baffle ring 25 is arranged coaxially with the first avoidance hole 22. The inner diameter of the baffle ring 25 of this embodiment is the same as the inner diameter of the first avoiding hole 22, but in other embodiments, the inner diameter of the baffle ring 25 may be larger than the inner diameter of the first avoiding hole 22. The power output end 11 is arranged through the retaining ring 25 and exposed out of the retaining ring 25. The height of the baffle ring 25 can be adjusted based on the height of the power output end 11 extending out of the shell 2, and the requirement that the part of the power output end 11 connected with the driven end seat is exposed out of the baffle ring 25 is met. The retainer ring 25 may be integrally formed with the housing 2, or the retainer ring 25 may be fixedly attached to the housing 2.

In order to further reduce the installation height of the power take-off 11, as shown in fig. 1 and 2, in an embodiment, the housing 2 is L-shaped as a whole. The housing 2 includes a main body portion 2a and a boss portion 2b. The convex portion 2b extends along the surface of the main body portion 2a in a direction approaching the slide mechanism 200. The height of the protruding portion 2b can be adjusted according to design requirements. The connecting member 3 is fixed to the boss 2b. The connecting member 3 of the present embodiment is fixedly installed on the protruding portion 2b, and of course, in other embodiments, the connecting member 3 may also be movably installed on the protruding portion 2b, that is, the connecting member 3 may move up and down relative to the protruding portion 2b, so as to adjust the distance between the connecting portion of the connecting member 3 and the sliding mechanism 200 and the power output end 11. In one embodiment, the connecting element 3 is disposed on a side of the protrusion 2b facing the sliding mechanism 200, but the connecting element 3 may be disposed on a top of the protrusion 2b in other embodiments.

As shown in fig. 2 and 3, the main body 2a is located at the lowermost portion of the housing 2. The main body 2a has a housing cavity 21, and the power mechanism 1 is mounted in the main body 2 a. To facilitate mounting of the power mechanism 1, in one embodiment, the main body 2a includes an upper housing 23 and a lower housing 24. The upper case 23 and the lower case 24 enclose a housing chamber 21. The upper casing 23 and the lower casing 24 can be fixedly connected in various ways such as clamping, bonding, magnetic attraction and the like. The upper housing 23 is provided with a first avoidance hole 22. The power output end 11 is exposed outside the upper case 23. The first avoidance hole 22 of the present embodiment is opened at the top of the upper housing 23, and the power output end 11 is exposed from the top of the upper housing 23.

As shown in fig. 3 and 4, in an embodiment, the slave-end power base 100 includes two power mechanisms 1, and accordingly, two first avoiding holes 22 are formed in the upper housing 23, and the two first avoiding holes 22 correspond to the two power output ends 11 one by one. Of course, in other embodiments, only one first avoidance hole 22 may be provided, and both the two power output ends 11 penetrate through the same first avoidance hole 22. The orifices of the two first avoidance holes 22 on the upper shell 23 may be in the same plane or may be arranged in a staggered manner. For example, in one embodiment, the upper housing 23 includes a first plate 231 and a second plate 232. The first plate 231 and the second plate 232 are respectively provided with a first avoiding hole 22. The surface of the first plate 231 and the surface of the second plate 232 are disposed in a staggered manner.

As shown in fig. 5, in the present embodiment, the upper housing 23 includes a top plate 23a, and the top plate 23a of the upper housing 23 has a stepped structure as a whole. The first plate 231 and the second plate 232 are both part of the top plate 23 a. The top plate 23a adopts a stepped structure, so that the distance between the two power output ends 11 penetrating out of the upper shell 23 is increased, a larger installation space is provided for the driven end driving seat, and when a plurality of power input ends of the driven end driving seat are connected with a plurality of power output ends 11 of the driven end power seat 100, mutual interference can be effectively avoided.

As shown in fig. 5, the upper case 23 further includes a side plate 233 connected to the top plate 23a of the upper case 23. The top plate 23a and the side plate 233 of the upper case 23 enclose to form a frame structure. The side plate 233 is provided with a notch 2331. The notch 2331 is used to mate with the lower housing 24. It is understood that the side plate 233 may be provided on the lower case 24. In this embodiment, the side plate 233 is enclosed by the top plate 23a of the upper case 23, and the side plate 233 is extended in a direction approaching the slide mechanism 200 to form the protruding portion 2b. At least a portion of the notch 2331 opens into the boss 2b.

