CN115607298A

CN115607298A - Instrument conveying device, instrument conveying equipment and interventional operation system

Info

Publication number: CN115607298A
Application number: CN202211280041.1A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Zhimai Shanghai Robot Co ltd
Current assignee: Zhimai Shanghai Robot Co ltd
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2023-01-17

Abstract

The invention provides an instrument conveying device, instrument conveying equipment and an interventional operation system, wherein the device comprises a driving module and at least two conveying modules which are arranged along an X axis; the conveying module is used for clamping or loosening the interventional instrument and is also used for driving the clamped interventional instrument to rotate around the X axis; the drive module is used for driving the group of conveying modules to synchronously move along the X axis in the opposite direction or in the opposite direction, and when one of the group of conveying modules clamps the interventional instrument, the other conveying module loosens the interventional instrument. Compared with a complex conveying mechanism matched with an interventional instrument in the prior art, the mechanical structure of the instrument conveying device can be simplified through the matching mode of the two conveying modules in one group and the control mode of the conveying modules on the interventional instrument, and the control mode of the instrument conveying device on conveying or withdrawing the interventional instrument is also simplified.

Description

Instrument conveying device, instrument conveying equipment and interventional operation system

Technical Field

The invention relates to the technical field of medical instruments, in particular to an instrument conveying device, instrument conveying equipment and an interventional operation system.

Background

In the process of the vascular intervention operation, the intervention instrument enters the body of a patient and moves along the blood vessel, and the intervention instrument needs to be driven to rotate around the axis of the intervention instrument when necessary, so that a better intervention effect is realized. In order to make the interventional instrument automatically move back and forth and rotate, an advancing and retreating component and a rotating component are arranged on a conveying mechanism matched with the interventional instrument. However, in the related delivery mechanism, in order to realize the automatic advancing, retreating and rotating functions of the interventional instrument, the delivery mechanism usually includes a complicated mechanical structure and a plurality of driving motors, which results in that the mechanical structure of the whole delivery mechanism is very complicated, the logic control mode is correspondingly complicated, and program faults are easy to occur, such as complicated synchronous control or timing control.

Therefore, how to simplify the mechanical structure of the conveying mechanism of the interventional device and correspondingly simplify the logic control mode of the conveying mechanism, thereby simplifying the motion control of the interventional device, is an important research direction in the field.

Disclosure of Invention

The invention provides an instrument conveying device, instrument conveying equipment and an interventional operation system, and aims to simplify the mechanical structure of a conveying mechanism matched with an interventional instrument and correspondingly simplify the logic control mode of the conveying mechanism, so that the motion control of the interventional instrument is simplified.

In order to solve the technical problem, according to an aspect of the present invention, the present invention provides an instrument transportation device, which includes a driving module and at least two transportation modules arranged along an X axis;

the conveying module is used for clamping or loosening an interventional instrument and is also used for driving the clamped interventional instrument to rotate around an X axis;

the drive module is used for driving the group of conveying modules to synchronously move along the X axis in the opposite direction or in the opposite direction, and when one of the group of conveying modules clamps the interventional instrument, the other conveying module releases the interventional instrument.

Optionally, two of the transport modules in a set are adjacent along the X-axis.

Optionally, the movement rates of a set of said conveyor modules along said X-axis are the same.

Optionally, the driving module includes a driving member extending along the X axis, the driving member is connected to a group of the conveying modules, the driving member is configured to rotate around the X axis, and the driving module is configured to convert the rotational movement of the driving member into the linear movement of the conveying modules along the X axis.

Optionally, the driving member includes a first bidirectional screw rod in threaded connection with the conveying module.

Optionally, the conveying module includes a clamping unit, and the clamping unit includes two clamping bodies arranged in sequence along the Y axis; the two clamping bodies are relatively close to each other along the Y axis to clamp the interventional instrument, and the interventional instrument is loosened by the two clamping bodies being relatively far away along the Y axis;

the Y axis is perpendicular to the X axis.

Optionally, the conveying module includes an opening and closing driving unit connected to the clamping unit, and the opening and closing driving unit is configured to drive the two clamping bodies to move relatively along the Y axis.

Optionally, the opening and closing driving unit comprises a potential energy assembly and an opening and closing assembly, and the potential energy assembly is connected with the two clamping bodies along the Y axis; the opening and closing assembly is arranged between the two clamping bodies, and when the opening and closing assembly rotates around the X axis, the two clamping bodies are relatively close to or relatively far away from each other; when the two clamping bodies are relatively far away, the potential energy assembly increases the potential energy stored by the potential energy assembly, and when the two clamping bodies are relatively close, the potential energy assembly decreases the potential energy stored by the potential energy assembly.

Optionally, the potential energy assembly comprises a plurality of pressure springs, the pressure springs are arranged at two ends of the clamping body along the Y axis, a first end of each pressure spring is connected with the clamping body, and a second end of each pressure spring is fixed along the Y axis;

or the potential energy component comprises at least one tension spring, and the two clamping bodies are connected through the tension spring along the Y axis.

Optionally, the opening and closing assembly includes an opening and closing rod and two protruding edges arranged on the opening and closing rod, the protruding edges protrude outwards from the opening and closing rod along the radial direction of the opening and closing rod, and the two protruding edges protrude in the same radial direction of the opening and closing rod; the rib is configured to abut against the clamping body with rotation of the opening and closing lever.

Optionally, a set of the two corresponding opening and closing assemblies of the conveying module share the same opening and closing rod, and a circumferential included angle between the convex edge of one of the opening and closing assemblies and the convex edge of the other one of the opening and closing assemblies along the opening and closing rod is 90 °.

Optionally, the opening and closing driving unit comprises at least one cam and at least one elastic piece; one end of the elastic piece along the Y axis is fixed, and the other end of the elastic piece along the Y axis is connected with the clamping body; the eccentric axis of the cam is perpendicular to the Y axis, and the cam is configured to rotate around the eccentric axis of the cam so as to change the elastic potential energy of the elastic piece.

Optionally, the conveying module includes a twisting driving unit connected to the clamping unit, and the twisting driving unit is configured to drive the two clamping bodies to move in the Z-axis direction or in the opposite direction synchronously;

the X axis, the Y axis and the Z axis are mutually vertical in pairs.

Optionally, the twisting driving unit includes a twisting member, the twisting member is connected to the two clamping bodies, and the twisting driving unit is configured to convert a rotational movement of the twisting member into a linear movement of the clamping bodies along the Z axis.

Optionally, the twisting element includes a second bidirectional lead screw in threaded connection with the clamping body, and the second bidirectional lead screw extends along the Z axis;

or the twisting piece comprises a gear meshed with the clamping body, and the axis of the gear extends along the X axis.

Optionally, the movement rates of the two clamping bodies along the Z axis are the same.

According to another aspect of the invention, there is also provided an instrument delivery device comprising:

the instrument delivery device as described above;

the recognition simulation device is configured for simulating and controlling the movement of the interventional instrument by two hands of an operation object and recording action information when each hand of the operation object simulates and controls the interventional instrument;

a robot configured to control one of the set of delivery modules to actuate movement of the interventional instrument in accordance with left hand motion information and another of the set of delivery modules to actuate movement of the interventional instrument in accordance with right hand motion information.

