CN116158861A - Slave end portion for vascular interventional surgical robot - Google Patents

Slave end portion for vascular interventional surgical robot Download PDF

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Publication number
CN116158861A
CN116158861A CN202310060243.3A CN202310060243A CN116158861A CN 116158861 A CN116158861 A CN 116158861A CN 202310060243 A CN202310060243 A CN 202310060243A CN 116158861 A CN116158861 A CN 116158861A
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China
Prior art keywords
catheter
rear end
duct
end catheter
operation box
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CN202310060243.3A
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Chinese (zh)
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王杨
唐伟
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Weiya Medical Technology Suzhou Co ltd
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Weiya Medical Technology Suzhou Co ltd
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Priority to CN202310060243.3A priority Critical patent/CN116158861A/en
Publication of CN116158861A publication Critical patent/CN116158861A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a slave end part for a vascular interventional operation robot, which comprises a robot body, a front end catheter operation box and a rear end catheter operation box, wherein the front end catheter operation box is connected with the robot body; the robot body includes base and power unit, and power unit includes push mechanism. The pushing mechanism is arranged on the base and comprises a first sliding table, a second sliding table and a first sliding table driving mechanism, wherein the first sliding table and the second sliding table are arranged on a sliding guide rail on the base and linearly move along the sliding guide rail; the first sliding table driving mechanism and the second sliding table driving mechanism are convenient for driving the first sliding table and the second sliding table to move longitudinally; longitudinally, the front end catheter manipulation box is positioned in front of the rear end catheter manipulation box; the front end catheter operation box is arranged in association with the first sliding table and moves longitudinally along with the first sliding table, and the front end catheter operation box is provided with a front end catheter; the rear end catheter operation box and the second sliding table are arranged in an associated mode and longitudinally move along with the second sliding table, and the rear end catheter operation box is provided with a rear end catheter with the outer pipe diameter smaller than the inner pipe diameter of the front end catheter.

Description

Slave end portion for vascular interventional surgical robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a slave end part for a vascular intervention surgical robot.
Background
Minimally invasive vascular intervention is a basic means for diagnosing and treating cardiovascular and cerebrovascular diseases, and most of vascular lesion diagnosis and vascular reconstruction operations carried out at present need to be carried out by the aid of the technology. The operation of guidewires, catheters and balloon catheters is the core of minimally invasive vascular interventional procedures, which determines the quality of the procedure. Currently, interventional physicians manually perform the positioning of a guidewire-catheter within a patient's blood vessel by means of digital silhouette angiography imaging technique (DSA). The guide wire, the catheter and the balloon catheter are basic instruments used in the operation, and the robot is used for positioning the guide wire, the catheter and other medical instruments, so that the accuracy and the stability of the positioning operation are improved, medical staff is released from radiation, the additional injury caused by wearing thick and heavy lead clothing by the medical staff is avoided, the situation that the operation is unreliable in the operation due to tiredness of the medical staff is avoided, the situation that the vascular intervention operation extremely depends on the personal experience of a doctor is improved, the learning curve of the intervention operation is reduced, and more accurate operation is provided for the vascular intervention operation.
The medical catheter is of a hollow tubular structure, and the internal cavity is a contrast agent injection channel or a medical instrument conveying channel. Because the catheter has stronger hardness and is inconvenient to complete vessel selection, a solid guide wire with stronger flexibility is adopted to guide the catheter into a target vessel. During the operation, the doctor performs vascular puncture in the femoral artery or radial artery and leaves a vascular sheath as an inlet for the catheter to enter the blood vessel. The catheter is passed through the vascular sheath into the vessel in the patient, and the guidewire is passed from the passageway inside the catheter into the vessel. Control of catheter, guidewire advancement, retraction, and rotation is typically accomplished by the interventional physician with his or her assistant two and four hands.
The conventional vascular interventional operation robot is only provided with a guide catheter, and has a defect that a tube wire cannot be delivered for a long distance due to a single function due to lack of a rotation/delivery function of an intermediate catheter.
In view of the above-described problems with conventional vascular interventional surgical robots, there is a need in the art for surgical robots with further improved performance.
Disclosure of Invention
The present invention has been made to overcome the above-mentioned drawbacks of the conventional art, and an object thereof is to provide a slave end portion for a vascular interventional surgical robot which integrates delivery/rotation of a guide catheter and an intermediate catheter into one body, has a compact structure, and realizes versatility of the interventional surgical robot.
In order to achieve the above object, according to the present invention, there is provided a slave end portion for a vascular interventional surgical robot, characterized in that the slave end portion includes a robot body, a front-end catheter operation cassette, and a rear-end catheter operation cassette;
the robot body includes:
a base;
a power unit comprising a pushing mechanism;
the pushing mechanism is arranged on the base and comprises a first sliding table, a second sliding table, a first sliding table driving mechanism and a second sliding table driving mechanism, wherein the first sliding table and the second sliding table are arranged on a sliding guide rail fixedly arranged on the base and extending longitudinally and can linearly move along the sliding guide rail; the first sliding table driving mechanism is used for driving the first sliding table to move longitudinally, and the second sliding table driving mechanism is used for driving the second sliding table to move longitudinally;
Longitudinally, the front end catheter manipulation box is positioned in front of the rear end catheter manipulation box; the front end duct operation box is arranged in association with the first sliding table and moves along with the first sliding table in the longitudinal direction, and is used for being provided with a front end duct; and
the rear end duct operation box is arranged in association with the second sliding table and moves along with the second sliding table in the longitudinal direction, and is used for being provided with a rear end duct with the outer pipe diameter smaller than the inner pipe diameter of the front end duct.
By adopting the technical scheme of the invention, the delivery/rotation of the guide catheter and the middle catheter are integrated, and the two operation boxes can cooperatively operate and can also be independently controlled. According to the technical scheme, the multifunctional interventional operation robot is truly realized, the defect of single function of the existing vascular interventional operation robot is overcome, the structure is compact, the design is reasonable, and compared with the prior art, the technical effect is remarkable.