As shown in fig. 4 and 5, in one embodiment, the lower housing 24 includes a base plate 241 and a transition plate 242 coupled to the base plate 241. The bottom plate 241 is located below the first avoidance hole 22, the bottom plate 241 and the upper housing 23 enclose a mounting cavity of the power mechanism 1, and the power mechanism 1 is disposed between the bottom plate 241 and the upper housing 23. The transition plate 242 and the bottom plate 241 are arranged at an included angle. The transition plate 242 is inclined toward a direction approaching the upper case 23, i.e., the distance between the transition plate 242 and the upper case 23 is gradually reduced in a direction away from the bottom plate 241. The inclined plane design of the transition plate 242 not only reduces the volume of the slave-end power base 100 and reduces the space occupied by the slave-end power base 100, but also enables the slave-end power base 100 to be closer to the body of a treated person, thereby being beneficial to the operation.

As shown in fig. 4 and 5, for easy assembly with the upper casing 23, the lower casing 24 further includes a baffle 243, and the baffle 243 is connected to the transition plate 242 and extends in a direction close to the upper casing 23. The width of the baffle 243 is smaller than the width of the transition plate 242, and the notch of the baffle 243 and the transition plate 242 forms an abutting part 244. The width of the baffle 243 matches the width of the notch 2331 of the upper housing 23. The upper case 23 is housed in the lower case 24. The baffle 243 is inserted into the notch 2331. During installation, the bottom of the partial side plate 233 of the upper case 23 contacts the abutment portion 244 of the lower case 24. The abutting portion 244 not only can limit the installation position of the upper housing 23 to achieve quick positioning of the upper housing 23, but also can provide support for the upper housing 23, thereby facilitating the fixed connection between the upper housing 23 and the lower housing 24. The height of the baffle 243 can be set according to actual requirements, the height of the baffle 243 of this embodiment is smaller than the height of the notch 2331 of the upper housing 23, and after the upper housing 23 and the lower housing 24 are fixedly mounted, a gap is left between the upper surface of the baffle 243 and the lower housing 24. Of course, in other embodiments, the upper surface of the baffle 243 can also directly abut against the inner wall of the notch 2331.

As shown in fig. 3 and 4, in order to better mount the power mechanism 1, in an embodiment, the slave-end power base 100 further includes a bracket 4. The support 4 is arranged in the accommodating cavity 21, the support 4 is fixed on the inner wall of the shell 2, the power mechanism 1 is fixed on the support 4, and the power mechanism 1 is fixed on the shell 2 through the support 4. In one embodiment, the bracket 4 is arranged on the side of the power mechanism 1 facing the upper housing 23. The side plate 233 of the bracket 4, the lower shell 24 and the upper shell 23 enclose to form a mounting cavity of the power mechanism 1, and the power mechanism 1 is arranged between the lower shell 24 and the bracket 4. In order to facilitate the power output end 11 of the power mechanism 1 to be exposed outside the bracket 4, the bracket 4 is provided with a through second avoiding hole 41. The aperture size of the second avoiding hole 41 should meet the penetrating requirement of the power output end 11. The second avoidance hole 41 is provided corresponding to the first avoidance hole 22. The power output end 11 can continue to penetrate through the first avoidance hole 22 after penetrating through the second avoidance hole 41. In order to make the internal structure of the slave-end power socket 100 more compact, in an embodiment, the first avoidance hole 22 and the second avoidance hole 41 are coaxially disposed. The shape of the bracket 4 is substantially the same as that of the upper case 23, and the upper surface thereof abuts against the inner wall of the top plate 23a of the upper case 23, that is, the portion thereof engaged with the top plate 23a is also in a stepped structure. The upper surface of the motor 12 abuts against the lower surface of the bracket 4. The power output end 11 sequentially passes through the second avoidance hole 41 and the first avoidance hole 22 and is exposed outside the housing 2.