Optionally, the motion information includes at least one of linear motion information of the finger, twisting motion information of the finger, and clamping state information of the finger.

Optionally, the conveying module of the instrument conveying device includes a clamping unit, and the clamping unit includes two clamping bodies sequentially arranged along the Y axis; the two clamping bodies are relatively close to each other along the Y axis to clamp the interventional instrument, and the two clamping bodies are relatively far away along the Y axis to release the interventional instrument; the two clamping bodies are also used for synchronously moving along the Z axis in the opposite direction or in the opposite direction; the X axis, the Y axis and the Z axis are mutually vertical in pairs;

the robot is configured to drive the two clamping units to move towards or away from each other along the X axis according to the linear movement information of the fingers, drive the two clamping bodies to relatively approach or relatively move away from each other along the Y axis according to the clamping state information of the fingers, and drive the two clamping bodies to move towards or away from each other along the Z axis according to the twisting movement information of the fingers.

Optionally, the instrument delivery device comprises a plurality of displacement sensors mounted on the delivery module; one part of the displacement sensors are used for forming first stroke information according to the movement stroke of the conveying module along the X axis, and the other part of the displacement sensors are used for forming second stroke information according to the movement stroke of the clamping body along the Z axis;

the robot is configured to determine whether to stop the instrument delivery device based on whether the first and/or second trip information corresponds to preset trip information.

According to a further aspect of the invention, there is also provided an interventional surgical system comprising an interventional instrument and an instrument delivery device as described above.

Optionally, the interventional instrument comprises a medical guidewire or a medical catheter.

In summary, in the instrument transportation device, the instrument transportation apparatus and the interventional operation system provided by the present invention, the instrument transportation device includes a driving module and at least two transportation modules arranged along the X-axis; the conveying module is used for clamping or loosening an interventional instrument and is also used for driving the clamped interventional instrument to rotate around an X axis; the drive module is used for driving one group of the conveying modules to synchronously move along the X axis in the opposite direction or in the opposite direction, and when one group of the conveying modules clamps the interventional instrument, the other group of the conveying modules releases the interventional instrument.

On the first hand, the driving module drives the two conveying modules in one group to move in opposite directions or move in opposite directions, and in the synchronous relative movement process of the two conveying modules in one group, one conveying module clamps the interventional device, the other conveying module loosens the interventional device, so that the two conveying modules in one group can alternatively clamp the interventional device to alternatively drive the interventional device to move so as to realize the purpose of conveying or withdrawing the linear interventional device, therefore, the continuity of the conveying action or the withdrawing action of the interventional device can be ensured, and the working mode of driving the interventional device to move by the alternate clamping does not limit the conveying or withdrawing distance of the interventional device.

In a second aspect, the delivery module is further configured to drive the gripped interventional instrument to rotate about the X-axis, thereby allowing the delivery module to provide versatility in controlling the interventional instrument. The conveying module can respectively and independently control the conveying and the rotation of the interventional device, and can also simultaneously control the interventional device to synchronously rotate in the conveying process, for example, the conveying module controls the interventional device to synchronously rotate in the conveying process, so that the interventional device has better interventional effect and is suitable for more interventional operation application scenes; for another example, after the interventional device is delivered to the target position, the delivery module only controls the interventional device to perform the rotation motion.

Compared with a complex conveying mechanism matched with an interventional instrument in the prior art, the mechanical structure of the instrument conveying device can be simplified through the matching mode of the two conveying modules in one group and the control mode of the conveying modules on the interventional instrument, and the control mode of the instrument conveying device on conveying or withdrawing the interventional instrument is also simplified.

It should be noted that the instrument transportation device and the interventional surgical system of the invention include the instrument transportation device, so that the instrument transportation device also has the beneficial technical effects brought by the instrument transportation device, and repeated description is omitted here.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of a device delivery apparatus according to a first embodiment of the present invention;

FIG. 2 is another schematic illustration of the device delivery apparatus of the first embodiment of the present invention;

FIG. 3 is a schematic view of the clamping unit and the opening/closing driving unit of the instrument delivery device according to the first embodiment of the invention;

FIG. 4 is another schematic view of the clamping unit and the opening/closing driving unit of the instrument transportation device according to the first embodiment of the present invention;

FIG. 5 is a schematic view of the potential energy assembly of the instrument delivery device including a tension spring according to the first embodiment of the present invention;

FIG. 6 is a schematic view of a switch assembly of the instrument delivery device according to a first embodiment of the present invention;

FIG. 7 is a schematic illustration of an instrument delivery apparatus according to a first embodiment of the present invention;

FIG. 8 is a schematic diagram of a recognition simulation apparatus according to a first embodiment of the present invention;

FIG. 9 is another schematic diagram of a recognition simulation apparatus according to a first embodiment of the present invention;

FIG. 10 is a schematic view of a recognition simulation apparatus according to a first embodiment of the present invention;

FIG. 11 is a schematic view of an interventional surgical system in accordance with a first embodiment of the invention;

FIG. 12 is a schematic view of a robotic manipulator transport apparatus according to a first embodiment of the present disclosure;

FIG. 13 is a flow chart of operation of the instrument delivery device of the first embodiment of the present invention;

FIG. 14 is a schematic view of a displacement sensor disposed on the instrument delivery device in accordance with a first embodiment of the present invention;

FIG. 15 is a flowchart of closed loop control of an interventional surgical system in accordance with a first embodiment of the present invention;

FIG. 16 is a schematic view of a device delivery apparatus according to a second embodiment of the present invention;

fig. 17 is a schematic view of an opening and closing driving unit and a twisting driving unit according to a second embodiment of the present invention;

fig. 18 is another schematic view of the opening and closing driving unit and the twisting driving unit according to the second embodiment of the present invention;

fig. 19 is a top view of fig. 18.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in simplified form and are not to scale, but are provided for the purpose of facilitating and clearly illustrating embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

An embodiment of the present invention provides an instrument transportation device applied to an interventional operation system, for example, the interventional operation system may be a vascular interventional operation system applied to the field of vascular interventional operations, and further, for example, a PCI operation system (percutaneous coronary intervention system). The working principle and the related components of the X-ray imaging apparatus and the digital subtraction angiography apparatus will not be described in the present embodiment, and those skilled in the art can understand the prior art. Typically, the device delivery apparatus is used to deliver or withdraw an interventional device into or from the body of a patient. The interventional instrument is typically a medical catheter or a medical guidewire in the field of vascular interventional procedures.