Drawings
The invention is described in further detail below with reference to the attached drawing figures and examples, wherein:
FIG. 1 is a perspective view of a slave end portion for a vascular interventional procedure robot according to the present invention;
FIG. 2 is a perspective view of a slave end portion of a vascular interventional surgical robot with the front end catheter cassette assembly and the cassette cover of the instrument cassette assembly removed in accordance with the present invention;
FIG. 3 is a perspective view illustrating a base and a pushing mechanism disposed on the base;
FIG. 4 is a perspective view of a rear end catheter drive device;
FIG. 5 is a cross-sectional perspective view taken along line A-A of FIG. 4;
FIG. 6 is a perspective view of a front end catheter drive device;
FIG. 7 is a cut-away perspective view taken along line B-B in FIG. 6;
FIG. 8 is a perspective view of the instrument cartridge assembly;
FIG. 9 is a perspective view of the rear end conduit rotary drive from the side of the rear end conduit rotary power input shaft;
FIG. 10 is a perspective view of a portion of the housing of the drive mechanism of the drive assembly of the rear catheter rotation drive with portions broken away to show the internal structure of the drive mechanism;
FIG. 11 is a perspective view of the instrument pod assembly illustrating a connection structure provided on one side of the instrument pod assembly for side-to-side pluggable releasable installation with the robot body;
FIG. 12 is a partial perspective view illustrating a plug-in member of the connection structure for effecting a side-on-side plug-in releasable installation with the robot body;
FIG. 13 is a cross-sectional view of the plug member taken along line A-A in FIG. 12;
FIG. 14A illustrates in perspective view a front end catheter manipulation cassette assembly;
FIG. 14B illustrates the front end catheter manipulation cassette assembly in perspective view with the cassette cover of the front end catheter manipulation cassette assembly removed;
FIG. 15 is a perspective view of the front end conduit rotary drive device as seen from the front end conduit rotary power input shaft side;
FIG. 16 is a perspective view of the front end catheter rotation transmission with a portion of the housing of the transmission mechanism of the transmission assembly removed;
FIG. 17 illustrates a connection structure provided on one side of the front end catheter cassette assembly for side-on-side removable attachment to the robot body;
FIG. 18 is a cross-sectional view of the plug member taken along line A-A of FIG. 17;
FIG. 19 is a perspective view of a C-shaped tube;
FIG. 20 is a cross-sectional view of a C-shaped tube;
FIG. 21 is a plan view of the C-shaped tube after deployment;
FIG. 22 is a perspective view illustrating one embodiment of an aperture opener of the catheter delivery aid of the present invention;
FIG. 23 is a perspective view of the mouth gag of the catheter delivery aid shown in FIG. 22, as seen from the bottom side;
FIG. 24 is a partial perspective view illustrating the instrument pod front and the mouth gag assembled thereto;
FIG. 25 is a partial perspective view illustrating a second C-shaped tube support secured to the instrument console box; and
Fig. 26 is a perspective view illustrating a mounted state of the mouth gag on the instrument operation cassette.
Detailed Description
The slave end portion for the vascular interventional surgical robot according to the present invention will be described in detail. It should be noted herein that the embodiments of the present invention are merely illustrative, which are merely illustrative of the principles of the present invention and not in limitation thereof.
Referring first to fig. 1, 2 and 3, wherein fig. 1 is a perspective view of a slave end portion for a vascular interventional surgical robot according to the present invention; FIG. 2 is a perspective view of a slave end portion of a vascular interventional surgical robot with the covers of the front and back catheter control cassette assemblies removed in accordance with the present invention; fig. 3 is a perspective view illustrating a base and a pushing mechanism provided on the base. From the end portions, a robot body 1, a front end catheter manipulation cassette assembly 2 and a rear end catheter manipulation cassette assembly, which may be, for example, an instrument manipulation cassette assembly 3. The robot body 1 comprises a base 4 and a power unit, wherein the power unit comprises a front end catheter driving device 5, a rear end catheter driving device 6 and a pushing mechanism 7, the pushing mechanism is arranged on the base, and the front end catheter driving device 5 and the rear end catheter driving device 6 are fixedly arranged on a sliding table of the pushing mechanism and move along with the sliding table. The lateral side of the front end catheter manipulation box assembly 2 is laterally connected with the adjacent side of the front end catheter driving device 5, and the front end catheter manipulation box assembly 2 moves longitudinally along with the front end catheter driving device; the lateral side of the instrument cassette assembly 3 is laterally connected to the adjacent side of said rear end catheter drive device 7, the instrument cassette assembly 3 being longitudinally movable with the rear end catheter drive device 6.
For convenience of description, in the following description and other portions of the specification, a moving direction of the instrument operation cartridge assembly is defined as a longitudinal direction, and a width direction of the instrument operation cartridge assembly perpendicular to the longitudinal direction is defined as a lateral direction; the end of the instrument operation box component facing the blood vessel of the human body is called a front end, and the end facing away from the blood vessel is called a rear end; the side of the instrument pod assembly operating surface on which the instrument pod assembly operating surface is located is referred to as the upper side and the side opposite the instrument pod assembly operating surface is referred to as the lower side.
The respective constituent elements of the slave end portion for the vascular interventional surgical robot according to the present invention will be described in detail with reference to the accompanying drawings.
Power unit
As described above, the power unit includes the front end catheter driving device 5, the rear end catheter driving device 6, and the pushing mechanism 7, which will be described below, respectively.
Push mechanism
The pushing mechanism of the power unit is described below in connection with fig. 3. As shown in fig. 3, the pushing mechanism 7 includes a slide rail 8, a first slide table 9, a second slide table 10, a first slide table driving mechanism 11, and a second slide table driving mechanism 12. The sliding guide rail 8 is fixedly arranged on the base 4 and extends along the longitudinal direction of the base, the first sliding table 9 and the second sliding table 10 are arranged on the sliding guide rail and linearly move along the sliding guide rail, and the first sliding table 9 is positioned at the front side of the second sliding table 10 along the longitudinal direction.
The first sliding table driving mechanism 11 includes a motor 13, a transmission belt 14, a driving pulley 15, and a driven pulley 16. The motor 13 is fixedly arranged on the base and positioned at the longitudinal front end of the sliding guide rail, the motor output shaft extends transversely, and a driving belt pulley 15 is arranged on the motor output shaft; a driven pulley 16 is mounted at the longitudinal rear end of the slide rail in longitudinal alignment with the drive pulley about which the drive belt 14 is looped. The first sliding table 9 is provided with a driving belt connecting part 21 which is fixedly connected with the driving belt 14, so that the first sliding table 9 can longitudinally move along with the driving belt under the driving of the driving belt 14.
In operation, the motor 13 rotates the drive pulley 15, which drives the belt 14 in rotation, thereby driving the first ramp 9 in linear longitudinal movement. The front end duct driving device 5 is fixedly mounted on the first slide table 9 so as to be movable longitudinally back and forth by the first slide table driving mechanism 11, and fig. 1 and 2 illustrate a state in which the front end duct driving device 5 is mounted on the first slide table 9.
The second slide driving mechanism 12 is similar in structural composition to the first slide driving mechanism 11, and includes a motor 17, a transmission belt 18, and a driving pulley 19 and a driven pulley 20. The motor 17 is fixedly arranged on the base and is positioned at the longitudinal rear end of the sliding guide rail, the motor output shaft extends transversely, and a driving belt pulley 19 is arranged on the motor output shaft; a driven pulley 20 is mounted on the longitudinal forward end of the slide rail in longitudinal alignment with the drive pulley about which the drive belt 18 is looped. The second sliding table 10 is provided with a driving belt connecting part 22 which is fixedly connected with the driving belt 18, so that the second sliding table 10 can longitudinally move along with the driving belt under the driving of the driving belt 18.
In operation, the motor 17 rotates the drive pulley 19 which drives the belt 18 in rotation, thereby driving the second ramp 10 to move linearly in the longitudinal direction. The rear end duct driving device 6 is fixedly mounted on the second slide table 10 so as to be movable longitudinally back and forth by the second slide table driving mechanism 12, and fig. 1 and 2 illustrate a state in which the rear end duct driving device 6 is mounted on the second slide table 10.
As a preferred solution, a limit switch or a magnetic grating ruler may be provided on the base to limit the longitudinal movement range of the front end catheter driving device 5 and the rear end catheter driving device 6, and further limit the longitudinal movement range of the front end catheter operation box assembly 2 and the instrument operation box assembly 3, so as to effectively ensure the safety of catheter delivery. Alternatively, instead of the limit switch or the magnetic grating, a sensor may be used to detect the longitudinal movement positions of the front end catheter driving device 5 and the rear end catheter driving device 6, and thus the front end catheter operation cassette assembly 2 and the instrument operation cassette assembly 3, and stop the longitudinal movement of the front end catheter operation cassette assembly 2 and the instrument operation cassette assembly 3 when the desired positions are reached.