In order to simplify the internal structure, the connecting member 3 is fixedly connected to the bracket 4 or integrally formed with the bracket in one embodiment, as shown in fig. 3 to 5. The bracket 4 includes a support plate 42 and a connection plate 43. The support plate 42 is located in the receiving cavity 21 for mounting the power mechanism 1. The supporting plate 42 is provided with a second avoiding hole 41. The connecting plate 43 is located in the boss 2b for connecting the support plate 42 and the connecting member 3. One end of the connecting member 3 is connected to the connecting plate 43, and the other end of the connecting member 3 extends out of the housing 2 through the notch 2331 of the boss 2b. Of course, in other embodiments, the bracket 4 may be used only for mounting the power mechanism 1, and the connecting element 3 may be provided separately from the bracket 4, and the connecting element 3 may be provided directly on the surface of the housing 2.

Of course, the present invention can also be implemented in other various embodiments, such as the sliding mechanism 200 includes only a screw-motor power portion or a rail-slider guiding portion, or the power portion can also be implemented by a motor driving a slider to slide along a rail, and those skilled in the art can make various corresponding changes and modifications according to the present invention without departing from the spirit and the essence of the present invention, and these corresponding changes and modifications should fall into the protection scope of the claims of the present invention.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A from end power seat of intervene surgical robot assembles on slide mechanism, its characterized in that: the method comprises the following steps:

the power mechanism comprises a power output end;

the shell is provided with an accommodating cavity, and a first through avoidance hole is formed in the shell;

a connector connected to the sliding mechanism and the housing;

the power mechanism is arranged in the accommodating cavity, the power output end penetrates through the first avoidance hole and is exposed out of the shell, and the power output end is arranged below the joint of the connecting piece and the sliding mechanism.

2. A slave-end power block of an interventional surgical robot as set forth in claim 1, wherein: the shell comprises a main body part and a protruding part, the protruding part extends towards the direction close to the sliding mechanism along the surface of the main body part, the main body part is provided with the accommodating cavity, and the connecting piece is fixed on the protruding part.

3. A slave-end power block for an interventional surgical robot as set forth in claim 2, wherein: the connecting piece is arranged on one side of the protruding part facing the sliding mechanism.

4. A slave-end power block for an interventional surgical robot as set forth in claim 2, wherein: the main part includes casing and lower casing, go up the casing with the casing encloses to close down and forms hold the chamber, upward seted up on the casing first hole of dodging.

5. The slave-end power block of an interventional surgical robot of claim 4, wherein: the lower shell comprises a bottom plate and a transition plate connected to the bottom plate, the transition plate and the bottom plate are arranged at an included angle, and the power mechanism is arranged between the bottom plate and the upper shell.

6. The slave-end power block of an interventional surgical robot of claim 4, wherein: the auxiliary power base of the interventional operation robot comprises two power mechanisms.

7. The slave-end power block of an interventional surgical robot of claim 6, wherein: the upper shell is provided with two first avoidance holes, and the two first avoidance holes correspond to the two power output ends one to one.

8. A slave-end power mount for an interventional surgical robot as recited in claim 7, wherein: go up the casing and include first plate body and second plate body, first plate body with one has been seted up respectively on the second plate body first hole of dodging, the surface of first plate body with the surface setting of straying of second plate body.

9. A slave-end power mount for an interventional surgical robot as recited in claim 4, wherein: the auxiliary power base of the interventional operation robot further comprises a support, the support is arranged in the accommodating cavity, and the power mechanism is fixed on the support.

10. A slave-end power block of an interventional surgical robot as set forth in claim 9, wherein: the support is provided with a through second avoiding hole, the power mechanism is arranged between the lower shell and the support, and the power output end penetrates through the second avoiding hole.

11. A slave-end power block for an interventional surgical robot as set forth in claim 10, wherein: the first avoidance hole and the second avoidance hole are coaxially arranged.

12. A slave-end power block for an interventional surgical robot according to any one of claims 1-11, wherein: the surface of casing is provided with keeps off the ring, keep off the ring cover and locate the first drill way department of dodging the hole, power take off end wears to locate keep off the ring and expose keep off outside the ring.