[ EXAMPLES ] A method for producing a semiconductor device

Referring to fig. 1 and 2, the instrument transportation device of the present embodiment includes a driving module 20 and at least two transportation modules (such as the two transportation modules exemplified in fig. 1 and 2) arranged along an X-axis (interval), where the X-axis is generally parallel to a horizontal plane, but of course, in other embodiments, the X-axis may also form an angle with the horizontal plane. The transport module may be used to clamp or unclamp the interventional instrument 100, and in particular, the transport module has a clamping unit 10, the clamping unit 10 being used to clamp or unclamp the interventional instrument 100 along a Y-axis, which is perpendicular to the X-axis. Further, the conveying module is further configured to drive the clamped interventional device 100 to rotate around the X-axis, which may be that after the clamping unit 10 of the conveying module clamps the interventional device 100, the clamping unit 10 drives the interventional device 100 to rotate through the mechanical structure characteristics of the clamping unit 10 itself, or other units in the conveying module drive the clamping unit 10 to rotate so as to drive the clamped interventional device 100 to rotate. Any two conveying modules are in a group, for example, two adjacent conveying modules along the X axis can be selected as a group. The driving module 20 is configured to drive the two transport modules in one set to move synchronously toward or away from each other along the X-axis, so that the two transport modules in one set move synchronously toward or away from each other along the X-axis, and when one of the transport modules in one set clamps the interventional instrument 100, the other transport module in the other set releases the interventional instrument 100. It should be noted that the stroke of the two conveyor modules in one group moving along the X-axis synchronously may be equal or unequal.

In a first aspect, the instrument delivery device may alternatively grip the interventional instrument 100 through a set of delivery modules for the purpose of delivering or withdrawing the interventional instrument 100. Illustratively, two delivery modules are illustrated in fig. 1, and a direction to the left along the X-axis is defined as a direction in which the interventional device 100 is delivered into the body of the patient (i.e., defined as a delivery direction), and a direction to the right along the X-axis is defined as a direction in which the interventional device 100 is withdrawn from the body of the patient (i.e., defined as a withdrawal direction). Delivery of the interventional instrument 100 may be accomplished, for example, by the following procedure: in the process (a), the intervention instrument 100 is clamped by the lower left conveying module, the intervention instrument 100 is loosened by the upper right conveying module, the lower left conveying module moves for a certain distance along the conveying direction, and the upper right conveying module synchronously moves for a certain distance along the withdrawing direction, so that the intervention instrument 100 is driven by the lower left conveying module to move for a certain distance; in the process (b), the interventional instrument 100 is loosened by the lower left conveying module, the interventional instrument 100 is clamped by the upper right conveying module, the interventional instrument 100 is driven to move for a certain distance along the conveying direction by the upper right conveying module, and the lower left conveying module synchronously moves for a certain distance along the retracting direction; process (c), repeating process (a) and process (b) until the delivery profile of the interventional instrument 100 is in accordance with the surgical requirements. Retraction of the interventional instrument 100 may also be accomplished, for example, by the following procedure: in the process (d), the intervention instrument 100 is clamped by the upper right conveying module, the intervention instrument 100 is loosened by the lower left conveying module, the upper right conveying module moves for a certain distance along the retraction direction, and the lower left conveying module synchronously moves for a certain distance along the conveying direction, so that the intervention instrument 100 is driven by the upper right conveying module to move for a certain distance; in the process (e), the intervention instrument 100 is loosened by the upper right conveying module, the intervention instrument 100 is clamped by the lower left conveying module, the intervention instrument 100 is driven by the lower left conveying module to move for a certain distance along the retraction direction, and the intervention instrument 100 is synchronously moved for a certain distance along the conveying direction by the upper right conveying module; process (f) and repeating process (d) and process (e) until the interventional instrument 100 is substantially withdrawn from the patient. In the whole conveying or withdrawing process, the distance of each synchronous movement of the two conveying modules can be equal or unequal. Therefore, the manner of alternately clamping and driving the interventional device 100 to move can ensure continuity of the conveying action or the withdrawing action of the interventional device 100, and the working mode of alternately clamping and driving the interventional device 100 to move does not limit the conveying or withdrawing distance of the interventional device 100, and in addition, the manner of alternately clamping and driving the interventional device 100 can also simplify the logic control manner of the matched control device, and can also simplify the revelation on the mechanical structure design of the device conveying device.

In a second aspect, the delivery module is further configured to drive the gripped interventional instrument 100 to rotate around the X-axis, so that the delivery module can control the interventional instrument 100 in a variety of ways. The conveying module can control the conveying and rotation of the interventional device 100 independently or simultaneously, for example, the conveying module controls the interventional device 100 to synchronously rotate during the conveying process, so that a better interventional effect of the interventional device 100 is realized, and more interventional operation application scenes are adapted; for another example, after the interventional device 100 is delivered to the target position, the delivery module only controls the interventional device 100 to rotate, and further, for example, after one of the delivery modules holds and drives the interventional device 100 to rotate for a period of time, the other delivery module holds and drives the interventional device 100 to rotate continuously.

With continued reference to fig. 1, the driving module 20 comprises a driving member 21 extending along the X-axis, the driving member 21 is connected to a group of conveyor modules, i.e. the driving member 21 is connected to both conveyor modules in a group, the driving member 21 is configured to rotate around the X-axis, and the rotational movement of the driving member 21 is converted into a linear movement of the conveyor modules along the X-axis. Thus, in this embodiment, only one component, i.e., the driving member 21, needs to be rotated to drive one group of conveying modules to move synchronously, and corresponding driving mechanisms do not need to be configured for two conveying modules, so that the use of components can be reduced, and the mechanical structure can be simplified. In one embodiment, for example, when the driving member 21 rotates clockwise, the two conveying modules are driven to move synchronously toward each other, and when the driving member 21 rotates counterclockwise, the two conveying modules are driven to move synchronously away from each other. Further, the driving module 20 further includes a first rotating electrical machine 22, and an output shaft of the first rotating electrical machine 22 is coaxially fixed with the driving member 21, and is used for driving the driving member 21 to rotate clockwise or counterclockwise. As a further implementation detail, the conveying module includes a first base 80, the clamping unit 10 of the conveying module is connected with the base (for example, may be disposed in the first base 80), the driving member 21 is connected with the first base 80, and the driving member 21 rotates to drive the first base 80 to move along the X axis, so as to drive the clamping unit 10 to move.

In one embodiment, the drive member 21 may be configured based on the principle of a lead screw nut, and in particular, the drive member 21 may include a bi-directional lead screw (herein referred to as a first bi-directional lead screw), and the transport module may have a nut feature (e.g., a threaded hole configured on the first base 80) to threadably couple the first bi-directional lead screw to the transport module. It can be understood that two sections of thread sections with different screw directions are manufactured on one screw rod according to the structural characteristics of the bidirectional screw rod, and then the two sections of thread sections with different screw directions are respectively connected with two different conveying modules.

Preferably, the movement rates of the conveyor modules of a group along the X-axis are the same, such that the strokes of two conveyor modules in a group each time they move synchronously along the X-axis are the same. In an embodiment, for example, the driving member 21 is a bidirectional screw, and the thread pitch of the thread section of one of the bidirectional screw and the thread pitch of the thread section of the other of the bidirectional screw are configured to be equal.

With continued reference to fig. 1, the gripping unit 10 includes two gripping bodies 11 sequentially arranged at intervals along the Y-axis, and the interventional instrument 100 is located between the two gripping bodies 11; the clamping unit 10 is configured to: the interventional instrument 100 is clamped by applying pressure from both sides to the interventional instrument 100 by the two clamping bodies 11 approaching each other along the Y-axis, and the interventional instrument 100 is released by removing the pressure to the interventional instrument 100 by the two clamping bodies 11 moving away from each other along the Y-axis; wherein the Y-axis is perpendicular to the X-axis.