In the above embodiments, the pushing mechanism takes the form of a belt and pulley, but it will be apparent to those skilled in the art that other forms of pushing mechanism may be employed, such as a nut-and-screw mechanism or the like; in addition, two sliding rails may be provided side by side on the base, and the first slide table 9 and the second slide table 10 may be mounted on one of the sliding rails. Accordingly, the embodiments set forth above are merely examples and are in no way intended to limit the particular form of pushing mechanism.
Rear end catheter driving device
Referring to fig. 4 and 5, there is illustrated a preferred embodiment of a rear end catheter drive device in accordance with the present invention, wherein fig. 4 is a perspective view of the rear end catheter drive device and fig. 5 is a cross-sectional perspective view taken along line A-A of fig. 4. As described above, the rear end duct driving device 6 is fixedly mounted on the second slide table 10, the rear end duct driving device 6 includes the housing 23, the front portion of which is provided with the rear end duct driving motor 24, the output shaft of the driving motor 24 extends in the lateral direction and protrudes from the side face of the rear end duct driving device housing, and the motor output shaft of the driving motor 24 serves as the rear end duct rotation driving shaft 25 connected to the rear end duct rotation power input shaft 45 of the rear end duct rotation transmission device provided at the instrument operation cassette side (see fig. 9 and 10, which will be described later).
The housing of the rear catheter drive comprises a side wall 27 provided with a hole 28 in the side wall at the mounting location of the drive motor 24, from which hole the output shaft of the drive motor 24 protrudes. In order to fix the driving motor 24, screw holes 29 are formed circumferentially spaced around the wall of the hole, and screw holes are formed at the ends of the driving motor, whereby the driving motor 24 can be fixed to the side wall 27 by screws.
Front end catheter driving device
Referring to fig. 6 and 7, there is illustrated a preferred embodiment of a front end catheter drive device in accordance with the present invention, wherein fig. 6 is a perspective view of the front end catheter drive device and fig. 7 is a cross-sectional perspective view taken along line B-B of fig. 6. As described above, the front-end duct driving device 5 is fixedly mounted on the first slide table 9, the front-end duct driving device 5 includes the housing 30, the front portion of which is provided with the front-end duct driving motor 31, the output shaft of the driving motor 31 extends in the lateral direction and protrudes from the side face of the front-end duct driving device housing, and the motor output shaft of the driving motor 31 serves as the front-end duct rotating driving shaft 32 connected to the front-end duct rotating power input shaft 73 of the front-end duct rotating transmission device provided on the front-end duct operation box side (see fig. 15 and 16, described later).
The housing of the front catheter drive device comprises a side wall 34, which is provided with a hole 35 in the mounting location of the drive motor 31, from which hole the output shaft of the drive motor 31 protrudes. In order to fix the driving motor 31, screw holes 36 are formed circumferentially spaced around the wall of the hole, and screw holes are formed at the ends of the driving motor, whereby the driving motor can be fixed to the side wall 34 by screws.
Operation box assembly
Instrument operation box assembly
Referring to fig. 8, there is illustrated in perspective view an instrument pod assembly 3 removably mounted laterally to a lateral side of the robot body by a connector, and specifically, the lateral side of the instrument pod assembly 3 is removably connected laterally to an adjacent side of the rear catheter drive device 6 by a connector. As shown in fig. 8, the instrument pod assembly 3 includes an instrument pod 37 with a rear end conduit 38 provided thereon, referring also to fig. 9 and 10, extending longitudinally of the instrument pod with a front end extending from the front end of the instrument pod, the rear end being connected to the front end of a conduit connector 39, the rear end of the conduit connector being connected to a Y valve 40 fixedly mounted on the instrument pod 37. The conduit coupler is provided with a rotary drive 41, typically in the form of a gear, which is rotatable with respect to the Y valve and thus the instrument pod, with the rear conduit. During a surgical operation, the rear end catheter is generally required to perform two movements, namely a rotational movement and a longitudinal forward and backward movement, and the instrument operation box can move forward and backward relative to the base of the robot body, thereby driving the rear end catheter to move forward and backward together and realizing the longitudinal movement of the rear end catheter; the rotary driving member 41 is connected to a driving source such as a motor through a rear-end duct rotary transmission device, and is driven by the driving source to perform a rotary motion, thereby driving the duct to rotate together to perform a rotary motion of the duct. The conduit connection, conduit and Y-valve without rotary drive 41 are commercially available components commonly used in the art, the construction and connection of which are well known to those skilled in the art and the description thereof is omitted herein for the sake of brevity. In the present invention, the catheter is rotated by means of a catheter rotation transmission, for which purpose a rotation drive 41 in the form of a gear is provided on the catheter connection.
The instrument cassette assembly includes a rear catheter rotation transmission for driving rotation of the rotary drive member 41.
Rear end catheter rotation transmission device
Fig. 9 and 10 illustrate a preferred embodiment of the rear end catheter rotation transmission of the instrument cassette assembly of the present invention, wherein fig. 9 is a perspective view from the side of the rear end catheter rotation power input shaft and fig. 10 is a perspective view of a portion of the transmission mechanism with a portion of the housing removed to show the internal structure of the transmission mechanism. The rear catheter rotation transmission is provided on the instrument cassette 37 and below the instrument cassette. As shown in fig. 9 and 10, the rear-end duct rotation transmission device 44 includes a rear-end duct rotation power input shaft 45, and a transmission assembly provided between the rear-end duct rotation power input shaft and the rotation driver 41, and power input by the rear-end duct rotation power input shaft 45 is transmitted to the rotation driver 41 via the transmission assembly to drive the rotation driver to rotate the rear-end duct.
As shown in fig. 9 and 10, the rear catheter rotational power input shaft 45 extends in the transverse direction of the instrument pod and is supported by bearings on the housing wall of a housing 47 of a transmission mechanism 46 mounted on the instrument pod or other structural components of the instrument pod. The power output end 49 of the rear-end catheter rotation power input shaft is provided with a first transmission gear 50, and the power input end 51 extends from the instrument operation box side (see fig. 8) for connection with the rear-end catheter rotation drive shaft 25 of the rear-end catheter drive device of the power unit on the robot body side, see fig. 4 and 5. As a preferred option, the power input end 51 of the rear-end conduit rotary power input shaft is formed with a shaft hole 52 having a polygonal or D-shaped cross-sectional profile for non-rotational connection with the rear-end conduit rotary drive shaft 25 of the rear-end conduit drive.
The transmission assembly includes an intermediate drive shaft 53 and an output shaft 55, the intermediate drive shaft 53 being disposed parallel to the rear duct rotational power input shaft 45. The intermediate drive shaft is supported on the housing wall by means of bearings, and the power input 56 of the intermediate drive shaft is provided with a second drive gear 57. An intermediate transmission gear 58 is arranged between the first transmission gear 50 and the second transmission gear 57, the intermediate transmission gear is mounted on an intermediate gear shaft 59, the intermediate gear shaft 58 is arranged in parallel with the rear-end conduit rotary power input shaft 45 and supported on the housing wall through a bearing, and the intermediate transmission gear 58 is meshed with the first transmission gear 50 and the second transmission gear 57, respectively.
The power take-off 60 of the intermediate drive shaft 53 is provided with a third drive gear 61 in the form of a bevel gear. The output shaft 55 is perpendicular to the intermediate drive shaft and is arranged in the up-down direction and supported on the horizontal structural wall of the instrument operation box by means of bearings, the power input end of the output shaft 55 is provided with a fourth drive gear 62 in the form of a bevel gear, the power output end of the output shaft is provided with a fifth drive gear 63 in the form of a bevel gear, which is located above the surface of the instrument operation box and serves as a final drive gear, see fig. 8. The fourth transfer gear 62 meshes with the third transfer gear 61, while a fifth transfer gear 63, which serves as an end transfer gear, is used to mesh with the rotary drive 41 in the form of a bevel gear.
In operation, the rear catheter rotational power input shaft 45 receives power from a power source and transmits the power to the rotational drive 41 via the transmission assembly, thereby rotating the rear catheter to accommodate endovascular bifurcation and cornering operations.
Lateral connecting structure of instrument operation box
According to the instrument operation box assembly for the vascular intervention operation robot, the power input shaft 45 of the rear end catheter rotation transmission device arranged on the instrument operation box extends transversely to the instrument operation box, the power input end of the power input shaft 45 extends out of the side face of the instrument operation box and can be connected with the rear end catheter driving device of the power unit on one side of the robot body in a side connection mode, so that the instrument operation box of the vascular intervention operation robot can be connected with the robot body in a side connection mode.
According to the invention, the horizontal side of the instrument operation box is detachably connected with one side of the robot body in a plug-in mode. By adopting the plug installation mode, on one hand, the quick installation and the disassembly of the instrument operation box are realized, and on the other hand, the aseptic isolation of the instrument operation box is convenient to realize.
The instrument operation box is laterally arranged on one side of the robot body, and is detachably arranged in a plug-in mode. It should be noted that, the specific manner of laterally installing the instrument operation box and one side of the robot body is not an invention point, and various specific manners of implementing the laterally installation are available in the prior art, and may be used to implement the laterally installation of the present invention. Accordingly, the lateral mounting of the instrument pod to the robot body is described below by way of specific example only, and the specific manner described is in no way intended to limit the specific structure of the lateral mounting.
Fig. 11, 12 and 13 illustrate a connection structure provided at one side of the instrument operation box for enabling a side-to-side insertion and removal mounting with the robot body. FIG. 11 is a perspective view of the instrument pod illustrating the attachment structure disposed on one side of the instrument pod; fig. 12 is a partial perspective view illustrating the plug member of the connection structure, and fig. 13 is a sectional view of the plug member taken along the line A-A in fig. 12. As shown in fig. 11, 12 and 13, the connection structure provided on one side of the instrument pod includes a plug member 64 that protrudes from the lateral side of the instrument pod. As shown in fig. 13, the plug members as a whole have an outer contour with a substantially rectangular cross section, and a trapezoidal groove 65 is formed on one side in the longitudinal direction, the trapezoidal grooves of the two plug members being opposite to each other.
In response, as shown in fig. 4, the adjacent side of the rear end catheter driving device of the power unit of the robot body is provided with a plug-in opening 66 corresponding to the plug-in component, and the cross-sectional shape of the plug-in opening is adapted to the outer contour of the plug-in component. When the device is installed, the device operation box is arranged on one side of the robot body, and then the plug piece is inserted into the plug opening along the lateral direction, so that the device operation box is inserted into the robot body.
Front end catheter cartridge assembly
Referring to fig. 14A and 14B, there is illustrated in perspective view a front end catheter manipulation box assembly 2 which is removably mounted laterally to a lateral side of a robot body by a connector, and specifically, the lateral side of the front end catheter manipulation box assembly 2 is removably connected laterally to an adjacent side of the front end catheter driving device 5 by a connector. As shown in fig. 14A and 14B, the front end catheter manipulation box assembly 2 includes a front end catheter manipulation box 67 on which a front end catheter 68 is provided, the front end catheter extending in the longitudinal direction of the front end catheter manipulation box assembly, the front end of which extends from the front end of the front end catheter manipulation box, the rear end of which is connected to the front end of a catheter connector 69, and the rear end of which is connected to a Y valve 70 fixedly mounted on the front end catheter manipulation box 67. The conduit coupler is provided with a rotary drive 71, typically in the form of a gear, which is rotatable with the conduit relative to the Y valve and thus the front conduit operator box. During a surgical operation, the front end catheter is generally required to perform two movements, namely a rotational movement and a longitudinal forward and backward movement, and the front end catheter operation box can move forward and backward relative to the base of the robot body, thereby driving the front end catheter to move forward and backward together and realizing the longitudinal movement of the front end catheter; the rotary driving member 71 is connected to a driving source such as a motor through a front-end duct rotary transmission device, and is driven by the driving source to perform a rotary motion, thereby driving the front-end duct to rotate together to perform a rotary motion of the front-end duct.
The front end catheter cartridge assembly includes a front end catheter rotation transmission for driving rotation of the rotary drive 71.
Front end catheter rotation transmission device
Fig. 15 and 16 illustrate a preferred embodiment of the front end catheter rotation transmission device of the front end catheter cartridge assembly of the present invention, wherein fig. 15 is a perspective view from the front end catheter rotation power input shaft side, and fig. 16 is a perspective view of a portion of the transmission mechanism with a housing removed to show the internal structure of the transmission mechanism. The front end catheter rotation transmission device is provided on the front end catheter manipulation box 67 below the front end catheter manipulation box. As shown in fig. 15 and 16, the front-end catheter rotation transmission device includes a front-end catheter rotation power input shaft 73, and a transmission assembly provided between the front-end catheter rotation power input shaft 73 and the rotation driver 71, and power input by the front-end catheter rotation power input shaft 73 is transmitted to the rotation driver 71 via the transmission assembly to drive the rotation driver so that the front-end catheter rotates.
As shown in fig. 15 and 16, the front-end catheter rotational power input shaft 73 extends in the lateral direction of the front-end catheter operation box, and is supported by bearings on the housing wall of the housing 47 of the transmission mechanism 46 mounted on the front-end catheter operation box or is fixed to other structural members of the front-end catheter operation box. The power output end 49 of the front-end catheter rotating power input shaft is provided with a first transmission gear 50, and the power input end 75 extends from the front-end catheter operation box side (see fig. 14A and 14B) for connection with the front-end catheter rotating drive shaft 32 of the front-end catheter driving device of the power unit on the robot body side, see fig. 6 and 7. As a preferred option, the power input end 75 of the front end conduit rotary power input shaft is formed with a shaft bore 76 having a polygonal or D-shaped cross-sectional profile for non-rotational connection with the front end conduit rotary drive shaft 32 of the front end conduit drive device.
The structure of the transmission assembly provided between the front-end duct rotary power input shaft 73 and the rotary driver 71 is identical to that described above in connection with the rear-end duct rotary transmission, and the corresponding description is omitted herein for the sake of brevity.
In operation, the front catheter rotational power input shaft 73 receives power from a power source and transmits power to the rotational drive 71 via a transmission assembly to rotate the front catheter to accommodate endovascular bifurcation and cornering operations.
It should be noted here that the specific structure of the front-end catheter rotation transmission device (and the rear-end catheter rotation transmission device) is not limited to the specific structure described above, but various rotation transmission devices known to those skilled in the art, such as those disclosed in the applicant's issued patent CN217040290U, may be employed. Accordingly, the foregoing structures are merely illustrative of the present invention and are not limiting.
Lateral connecting structure of front-end catheter operation box
According to the front end catheter operation box assembly for the vascular intervention operation robot, the power input shaft of the front end catheter rotation transmission device arranged on the front end catheter operation box extends transversely to the front end catheter operation box, the power input end of the power input shaft extends out of the side face of the front end catheter operation box and can be connected with the front end catheter driving device of the power unit on one side of the robot body in a side connection mode, and therefore the front end catheter operation box of the vascular intervention operation robot can be connected with the robot body in the side connection mode.