As a further implementation detail, the clamping body 11 includes a clamping block 111 and a connecting member 112 connected to the clamping block 111, a perpendicular line of the clamping block 111 is parallel to the Y-axis, the connecting member 112 is movably connected to the first base 80 along the Y-axis through a first guiding structure, so as to move the clamping block 111 along the Y-axis, and the two clamping blocks 111 are used for clamping or releasing the interventional instrument 100. The first guide structure may be, for example, a guide groove 81 formed in the first base 80, the guide groove 81 extending along the Y axis is substantially rectangular, the guide groove 81 penetrates the first base 80 along the Z axis, and the connecting member 112 is inserted into the guide groove 81 and is movable in the guide groove 81 along the Y axis. Wherein, X-axis, Y-axis and Z-axis are mutually vertical in pairs in space. In other embodiments, the first guiding structure may also adopt a matching manner of a guide rail slider, a matching manner of a guide wheel and a sliding chute, and the like in the prior art.

Further, the conveying module comprises an opening and closing driving unit connected with the clamping unit 10, the opening and closing driving unit is used for driving the two clamping bodies 11 to move relatively along the Y axis, and preferably, the opening and closing driving unit drives the two clamping bodies 11 to move synchronously and oppositely along the Y axis to approach each other and to move synchronously and oppositely to move away from each other.

Regarding the specific configuration of the opening and closing drive unit, the opening and closing drive unit comprises a potential energy assembly and an opening and closing assembly 33, wherein the potential energy assembly is connected with the two clamping bodies 11 along the Y axis; the opening and closing assembly 33 is arranged between the two clamping bodies 11, and when the opening and closing assembly 33 rotates around the X axis, the two clamping bodies 11 are close to or far away from each other; when the two clamping bodies 11 are far away from each other, the potential energy assembly increases the potential energy stored by the potential energy assembly, and when the two clamping bodies 11 are close to each other, the potential energy assembly decreases the potential energy stored by the potential energy assembly. In this way, when the opening and closing assembly 33 rotates to move the two clamping bodies 11 away, the potential energy of the potential energy assembly is increased, and when the opening and closing assembly 33 rotates to move the two clamping bodies 11 close to each other, the potential energy assembly releases the stored potential energy to better reset the clamping block 111, thereby clamping the interventional instrument 100. Further, the opening and closing driving unit further comprises a second rotating motor 34, and the second rotating motor 34 is connected with the opening and closing assembly 33 and used for driving the opening and closing assembly 33 to rotate.

In a preferred embodiment, the potential energy of the potential energy assembly is in the form of a spring force. Specifically, referring to fig. 3, the potential energy assembly includes a plurality of compression springs 31, two ends of the clamping body 11 along the Y axis are both provided with the compression springs 31, a first end of each compression spring 31 is connected with the clamping body 11, and a second end of each compression spring 31 is fixed along the Y axis. The mode that the clamping body 11 all is equipped with the pressure spring 31 along the both ends of Y axle is favorable to the clamping body 11 to reset better. As a further implementation detail, with reference to fig. 3, the guide pin 35 penetrates the connecting member 112 along the Y axis, and two ends of the guide pin 35 extend out of the connecting member 112, the guide pin 35 is located in the guide groove 81 of the first base 80, the extending portions on two sides of the guide pin 35 are respectively sleeved with the compression springs 31, a first end of the compression spring 31 is connected to the connecting member 112, the other end of the compression spring 31 is fixed on the guide pin 35, the compression springs 31 on two sides of each clamping body 11 apply an elastic force toward the clamping body 11, and when the two clamping bodies 11 are away from each other, the compression springs 31 on the outer sides are compressed, so as to increase the stored elastic force.

In an alternative implementation, the potential energy force of the potential energy assembly is presented in the form of a tensile force. Specifically, referring to fig. 4 and 5, the potential energy assembly includes at least one tension spring 32, and the two clamping bodies 11 are connected by the tension spring 32 along the Y-axis, for example, two ends of the tension spring 32 are respectively connected to the connecting members 112 of the two clamping bodies 11, so that the tension spring 32 applies a pulling force to any one clamping body 11 toward the other clamping body 11, and when the two clamping bodies 11 are away from each other, the tension spring 32 is extended to increase the stored pulling force.

With regard to the specific structure of the opening and closing assembly 33, referring to fig. 4 and 6, the opening and closing assembly 33 includes an opening and closing rod 331 and two ribs 332 disposed on the opening and closing rod 331, the ribs 332 protrude the opening and closing rod 331 outwards along the radial direction of the opening and closing rod 331, and the two ribs 332 protrude in the same radial direction of the opening and closing rod 331; the rib 332 is configured to abut against the clamping body 11 with the rotation of the opening and closing lever 331. Further, the opening and closing lever 331 is fixed coaxially with the output shaft of the second rotating electric machine 34, for rotation by the driving of the second rotating electric machine 34. Thus, the extending direction of the protruding rib 332 is the radial direction of the opening and closing rod 331, the extending directions of the two protruding ribs 332 in the opening and closing component 33 are in the same diameter direction of the opening and closing rod 331, the opening and closing rod 331 is located between the two connecting pieces 112, when the opening and closing rod 331 rotates to enable the extending direction of the protruding rib 332 to be along the Y axis, the two protruding ribs 332 correspondingly strut the two clamping bodies 11 to enable the two clamping bodies 11 to be away from each other along the Y axis, so that the interventional instrument 100 can be loosened, and the potential energy stored by the potential energy component itself will be increased at this time; when the opening/closing lever 331 rotates to make the extending direction of the rib 332 along the Z-axis, the potential energy component releases the stored potential energy to drive the two clamping bodies 11 to approach each other along the Y-axis, so that the interventional instrument 100 can be clamped. It can be understood that the two ribs 332 of the opening and closing assembly 33 can also ensure that the two clamping bodies 11 approach to each other along the Y axis synchronously or separate from each other along the Y axis synchronously during the rotation process of the opening and closing rod 331. Preferably, in order to make the opening/closing rod 331 drive the protruding rib 332 to rotate smoothly on the connecting piece 112, an arc-shaped groove may be formed on one side of the connecting piece 112 close to the opening/closing rod 331, and the opening/closing rod 331 drives the protruding rib 332 to rotate in the arc-shaped groove.

Preferably, with reference to fig. 6, two opening and closing assemblies 33 corresponding to a group of conveying modules share the same opening and closing rod 331, and an included angle between the rib 332 of one opening and closing assembly 33 and the rib 332 of the other opening and closing assembly 33 along the circumferential direction of the opening and closing rod 331 is 90 °, that is, an extending direction of the rib 332 of one opening and closing assembly 33 is perpendicular to an extending direction of the rib 332 of the other opening and closing assembly 33. When the extending direction of rib 332 of one of the opening and closing members 33 is along the Y-axis, the extending direction of rib 332 of the other opening and closing member 33 is along the Z-axis, so that when one of the clamping units 10 clamps the interventional device 100, the other clamping unit 10 just releases the interventional device 100. Thus, two sets of independent opening and closing components 33 do not need to be configured, the working states of the two clamping units 10 can be controlled only by one opening and closing rod 331, the conversion efficiency of the two clamping units 10 to the working states (the clamping state and the loosening state) of the interventional instrument 100 can be greatly improved, the mechanical structure of the device can be greatly simplified, and the control mode of the two clamping units 10 is simpler.

Regarding the specific manner of driving the clamped interventional device 100 to rotate around the X axis by the conveying module, the two clamping bodies 11 of the clamping unit 10 of the embodiment are further configured to move in opposite directions or away from each other along the Z axis synchronously, so that the two clamping bodies 11 approach or move away from each other along the Z axis, so that after the two clamping bodies 11 approach each other along the Y axis to clamp the interventional device 100, the two clamping bodies 11 move in opposite directions or away from each other along the Z axis, so that the twisting action can be generated on the interventional device 100, and further the interventional device 100 rotates clockwise or counterclockwise. Further, referring to fig. 1, the conveying module includes a twisting driving unit 40 connected to the clamping unit 10, and the twisting driving unit 40 is configured to drive the two clamping bodies 11 to move towards or away from each other along the Z axis synchronously.

With regard to the specific configuration of the twisting drive unit 40, with continued reference to fig. 1, the twisting drive unit 40 comprises twisting members 41, the twisting members 41 being connected to the two gripping bodies 11, the twisting drive unit 40 being configured to convert a rotational movement of the twisting members 41 into a linear movement of the gripping bodies 11 along the Z-axis. The twisting driving unit 40 further includes a third rotating motor 43, and an output shaft of the third rotating motor 43 is coaxially and fixedly connected to the twisting member 41, and is configured to drive the twisting member 41 to rotate clockwise or counterclockwise. In this embodiment, the twisting member 41 includes a bidirectional lead screw (herein, referred to as a second bidirectional lead screw) in threaded connection with the holding body 11, the second bidirectional lead screw extends along the Z-axis, and the second bidirectional lead screw can rotate around the Z-axis. Preferably, the movement rates of the two gripping bodies 11 of the gripping unit 10 along the Z-axis are the same.

It should be noted that, regarding the mechanical configuration of the twisting element 41 and the specific scheme of driving the two clamping bodies 11 to move at the same speed along the Z axis by the twisting element 41, those skilled in the art can understand from the foregoing description of the driving element 21, and the description is not repeated here.

In a general surgical scenario, regarding the positioning of the instrument delivery device, the X axis and the Y axis are generally parallel to the horizontal plane, and the Z axis is parallel to the vertical plane. Preferably, when the X axis and the Y axis are parallel to the horizontal plane and the Z axis is parallel to the vertical plane, the output shaft of the third rotating motor 43 passes through a transmission assembly (not shown) and the twisting member 41, and the transmission shaft system of the transmission assembly can adjust the output shaft of the third rotating motor 43 to be parallel to the plane defined by the X axis and the Y axis (the horizontal plane corresponding to such a scenario), so as to reduce the dimension of the whole instrument conveying device along the Z axis and reduce the vertical height, so as to better fit the operating room. Specifically, the transmission assembly is, for example, a worm gear and a worm, the worm gear is coaxially fixed with the twisting member 41, the worm gear is meshed with the worm, the worm is parallel to the horizontal plane, and the worm is coaxially fixed with an output shaft of the third rotating motor 43. Alternatively, the drive assembly may be a plurality of drive-engaging bevel gears.

As a further implementation detail, with continued reference to fig. 1, 3 and 6, the twisting driving unit 40 further includes two second bases 42, the two second bases 42 correspond to the two clamping bodies 11 one by one, the second base 42 is fixedly connected to the connecting member 112 along the Z axis, that is, the relative positions of the second base 42 and the connecting member 112 along the Z axis are fixed, the second base 42 is connected to the twisting member 41, and the twisting member 41 rotates to drive the second base 42 to move along the Z axis, so as to drive the clamping body 11 to move along the Z axis, so that the second base 42 may be configured with a threaded hole feature cooperating with a lead screw, or a worm wheel feature cooperating with a worm. In addition, the connecting member 112 is movably connected to the second base 42 along the Y-axis through a second guiding structure, which ensures that the clamping body 11 is not blocked by the second base 42 when moving along the Y-axis, and the second guiding structure may be the same as the first guiding structure, for example, a groove (refer to the guiding groove 81) formed on the second base 42, or a matching manner of the guiding rail and the sliding block, a matching manner of the guiding wheel and the sliding rail, etc.

As a still further implementation detail, with continued reference to fig. 1, two transport modules in a group are connected by a third base 90 to improve the structural stability of the apparatus. Specifically, the third base 90 can be used as a reference, the position of the third base 90 along the X axis, the position along the Y axis, and the position along the Z axis are not changed, and the twisting member 41 is movably connected with the third base 90 along the X axis through a third guide structure, so that the first base 80 is ensured to move along the X axis, and thus the force is conducted through the matching of the clamping body 11 and the second base 42, and when the twisting member 41 is driven to move along the X axis, the movement of the twisting member 41 along the X axis is not blocked by the third base 90. The third guiding structure can be configured in a manner that is referred to the first guiding structure, and will not be further described herein. Illustratively, the third guiding structure may be configured as a slot opened in the third base 90 and extending along the X-axis, and the twisting element 41 is inserted through the slot. Alternatively, the third base 90 may be configured as a circuit board, on which a control device may be disposed, the control device being in communication connection with the first rotating motor 22, the second rotating motor 34 and the third rotating motor 43, and the control device being configured to receive an external motor control signal to control the operating states of the three rotating motors, so as to control the respective rotating states of the driving member 21, the opening/closing rod 331 and the twisting member 41, and thus control the movement of the interventional instrument 100 along the X axis and the rotation of the interventional instrument 100 around the Y axis.

Referring to fig. 7 in combination with fig. 1 and 2, based on the above-mentioned instrument delivery device, the present embodiment further provides an instrument delivery apparatus including the recognition simulation device 50, the robot 60, and the instrument delivery apparatus as described above. Wherein, the recognition simulation device 50 is configured to simulate the movement of the interventional instrument 100 by two hands of an operation object (surgeon), and record the movement information of each hand of the operation object when simulating the control of the interventional instrument 100, further, the movement information includes at least one of the linear movement information of the fingers, the twisting movement information of the fingers and the clamping state information of the fingers, wherein the linear movement information of the fingers can be understood as the linear movement of the two hands to approach or separate from each other and the movement parameters (such as movement speed and movement time) during the movement, the clamping state information of the fingers can be understood as the fingers simulating the clamping of the interventional instrument 100 or the fingers simulating the releasing of the interventional instrument 100 and the clamping parameters (such as the time for simulating the clamping of the interventional instrument 100), and the twisting movement information of the fingers can be understood as the finger simulating the clamping of the interventional instrument 100, the twisting movement of the fingers and the parameters (such as the speed and time of the twisting movement) during the twisting movement, so as to simulate the rotation movement of the control instrument 100, for example, the twisting movement between the thumb and the twisting movement; the robot 60 is configured to control one of a set of delivery modules to actuate movement of the interventional instrument 100 according to left-hand motion information and to control another one of a set of delivery modules to actuate movement of the interventional instrument 100 according to right-hand motion information. In one example, the left-hand motion information corresponds to controlling the operation state of the lower left transport module in fig. 1, and the right-hand motion information corresponds to controlling the operation state of the lower right transport module.