According to the invention, the lateral side of the front end catheter operation box is detachably connected with one side of the robot body in a plug-in mode. By adopting the plug-in mounting mode, on one hand, the front end catheter operation box is quickly mounted and dismounted, and on the other hand, the front end catheter operation box is convenient to realize sterile isolation.
The front end catheter operation box is laterally arranged on one side of the robot body, and is detachably arranged in a plug-in mode. It should be noted that, the specific manner of laterally installing the front end catheter operation box and one side of the robot body is not an inventive point, and various specific manners of implementing the lateral installation are available in the prior art, and may be used to implement the lateral installation of the present invention. Accordingly, the side mounting of the front end catheter cartridge to the robot body is described below by way of specific example only, and the specific manner described is in no way intended to limit the specific structure of the side mounting.
Fig. 17 illustrates a connection structure provided at one side of the front end catheter manipulation box for enabling a side-to-side plug-and-pull releasable installation with the robot body. As shown in fig. 17, the connection structure provided on the front end catheter manipulation box side includes a plug member 77 that protrudes from the lateral side of the front end catheter manipulation box side. As shown in fig. 18, the plug members are shown as having an outer contour of generally rectangular cross section, with a trapezoidal recess 78 formed on one longitudinal side, the trapezoidal recesses of the two plug members being opposite one another.
In response, as shown in fig. 6, the adjacent side of the front end catheter driving device of the power unit of the robot body is provided with a plug-in opening 79 corresponding to the plug-in member, and the cross-sectional shape of the plug-in opening is adapted to the outer contour of the plug-in member. When the front end catheter operation box is installed, the front end catheter operation box is arranged on one side of the robot body, and then the plug-in component is inserted into the plug-in port along the lateral direction, so that the front end catheter operation box is inserted into the robot body.
As a preferred solution, a catheter delivery aid is provided from the end for a vascular interventional surgical robot, the detailed structure of which is described herein below for the sake of disclosure integrity, see the applicant's issued patent CN 217244783U.
As shown in fig. 2, the catheter delivery assisting device includes a mouth gag 81 (see fig. 22 to 24) and a support tube 82 in the form of a C-tube, the front and rear ends of which are fixed to a front end bracket assembly 202 and a rear end bracket assembly 203 of the robot body by a front end fixing device 200 and a rear end fixing device 201, respectively, the specific structure of the front end fixing device 200 and the rear end fixing device 201 is not the subject of the present invention, and any suitable structure may be adopted, and the description thereof is omitted herein.
Fig. 19, 20 and 21 illustrate a C-tube for a catheter delivery aid, wherein fig. 19 is a perspective view of the C-tube, fig. 20 is a cross-sectional view of the C-tube, and fig. 21 is a plan view of the C-tube after deployment. As shown in fig. 19 and 20, the C-tube is formed with an axially extending slot, the C-tube is an open self-collapsible tube, and is in the form of a closed "O" in its natural state, with the two circumferential ends 85 and 86 of the tube abutting or interfitting; and under the action of the expansion element or in a state that the two circumferential end parts are in tension, the two circumferential end parts are separated from each other to form an opening to form a C shape.
The C-tube can take a variety of forms, the most common one being one in which an axially extending through slot is formed in the complete round tube. Fig. 21 illustrates a preferred embodiment of a C-tube having, in a plan-expanded view, a plurality of intermediate slots 83 disposed centrally and axially spaced apart, and a plurality of edge slots 84 disposed circumferentially on either side and axially spaced apart, the intermediate slots 83 being axially staggered with the edge slots 84, as shown in fig. 21. The C-shaped pipe of the embodiment has better flexibility and extensibility.
In use, the C-shaped tube is secured at both ends to the front and rear ends of the robot body by securing means and is held in an extended state, and preferably in a tensioned state, to support a catheter passing therethrough.
Next, referring to fig. 22 to 25 and fig. 2, the mouth gag provided on the instrument operation cassette 3 and its cooperation with the C-shaped tube will be described first. As shown in fig. 22, 25 and 2, the mouth gag 87 provided on the instrument operation cassette 3 includes a first C-shaped pipe support portion 88, a second C-shaped pipe support portion 89 (see fig. 2 and 25), a catheter support portion 90 and a shuttle-type slide rail 91.
In the opener of the catheter delivery aid of this embodiment, the first C-shaped tube support portion 88, the catheter support portion 90, and the shuttle-type chute 91 are integrally formed.
As shown in fig. 22, the mouth gag includes a main body 98, and a first C-tube support 88 provided at the front of the main body in the form of a tube barrel, with a first C-tube passage 92 through which a C-tube is formed. During operation, the mouth gag and thus the first C-shaped tube passage 92 move back and forth relative to the C-shaped tube, and therefore the C-shaped tube needs to be movably disposed in the first C-shaped tube passage 92. The passage section of the first C-shaped pipe passage is preferably circular, the diameter of which is not particularly limited as long as the relative movement between the first C-shaped pipe passage 92 and the C-shaped pipe and the positioning of the C-shaped pipe in the first C-shaped pipe passage 92 can be achieved, and as a preferable mode, the diameter of the first C-shaped pipe passage 92 is equal to or slightly larger than the diameter of the C-shaped pipe in an extended or tensioned state in use, on the one hand, the positioning of the C-shaped pipe is facilitated, and on the other hand, the passing of the C-shaped pipe from the first C-shaped pipe passage 92 is facilitated.
The conduit support portion 90 is cylindrical in shape and has a rear end fixed to the main body 98 in a longitudinal direction, the conduit support portion 90 being disposed adjacent to the first C-shaped tube support portion 88 and being located longitudinally behind the first C-shaped tube support portion 88, and a conduit passage 93 through which a rear end conduit passes is provided, the conduit passage 93 being opposite to the first C-shaped tube passage 92.
The shuttle-type chute 91 is provided in the duct supporting portion 90, and is connected to a front end portion or a portion near the front end portion of the duct supporting portion, and the shuttle-type chute 91 is inclined laterally rearward with respect to the duct path 93 and extends to the robot body side so that the C-shaped tube is deviated from the path of the rear-end duct. The connecting portion of the shuttle-shaped slide and the catheter support portion that are connected to each other may peel the C-shaped tube apart so that both circumferential ends of the C-shaped tube sandwich the connecting portion therebetween, in other words, the connecting portion separates both circumferential ends of the C-shaped tube.
Referring to fig. 2 and 25, the second C-shaped pipe supporting portion 89 is in the form of a bent pipe, and is disposed at a side rear of the shuttle-type slide rail and at a side of the robot body. The second C-tube support defines a second C-tube passage through which the C-tube passes, including a first tube section 99 and a second tube section 100, the first tube section 99 extending toward the shuttle ramp 91 with its passage opening substantially aligned with the shuttle ramp, the second tube section 100 extending longitudinally rearward. The second C-shaped pipe supporting portion 89 is used for positioning the C-shaped pipe and limiting the trend of the C-shaped pipe. In the illustrated embodiment, the second C-shaped tube passage of the second C-shaped tube support is an obtuse angled passage, and the portions of the passage defined by the first tube section 99 and the second tube section 100 have a smooth transition. In the illustrated embodiment, the second C-shaped tube support 89 includes a first tube segment 99 and a second tube segment 100 in the form of a bent tube, although it should be noted that although this is a preferred embodiment, the second tube segment 100 may be omitted.
In the use state, each component part of the opener is fixedly arranged on the instrument operation box. For this reason, as shown in fig. 23, two screw holes 96 are formed on the bottom surface of the opener main body 98; in contrast, as shown in fig. 24, two screw holes 97 are formed in the mounting surface of the instrument operation box, so that the opener main body can be fixed to the instrument operation box by screws. Further, as shown in fig. 22, a locking groove 101 is formed in the bottom surface of the opener main body 98 to be locked to the front end wall 102 of the instrument operation box. The second C-shaped tube support 89 may be secured to the instrument cassette by screws.
Reference is now made to fig. 25 and 26, which illustrate the mounting of the mouth gag on the instrument operation cassette. As shown in fig. 26, the body 98 of the mouth gag is secured to the instrument cassette 37 such that the first C-shaped tube support portion 88, the catheter support portion 90 and the shuttle ramp 91 are secured in place on the instrument cassette along with the mouth gag body 98, with the first C-shaped tube support portion 88 being located in a recess 103 formed in the front wall of the instrument cassette; and the second C-shaped tube support portion 89 is fixed to the instrument operation cassette by screws.
In the assembled state of the catheter delivery aid, referring to fig. 2, 25 and 26, the front and rear ends of the c-shaped tube are secured to the front and rear end bracket assemblies 202 and 203 of the robot body with front and rear end securing devices 200 and 201, respectively, and are in an extended or tensioned state. The C-tube extends rearward from the front end of the robot body, passes through the front end catheter cartridge 2 to the front end of the instrument cartridge, passes through the first C-tube channel 92, fits over the shuttle ramp 91, then passes through the second C-tube channel and continues to extend rearward to the rear end of the robot body. The part of the C-shaped pipe, which is positioned at the connecting position where the shuttle-shaped slideway and the catheter supporting part are connected with each other, is peeled off by the connecting position, the part of the C-shaped pipe, which is positioned in front of the outlet of the front end of the catheter channel of the catheter supporting part, is in a closed O-shaped state, and the part of the C-shaped pipe, which is positioned at the longitudinal rear end of the shuttle-shaped slideway, is also in a closed O-shaped state. Further, as shown in fig. 26, the rear end catheter is inserted into the catheter passage of the catheter support section 90 from the rear end, and then is inserted into and supported by the C-shaped tube located at the front of the catheter passage of the catheter support section 90.
The operating principle of the mouth gag of the invention is as follows.
As shown in fig. 2 and 25, when the instrument operation cassette moves together with the opener in the longitudinal direction indicated by the arrow a or in the opposite direction with respect to the C-shaped tube, the connecting portion of the shuttle-type slide and the catheter supporting portion that are connected to each other peels off the corresponding portion of the C-shaped tube, and as the opener moves, the peeled portion of the C-shaped tube moves in the opposite direction with respect to the opener, and after moving over the connecting portion of the shuttle-type slide and the catheter supporting portion, the C-shaped tube returns to the O-shaped state by its own elasticity. Thus, during operation, the C-tube is always in an extended or tensioned state, the portion of the C-tube located forward of the forward end outlet of the conduit channel of the conduit support being in a closed "O" shape, forming a support tube, and the rear end conduit portion located at that location forming a stable support.
In order to avoid the occurrence of an inner curl in the circumferential edge of the C-tube as it passes over the connecting portion of the shuttle-type chute and the catheter support portion, the connecting portion 94 of the shuttle-type chute to the catheter support portion 90 preferably comprises a length having an outer contour sized such that the C-tube on the portion is stretched by the shuttle-type chute to take a "C" shape with the inner peripheral surface of the C-tube conforming to the outer surface of the shuttle-type chute, as shown in fig. 22. The connecting part can be cylindrical, elliptic cylindrical or other similar shapes, and can be used for expanding the C-shaped pipe to form a C shape and reliably attaching the C-shaped pipe to the inner peripheral surface of the C-shaped pipe.
As a preferred option, the connection point 94 of the shuttle ramp to the catheter support 90 is generally olive-shaped, the olive-shaped portion comprising a length having an outer dimension such that a C-shaped tube positioned over the length is stretched by the shuttle ramp and conforms to the outer surface of the shuttle ramp to assume a "C" shape. The shuttle ramp further comprises tapered portions at both ends, preferably the free ends of the tapered portions having a diameter smaller than the inner diameter of the C-tube in the extended or tensioned state, to guide movement of the mouth gag relative to the C-tube. In addition, in order to facilitate movement of the mouth gag relative to the C-tube, as a preferred embodiment, the end of the mouth gag shuttle slide is rounded.
In order to prevent the C-tube from being laterally offset relative to the shuttle ramp and not being able to properly cooperate with the shuttle ramp, the mouth gag also includes a abutment. Referring to fig. 2, 25 and 26, since the passage opening of the first C-shaped tube passage 92 of the first C-shaped tube supporting portion 88 and the passage opening of the first tube section 99 of the second C-shaped tube supporting portion 89 are not aligned with each other, the connection line of the two and the shuttle-type slide may not coincide, so that the C-shaped tube in the stretched state or the tensioned state tends to be shifted toward the connection line side, and if the shift is too large, the operation of the catheter delivery assisting device is affected. Therefore, as a preferable mode, a blocking portion is provided on the wire side to prevent the C-shaped tube from being deviated. As shown in fig. 25 and 26, in the illustrated embodiment, the abutment 107 is integrally formed with the second C-shaped tube support 89 and is located at the front of the first tube section 99 in the form of an arcuate plate with a longitudinal forward end adjacent the connection point of the shuttle-type slide to the tube support. Alternatively, the abutment may be tubular, formed by an extension of the first tube section 99; alternatively, the abutment may be a separate component which is secured to the instrument pod during use.
The opener provided on the front-end catheter operation box 2 and the opener and C are described below with reference to FIG. 14BThe cooperation of the tubes. As shown in fig. 14B, two openers 108, 109 are provided on the front catheter operation box 2, the front openers 108 and the rear openers 109 are mirror-symmetrical, and the front openers 108 are identical in structure to the openers 87 provided on the instrument operation box 3, and the description thereof is omitted for the sake of brevity. In the embodiment shown in fig. 14B, the second C-shaped tube support portion 89 of the front mouth gag 108 ’ Is a second pipe segment 100 of (1) ’ Is connected to the second tube segment 100 "of the second C-shaped tube support portion 89" of the rear mouth gag 109 to form an integral structure. The working principle of the front and rear openers 108, 109 is identical to that of the openers 87 provided on the instrument operation box 3, and a detailed description thereof is omitted for the sake of brevity.
In the assembled state of the catheter delivery aid, referring to fig. 2, 14B, 25 and 26, the front and rear ends of the c-shaped tube are secured to the front and rear end bracket assemblies 202 and 203 of the robot body with the front and rear end securing devices 200 and 201, respectively, and are in an extended or tensioned state. The C-tube extends rearward from the front end of the robot body, passes through the front and rear openers 108 and 109 provided on the front end catheter manipulation box 2 to the front end of the instrument manipulation box, then passes through the opener 87 provided on the instrument manipulation box 3, and continues to extend rearward to the rear end of the robot body.