In the instrument conveying equipment, the robot 60 and the recognition simulation device 50 are matched with the instrument conveying device for use, on one hand, under the action of the robot 60, image navigation and precise mechanical auxiliary operation can be utilized, the position of a lesion can be accurately positioned, instrument conveying is optimized, the operation precision is improved, the operation time is shortened, and complications are reduced, on the other hand, a doctor can be allowed to perform remote operation in a radiation shielding space through the recognition simulation device 50 and the robot 60, a lead garment does not need to be worn to enter an operating room, the radiation dose can be reduced, and the risks of fatigue and orthopedic diseases are reduced.

As a further implementation detail, referring to fig. 8, the recognition simulation device 50 is a closed device, which is guaranteed not to be interfered by external signals, is equipped with a vision sensor inside, and recognizes the motion (moving, twisting, etc.) being performed by the two hands of the operation object and parameters related to the motion by combining with a corresponding algorithm, so as to record motion parameters forming the respective motions of the two hands, and the motion parameters can be transmitted to the robot 60 in the form of electric signals.

Alternatively, referring to fig. 9 and 10, fig. 9 is another schematic diagram of the recognition simulation device according to the first embodiment of the present invention, and fig. 10 is still another schematic diagram of the recognition simulation device according to the first embodiment of the present invention, which can use a displacement sensor and an angle encoder in combination with a corresponding algorithm in the enclosed recognition simulation device 50 to recognize the operation being performed by both hands of the operation object, thereby recording and forming the corresponding action parameters. The displacement sensor can identify the action signal of the linear motion of the finger, namely provides the action signal of the forward and backward movement of the finger, the angle encoder provides the action signal of the twisting of the finger, compared with the single use of a visual sensor, the method has the advantages that the difficulty of the algorithm is reduced, the operation can be carried out by one hand, but the flexibility of the algorithm model is reduced, and the operation fatigue of a doctor is increased to a certain extent.

Alternatively, the recognition simulation device 50 may also be a wearable device, for example, the recognition simulation device 50 may include a glove and a displacement sensor and an angle sensor provided on the glove, and the operation subject may directly wear the recognition simulation device 50 and feed back motion information of the hand according to the displacement sensor and the angle sensor, so as to simulate and control the instrument transportation device and thus the interventional instrument 100.

In an exemplary embodiment, the operation of the robot 60 controlling the gripping unit 10 of the transport module will be described. The conveying module of the instrument conveying device comprises a clamping unit 10, wherein the clamping unit 10 comprises two clamping bodies 11 which are sequentially arranged along a Y axis; clamping the interventional instrument 100 by the two clamping bodies 11 approaching each other along the Y-axis, and unclamping the interventional instrument 100 by the two clamping bodies 11 moving away from each other along the Y-axis; the two clamping bodies 11 are also used for synchronously moving along the Z axis in the opposite direction or in the opposite direction; the X axis, the Y axis and the Z axis are mutually vertical in pairs. The robot 60 is configured to drive the two clamping units 10 to move towards or away from each other along the X axis according to the linear motion information of the fingers so as to complete the conveying or withdrawing action of the interventional instrument 100, drive the two clamping bodies 11 to approach or move away from each other along the Y axis according to the clamping state information of the fingers so as to complete the loosening or clamping action of the interventional instrument 100, and drive the two clamping bodies 11 to move towards or away from each other along the Z axis according to the twisting motion information of the fingers so as to complete the rotating action of the clamped interventional instrument 100. Like this, the action of apparatus 100 is intervene in control of operation object both hands can be converted into two relative motion along the X axle of centre gripping unit 10, two holding bodies 11 along Y axle relative motion and two holding bodies 11 along the bionical presentation of relative motion of Z axle for instrument conveyor is close actual clinician's operation action after cooperating with the action of operation object both hands to the action of intervene apparatus 100, improves operation accuracy and success rate.

Further, the relative movement of the two gripping units 10 along the X-axis is controlled by the driving member 21 and the first rotating motor 22, the relative movement of the two gripping bodies 11 along the Y-axis is controlled by the common opening and closing lever 331 and the second rotating motor 34, and the relative movement of the two gripping bodies 11 along the Z-axis is controlled by the twisting member 41 and the third rotating motor 43. The specific matching forms of the parts can be referred to the above, and are not explained herein. Referring to fig. 7 in combination with fig. 1 and 2, the robot 60 includes a motor driving module 62, a power module 63, and a central control module 61 (for example, a single chip microcomputer), the central control module 61 is in communication connection with the identification simulation device 50 to implement information interaction between the two, so as to receive the action information of the operation object transmitted by the identification simulation device 50, the power module 63 is connected with the central control module 61 to supply power to the central control module 61, and the central control module 61 issues a corresponding control signal to the motor driving module 62 according to the received action information, so that the motor driving module 62 controls respective working states of the four rotating motors (respectively, the first rotating motor 22, the second rotating motor 34, and the two third rotating motors 43), and further controls respective working states of the driving member 21, the opening/closing lever 331, and the two twisting members 41, so as to implement operation action control of the interventional instrument 100.

Referring to fig. 11, based on the above-mentioned instrument delivery device, this embodiment further provides an interventional surgical system, which includes the above-mentioned instrument delivery device, an interventional instrument 100 and an image guidance device, where the interventional instrument 100 includes a medical catheter or a medical guide wire, and the image guidance device includes an X-ray imaging device or a digital subtraction angiography device. As further implementation details, with continuing reference to fig. 11 and with combined reference to fig. 12, the interventional operation system further includes a console, a protective screen and an operating table, the operating table is located in the operating room and used for the patient to lie down, the protective screen has a ray shielding function, and the doctor can identify and simulate the current actions of the two hands of the doctor through the identification simulation device 50 on the console behind the protective screen, so as to issue the action information to the robot 60, thereby achieving the purpose of remotely controlling the interventional instrument 100. In one embodiment, the shielding may be a lead shielding, which is also called an X-ray shielding, and is a key to safety protection in the medical device industry, nuclear industry manufacturing industry, and other manufacturing industries for protecting radioactive materials. Furthermore, a display and control buttons are arranged on the console, so that a doctor can observe the current position of the interventional instrument 100 in the patient body in real time through the display of the console, and can operate the control buttons of the console to actively control the working state of the instrument conveying device, including sudden stop, resetting and other operations.