During operation, the C-tube is always in an extended or tensioned state, the portion 209 of the C-tube between the front end of the robot body and the conduit channel front end outlet of the front mouth-piece 108 conduit support (see fig. 2) being in a closed "O" shaped state forming a support tube, providing a stable support for the conduit portion of the front end conduit between the C-tube front end outlet and the conduit channel front end outlet of the front mouth-piece 108 conduit support. The portion 210 (see fig. 2) of the C-tube between the front end outlet of the conduit channel of the conduit support of the mouth gag 87 and the rear end inlet of the conduit channel of the conduit support of the rear mouth gag 109 is in a closed "O" shape, forming a support tube, and the rear end conduit portion at this location forms a stable support. Wherein the rear end duct is led out from the duct channel front end outlet of the duct supporting portion of the mouth gag 87, then enters the duct channel of the duct supporting portion of the rear mouth gag 109, and then enters the front end duct 68 via the Y valve 70 (see fig. 14B, 15 and 16) fixed to the front end duct operation box.
According to the technical scheme of the invention, the essential characteristics are that the slave end part of the vascular interventional operation robot comprises a front end catheter operation box and an instrument operation box which are respectively arranged on the robot body, the front end catheter operation box and the instrument operation box are arranged in longitudinal sequence, the front end catheter operation box can be provided with a front end catheter (guide catheter), the instrument operation box can be provided with a rear end catheter (middle catheter), the delivery/rotation of the guide catheter and the middle catheter are integrated, and the two operation boxes can cooperatively operate and can also independently operate. According to the technical scheme of the invention, the multifunctional interventional operation robot is truly realized, the defect of single function of the existing vascular interventional operation robot is overcome, the structure is compact, and the design is reasonable.
In the above embodiment, the rotation driving members 41, 71 in the form of gears are provided on the duct connecting members of the respective ducts provided on the front-end duct operation box and the rear-end duct operation box so as to drive the rotation by the duct rotation transmission means connected to the driving source to rotate the duct, but the invention is not limited thereto, and the rotation of the duct may be performed in other driving manners, in which case the front-end duct operation box and the rear-end duct operation box may be directly mounted on the slide table of the pushing mechanism.
The invention has been described above with reference to specific embodiments with reference to the accompanying drawings, but this is for illustrative purposes only and the invention is not limited thereto. It will thus be apparent to those skilled in the art that various changes and modifications may be made within the technical spirit and scope of the invention, and these changes and modifications should also be construed as falling within the scope of the invention, which is defined by the claims and their equivalents.

Claims (25)

1. A slave end portion for a vascular interventional procedure robot, the slave end portion comprising a robot body, a front end catheter manipulation cassette and a back end catheter manipulation cassette;
The robot body includes:
a base;
a power unit comprising a pushing mechanism;
the pushing mechanism is arranged on the base and comprises a first sliding table, a second sliding table, a first sliding table driving mechanism and a second sliding table driving mechanism, wherein the first sliding table and the second sliding table are arranged on a sliding guide rail fixedly arranged on the base and extending longitudinally and can linearly move along the sliding guide rail; the first sliding table driving mechanism is used for driving the first sliding table to move longitudinally, and the second sliding table driving mechanism is used for driving the second sliding table to move longitudinally;
longitudinally, the front end catheter manipulation box is positioned in front of the rear end catheter manipulation box; the front end duct operation box is arranged in association with the first sliding table and moves along with the first sliding table in the longitudinal direction, and is used for being provided with a front end duct; and
the rear end duct operation box is arranged in association with the second sliding table and moves along with the second sliding table in the longitudinal direction, and is used for being provided with a rear end duct with the outer pipe diameter smaller than the inner pipe diameter of the front end duct.
2. The slave end portion for a vascular interventional procedure robot according to claim 1, wherein a slide rail is provided on the base, and the first slide table and the second slide table are provided on the slide rail, the first slide table being located in front of the second slide table in the longitudinal direction.
3. The slave end portion for a vascular interventional procedure robot according to claim 1 or 2, wherein the first and second sled driving mechanisms are belt-pulley transmission mechanisms;
the first sliding table driving mechanism comprises a first pushing motor arranged at one longitudinal end of the sliding guide rail, a first driving belt pulley arranged on an output shaft of the first pushing motor, a first driven belt pulley arranged at the other longitudinal end of the sliding guide rail, and a first driving belt sleeved on the first driving belt pulley and the first driven belt pulley, and the first driving belt is fixedly connected with the first sliding table;
the second sliding table driving mechanism comprises a second pushing motor arranged at the other end of the longitudinal direction of the sliding guide rail, a second driving belt wheel arranged on an output shaft of the second pushing motor, a second driven belt wheel arranged at one end of the longitudinal direction of the sliding guide rail, and a second driving belt sleeved on the second driving belt wheel and the second driven belt wheel, and the second driving belt is fixedly connected with the second sliding table.
4. The slave end portion for a vascular interventional surgical robot according to claim 1 or 2, wherein the front end catheter operation box is provided with a front end catheter, a front end catheter connector and a front end catheter Y valve, the front end catheter extending in a longitudinal direction of the front end catheter operation box, the front end of the front end catheter extending from the front end of the front end catheter operation box, the rear end of the front end catheter being connected to the front end of the front end catheter connector, and the rear end of the front end catheter connector being connected to the front end catheter Y valve, the front end catheter Y valve being fixedly mounted on the front end catheter operation box;
the rear end catheter operation box is provided with a rear end catheter, a rear end catheter connecting piece and a rear end catheter Y valve, the rear end catheter extends along the longitudinal direction of the rear end catheter operation box, the front end of the rear end catheter extends out of the front end of the rear end catheter operation box, the rear end of the rear end catheter is connected with the front end of the rear end catheter connecting piece, the rear end of the rear end catheter connecting piece is connected with the rear end catheter Y valve, and the rear end catheter Y valve is fixedly arranged on the rear end catheter operation box;
wherein in use the rear end conduit extends into the front end conduit via a valve port of the rear end conduit Y valve.
5. The slave end portion for a vascular interventional procedure robot according to claim 1 or 2, wherein the power unit further comprises a front end catheter drive device comprising a front end catheter drive device housing fixedly mounted on and longitudinally movable with the first ramp; a front-end catheter rotation driving motor is arranged in the front-end catheter driving device shell, and a motor output shaft of the front-end catheter rotation driving motor extends transversely and extends out of the side surface of the front-end catheter driving device shell;
the front end catheter operation box is provided with a front end catheter rotation transmission device, and the front end catheter rotation transmission device is positioned below the front end catheter operation box; the front-end catheter rotating transmission device comprises a front-end catheter rotating power input shaft and a first transmission assembly, wherein the first transmission assembly comprises a tail end gear for driving the front-end catheter to rotate, the front-end catheter rotating power input shaft extends transversely along the front-end catheter operation box, a power output end of the front-end catheter rotating power input shaft is connected with the first transmission assembly, and a power input end of the front-end catheter rotating power input shaft extends out of one transverse side of the front-end catheter operation box and is connected with a motor output shaft of the front-end catheter rotating driving motor;
Wherein the lateral side of the front end catheter manipulation box is connected to an adjacent side of the front end catheter drive device and moves longitudinally with the front end catheter drive device.
6. The slave end portion for a vascular interventional procedure robot of claim 5, wherein the lateral side of the front end catheter manipulation box is detachably connected with an adjacent side of the front end catheter drive device by means of a plug connection.
7. The slave end portion for a vascular interventional procedure robot according to claim 6, wherein the connection structure for realizing the plug connection comprises a plug member or a plug port provided at a side of the front end catheter operation box for fitting connection with a plug port or a plug member provided at a side of the front end catheter driving device.