Referring to fig. 13, the workflow steps for the interventional surgical system to control the instrument delivery device include:

s1: based on the current state of illness of the patient and the sign information of the patient, the operation object makes the action in the identification simulation device 50 to adapt to the state of illness and the sign information of the patient to simulate and control the interventional instrument 100; here, the condition of the patient includes, but is not limited to, the kind of the patient's illness, the degree of the illness, the location of the disorder, the degree of stenosis of the blood vessel, etc., and the sign information of the patient includes, but is not limited to, the body type, age, etc. of the patient;

s2: the analog recognition device converts the action information of the operation object into a digital signal and transmits the digital signal to the central control module 61;

s3: the central control module 61 converts the digital signal into a driving signal to the motor driving module 62;

s4: the motor driving module 62 controls the respective working states of the first rotating electrical machine 22, the second rotating electrical machine 34 and the third rotating electrical machine 43 according to the driving signal, including controlling the start/stop, the rotation speed and the rotation direction of each rotating electrical machine, so that the two clamping units 10 generate the motion adapted to the motion information of the operation object.

Referring to fig. 14, preferably, the instrument delivery apparatus includes a plurality of displacement sensors 70, the displacement sensors 70 being mounted on the delivery module; one part of the displacement sensors 70 is used for forming first stroke information according to the movement stroke of the conveying module along the X axis, and the other part of the displacement sensors 70 is used for forming second stroke information according to the movement stroke of the clamping body 11 along the Z axis; the robot 60 is configured to determine whether to stop the instrument transportation device according to whether the first travel information and/or the second travel information corresponds to preset travel information. For the first stroke information, in order to ensure the safety of the operation during the operation, the movement of the two transport modules along the X axis needs to be limited, and the two transport modules cannot move towards or away from each other along the X axis all the time, and the displacement sensor 70 detects the stroke of the transport modules along the X axis, and when the stroke exceeds the set maximum stroke (i.e. does not meet the preset stroke information), the robot 60 stops the movement of the two transport modules, specifically, stops the rotation of the first rotating motor 22. The two clamping bodies 11 always move in the opposite direction along the Z axis or move in the opposite direction, which may cause that the two clamping bodies 11 do not have an overlapping portion along the Y axis (for example, the two clamping blocks 111 do not have an overlapping portion along the Y axis), thereby possibly causing that the interventional device 100 cannot be clamped, the interventional device 100 is separated from the device conveying apparatus during the operation, which seriously affects the operation safety, for the second stroke information, the displacement sensor 70 detects the stroke of the clamping bodies 11 along the Z axis, and when the set maximum stroke is exceeded (i.e., the preset stroke information is not met), the robot 60 stops the movement of the two clamping bodies 11, specifically, the rotation of the third rotating motor 43.

Referring to fig. 15, the closed loop control flow of the interventional surgical system of the present invention is as follows:

firstly, the two hands of the operation object make corresponding simulation control actions in the closed type recognition simulation device 50, and whether the recognition simulation device 50 can detect and recognize the actions made by the operation object in a preset time period or not;

next, if the recognition simulation device 50 does not recognize the motion of the operation object within the preset time period, the equipment needs to be overhauled; if the recognition simulation device 50 recognizes the action of the operation object, the action information of the operation object is transmitted to the robot 60 in the form of digital signals, and the robot 60 drives the working state of each rotating motor, so that the clamping unit 10 generates corresponding actions on the X axis, the Y axis and the Z axis to adapt to the action information of the operation object;

then, when the clamping unit 10 is in the moving process, the displacement sensor 70 on the X axis and the Z axis is always normal, if the displacement sensor 70 on the X axis always has a normal signal for feedback, it indicates that the clamping unit 10 does not exceed the set maximum stroke along the X axis, otherwise, the clamping unit 10 exceeds the set maximum stroke; if the displacement sensor 70 on the Z axis always has a normal signal for feedback, it indicates that the clamping body 11 does not exceed the set maximum stroke along the Z axis, otherwise, the set maximum stroke is exceeded; if normal signals are generated on the X axis and the Z axis all the time, the next action simulation cycle process can be carried out after the action simulation is finished;

then, at least one of the sensor on the X-axis and the sensor on the Z-axis does not have a normal signal feedback, and the robot 60 stops the holding unit 10 after the motion state before the continuation (specifically, by stopping the operation of the rotating motor) for a short time, and an alarm signal is generated along with the generation of the alarm signal, wherein the alarm signal may be generated by the displacement sensor 70 or generated by other devices communicatively connected with the displacement sensor 70, and the type of the alarm signal may be, for example, a visual signal (color, image, etc.), an audible signal (audio, etc.) or an audio-visual signal (a signal combining the visual and audible signals);

finally, after receiving the alarm signal, the operator manually intervenes to check each part of the system, and then continuously corrects and resets the system until the alarm signal is eliminated, so that the next action simulation cycle process can be started.

Therefore, the corresponding key nodes of the closed-loop control scheme have signal feedback of signals, the self-checking of a fault system can be realized, the operation reliability and the safety of the whole system are ensured, the operation can be automatically and immediately stopped when the relevant nodes have problems, and the operation can be immediately carried out after the faults are relieved.

It should be noted that the displacement sensor disposed on the conveying module and the displacement sensor disposed in the identification simulation device 50 in this embodiment include, but are not limited to, a laser displacement sensor, a pull rod type displacement sensor, a contact switch, a pull rope type displacement sensor, and a contact type displacement sensor, and for various types of displacement sensors and their working principles, those skilled in the art can learn from the prior art, and a description thereof will not be provided here.

In addition, as a preferred embodiment, the first rotating electric machine 22 and the third rotating electric machine 43 may be replaced with servo motors, respectively. Based on the structure and the working principle of the servo motor, the servo motor can control the speed, the position precision is very accurate, and a voltage signal can be converted into torque and rotating speed to drive a control object. The servo motor has rotor speed controlled by the input signal and fast response, and may be used as the executing element in automatic control system, and has the features of small electromechanical time constant, high linearity, etc. the servo motor can convert the received electric signal into angular displacement or angular speed of the motor shaft for output. Taking a servo motor on an X axis as an example, the servo motor can drive the driving part 21 to rotate, so that the driving part 21 drives the first base 80 to drive the clamping body 10 to move, the stroke information of the clamping body 10 along the X axis can be obtained by decoding a feedback signal formed based on the angular displacement and the angular velocity of the servo motor, and the system can control the output information (the angular displacement, the angular velocity, and the like) of the servo motor according to the stroke information obtained by decoding, thereby realizing the closed-loop control of the system. Therefore, the embodiment can replace the rotating motor and the displacement sensor to play a role in the closed-loop control scheme of the interventional operation system only by configuring the servo motor, and does not need to respectively arrange the displacement sensor on the X axis and the Z axis, so that the volume of the device can be further reduced, and the overall structure can be simplified.

[ example two ]

The embodiment only describes the differences from the first embodiment, and those skilled in the art can refer to the description in the embodiment for the same parts, and the description is not repeated here.

Referring to fig. 16 and 17, according to the first embodiment, the two clamping bodies 11 are relatively close to or relatively far away from each other along the Y axis to clamp or unclamp the interventional instrument 100, the opening and closing driving unit of the present embodiment may be, for example, a voice coil motor 36, and at least one clamping body 36 of the two clamping bodies 11 of the clamping unit 10 is connected to the voice coil motor 36 so as to move along the Y axis under the driving of the voice coil motor 36. The internal structure and operation of the voice coil motor 36 can be known to those skilled in the art and will not be described herein. Regarding the case where the two gripping bodies 11 are relatively close to and relatively far from each other along the Y-axis, one example is: one of the clamping bodies 11 is fixed along the Y axis, and the other clamping body 11 can move along the Y axis under the drive of the voice coil motor 36; another embodiment is: the two clamping bodies 11 are respectively connected with a voice coil motor 36, and the two clamping bodies 11 are driven by the respective voice coil motors 36 to approach or separate from each other. Further, the clamping body 11 includes a clamping block 111 and a connecting member 112, in this embodiment, the clamping block 111 is movable along the Y axis relative to the connecting member 112, and the voice coil motor 36 drives the clamping block 111 to move.

Referring to fig. 18 and 19, in an alternative embodiment, the opening and closing driving unit includes at least one cam 37 and at least one elastic member 38, the elastic member 38 may be a spring or the like, one end of the elastic member 38 along the Y axis is fixed, and the other end of the elastic member 38 along the Y axis is connected to the clamping body 11; the eccentric axis of the cam 37 is perpendicular to the Y axis (for example, the eccentric axis of the cam 37 may be along the X axis or the Z axis), and the cam 37 is configured to rotate around its own eccentric axis to change the elastic potential energy of the elastic member 37, so that the elastic member 37 expands or contracts, and further the clamping bodies 11 are driven to move along the Y axis, thereby forming a relative movement of the two clamping bodies 11 along the Y axis. The cam 37 and the elastic member 38 may be correspondingly disposed on one of the clamping bodies 11, and the other clamping body 11 is fixed along the Y-axis, or the cam 37 and the elastic member 38 may be disposed on both of the two clamping bodies 11. Rotation of the cam 37 may be achieved by configuring the corresponding fourth rotating electrical machine 120.

As a further implementation detail, the clamping block 111 is connected with the connecting shaft 39, the connecting shaft 39 is movably inserted into the connecting member 112 along the Y axis (for example, movably inserted into a slot of the connecting member 112), the fourth base 110 is fixed on the connecting member 112, two ends of the elastic member 38 are respectively fixed on the connecting member 112 and the fourth base 110, the elastic member 38 is sleeved on the connecting shaft 39, an eccentric axis of the cam 37 extends along the X axis, and the cam 37 is connected with the fourth base 110. The fourth base 110 moves the connecting shaft 39 by the rotation of the cam 37, and the fourth base 110 increases or decreases the compression amount of the elastic member 38.

Referring to fig. 17 and 18, the twisting driving unit of the present embodiment may be configured based on a rack-and-pinion feature, the holding bodies 11 have a rack feature extending along the Z-axis (for example, the rack feature is provided on the connecting member 112), the twisting member 41 includes a gear engaged with both of the holding bodies 11, and the axis of the gear extends along the X-axis, so that when the gear rotates, the two holding bodies 11 will move towards or away from each other along the Z-axis synchronously.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art according to the above disclosure are within the scope of the present invention.

Claims

1. The instrument conveying device is characterized by comprising a driving module and at least two conveying modules arranged along an X axis;

the conveying module is used for clamping or releasing an interventional instrument and is also used for driving the clamped interventional instrument to rotate around the X axis;

2. The instrument delivery device of claim 1, wherein the drive module includes a drive extending along the X-axis, the drive being coupled to a set of the delivery modules, the drive being configured to rotate about the X-axis, the drive module being configured to convert rotational motion of the drive into linear motion of the delivery modules along the X-axis.

3. The instrument delivery device of claim 2, wherein the drive member includes a first reversible lead screw coupled to the delivery module.

4. The instrument delivery device of claim 1, wherein the delivery module includes a clamping unit including two clamping bodies arranged along a Y-axis; the two clamping bodies approach each other along the Y axis to clamp the interventional instrument, and the two clamping bodies move away from each other along the Y axis to release the interventional instrument;

the Y axis is perpendicular to the X axis.

5. The instrument delivery device of claim 4, wherein the delivery module comprises an open-close driving unit connected with the clamping unit, and the open-close driving unit is used for driving the two clamping bodies to move relatively along the Y axis.

6. The instrument delivery device of claim 5, wherein the opening and closing drive unit comprises a potential energy assembly and an opening and closing assembly, wherein the potential energy assembly connects the two clamping bodies along the Y-axis; the opening and closing assembly is arranged between the two clamping bodies, and when the opening and closing assembly rotates around the X axis, the two clamping bodies are close to or far away from each other; when the two clamping bodies are far away from each other, the potential energy assembly increases the potential energy stored by the potential energy assembly, and when the two clamping bodies are close to each other, the potential energy assembly decreases the potential energy stored by the potential energy assembly.

7. The device for conveying the instrument according to claim 6, wherein the opening and closing component comprises an opening and closing rod and two convex ribs arranged on the opening and closing rod, the convex ribs protrude out of the opening and closing rod along the radial direction of the opening and closing rod, and the two convex ribs protrude out of the opening and closing rod in the same radial direction; the rib is configured to abut against the clamping body with rotation of the opening and closing lever.

8. The instrument delivery device of claim 7, wherein two of the opening and closing assemblies corresponding to a group of the delivery modules share the same opening and closing rod, and the angle between the rib of one of the opening and closing assemblies and the rib of the other one of the opening and closing assemblies is 90 ° along the circumferential direction of the opening and closing rod.

9. The instrument delivery device of claim 5, wherein the opening and closing drive unit comprises at least one cam and at least one elastic member; one end of the elastic piece along the Y axis is fixed, and the other end of the elastic piece along the Y axis is connected with the clamping body; the eccentric axis of the cam is perpendicular to the Y axis, and the cam is configured to rotate around the eccentric axis of the cam so as to change the elastic potential energy of the elastic piece.

10. The instrument conveying device according to claim 4, wherein the conveying module comprises a twisting driving unit connected with the clamping units, and the twisting driving unit is used for driving the two clamping bodies to synchronously move along the Z axis in the opposite direction or in the opposite direction;

the X axis, the Y axis and the Z axis are mutually vertical in pairs.

11. The instrument transport device of claim 10, wherein the twisting drive unit includes twisting members connected to the two clamping bodies, the twisting drive unit configured to convert rotational movement of the twisting members into linear movement of the clamping bodies along the Z-axis.

12. The instrument delivery device of claim 11, wherein the twist member includes a second bidirectional lead screw coupled to the gripping body, the second bidirectional lead screw extending along the Z-axis;

13. An instrument transport apparatus, comprising:

the instrument delivery device of any one of claims 1-12;

a robot configured to control one of the set of delivery modules to actuate movement of the interventional instrument in accordance with left-hand motion information and another of the set of delivery modules to actuate movement of the interventional instrument in accordance with right-hand motion information.

14. The instrument delivery apparatus of claim 13, wherein the instrument delivery apparatus includes a plurality of displacement sensors mounted on the delivery module; one part of the displacement sensors are used for forming first stroke information according to the movement stroke of the conveying module along the X axis, and the other part of the displacement sensors are used for forming second stroke information according to the movement stroke of the clamping bodies along the Z axis;

15. An interventional surgical system comprising an interventional instrument and an instrument delivery device according to claim 13 or 14.