8. The slave end portion for a vascular interventional surgical robot according to claim 5, wherein the front end catheter operation box is provided with a front end catheter, a front end catheter connector and a front end catheter Y valve, the front end catheter extending in a longitudinal direction of the front end catheter operation box, the front end of the front end catheter extending from the front end of the front end catheter operation box, the rear end of the front end catheter being connected to the front end of the front end catheter connector, and the rear end of the front end catheter connector being connected to the front end catheter Y valve, the front end catheter Y valve being fixedly mounted on the front end catheter operation box; the front end conduit connector is provided with a rotary driving gear which is used for being in transmission engagement with the tail end gear of the first transmission assembly to drive the front end conduit connector and the front end conduit arranged on the front end conduit connector to rotate.
9. The slave end portion for a vascular interventional procedure robot according to claim 1 or 2, wherein the power unit further comprises a back end catheter drive device comprising a back end catheter drive device housing fixedly mounted on and longitudinally movable with the second ramp; a rear end catheter rotation driving motor is arranged in the rear end catheter driving device shell, and a motor output shaft of the rear end catheter rotation driving motor extends transversely and extends out from the side surface of the rear end catheter driving device shell;
the rear end catheter operation box is provided with a rear end catheter rotation transmission device, and the rear end catheter rotation transmission device is positioned below the rear end catheter operation box; the rear end duct rotary transmission device comprises a rear end duct rotary power input shaft and a second transmission assembly, the second transmission assembly comprises a tail end gear used for driving the rear end duct to rotate, the rear end duct rotary power input shaft extends transversely to the rear end duct operation box, a power output end of the rear end duct rotary power input shaft is connected with the second transmission assembly, and a power input end of the rear end duct rotary power input shaft extends out of one transverse side of the rear end duct operation box and is used for being connected with a motor output shaft of the rear end duct rotary driving motor;
Wherein the lateral side of the rear end catheter manipulation box is connected to an adjacent side of the rear end catheter drive device and then moves longitudinally with the rear end catheter drive device.
10. The slave end portion for a vascular interventional procedure robot of claim 9, wherein the lateral side of the back end catheter manipulation box is removably connected to an adjacent side of the back end catheter driver by a plug connection.
11. The slave end portion for a vascular interventional procedure robot according to claim 10, wherein the connection structure for realizing the plug connection comprises a plug or a plug port provided at a side of the rear end catheter operation box for fitting connection with a plug or a plug port provided at a side of the rear end catheter driving device.
12. The slave end portion for a vascular interventional surgical robot according to claim 9, wherein the rear end catheter operation box is provided with a rear end catheter, a rear end catheter connector and a rear end catheter Y valve, the rear end catheter extending in a longitudinal direction of the rear end catheter operation box, a front end of the rear end catheter extending from a front end of the rear end catheter operation box, a rear end of the rear end catheter being connected to a front end of the rear end catheter connector, a rear end of the rear end catheter connector being connected to the rear end catheter Y valve, the rear end catheter Y valve being fixedly mounted on the rear end catheter operation box; the rear end conduit connector is provided with a rotary driving gear which is used for being in transmission engagement with the tail end gear of the second transmission assembly to drive the rear end conduit connector and the rear end conduit arranged on the rear end conduit connector to rotate.
13. The slave end portion for a vascular interventional surgical robot of claim 1, further provided with a catheter delivery aid comprising a first opener, a second opener, a third opener and a support tube; the first opener is arranged at the front end of the front end catheter operation box, the second opener is arranged at the rear end of the front end catheter operation box, and the third opener is arranged at the front end of the rear end catheter operation box; the first and second openers are in mirror symmetry structures, and the first and third openers are identical in structure;
the support tube is of a C-shaped tube structure, a circumferentially extending slot is formed in the support tube, and the C-shaped tube can be self-contracted, so that two circumferential end parts are butted or staggered and attached to each other to form a closed O shape;
the first and third openers comprise a first C-shaped pipe supporting part, a second C-shaped pipe supporting part, a catheter supporting part and a shuttle-type slideway;
a first C-shaped pipe channel through which the C-shaped pipe passes is formed in the first C-shaped pipe supporting part;
the conduit support portion is disposed adjacent to and longitudinally rearward of the first C-shaped tube support portion with a conduit passage therethrough;
The shuttle type slideway is arranged on the front end part or the part close to the front end part of the conduit supporting part, is obliquely arranged towards the rear side relative to the conduit channel and extends to one side of the robot body, so that the C-shaped tube deviates from the path of the conduit;
the second C-shaped pipe supporting part is arranged at the rear side of the shuttle-type slideway and is positioned at one side of the robot body relative to the shuttle-type slideway, the second C-shaped pipe supporting part is provided with a second C-shaped pipe channel for the C-shaped pipe to pass through, and a channel opening on one end of the second C-shaped pipe channel, which is longitudinally forward, is basically aligned with the shuttle-type slideway;
in the assembled state, the respective components of the first opener are fixed in place on the front portion of the front end catheter manipulation box, the respective components of the second opener are fixed in place on the rear portion of the front end catheter manipulation box, and the respective components of the third opener are fixed in place on the front portion of the rear end catheter manipulation box; the front end and the rear end of the C-shaped pipe are respectively fixed at the front end and the rear end of the robot body and are in an extending state or a tensioning state;
the C-shaped pipe extends backwards from the front end of the robot body, passes through a first C-shaped pipe channel of the first opener, is sleeved on a shuttle-shaped slide way of the first opener, then passes through a second C-shaped pipe channel of the second opener, is sleeved on a shuttle-shaped slide way of the second opener, then passes through a first C-shaped pipe channel of the third opener, is sleeved on a shuttle-shaped slide way of the third opener, then passes through a second C-shaped pipe channel of the third opener and continues to extend backwards to the rear end of the robot body;
The part of the C-shaped pipe, which is positioned at the connecting part where the shuttle-shaped slideway and the conduit supporting part are connected with each other, is in a C shape, the part of the C-shaped pipe, which is positioned in front of the conduit channel front end outlet of the conduit supporting part of the first opener, is in a closed O-shaped state, and the part of the C-shaped pipe, which is positioned between the conduit channel rear end outlet of the conduit supporting part of the second opener and the conduit channel front end outlet of the conduit supporting part of the third opener, is also in a closed O-shaped state;
the first and second openers being movable back and forth with the front end duct operating box relative to the C-shaped duct, the front end duct being extendable forward into the C-shaped duct via the duct channel of the duct support of the first opener and out via the C-shaped duct front end outlet, the C-shaped duct supporting a portion of the front end duct between the C-shaped duct front end outlet and the duct channel front end outlet of the duct support of the first opener; the third and subsequent end-of-line duct boxes are movable together back and forth relative to the C-shaped duct, the rear end-of-line duct being extendable forward into the C-shaped duct via the duct channel of the duct support of the third and extending out of the duct channel of the duct support of the second and subsequently into the front end-of-line duct via the valve port of the front end-of-line duct Y valve, the C-shaped duct supporting a portion of the rear end-of-line duct between the duct channel rear end outlet of the duct support of the second and duct channel front end outlet of the duct support of the third.
14. The slave end portion for a vascular interventional procedure robot of claim 13, wherein the connection site of the shuttle-type chute to the catheter support comprises a length having an outer contour sized such that a C-tube on the portion is "C" shaped with the inner peripheral surface of the C-tube being conformed to the outer surface of the shuttle-type chute, being spread apart by the shuttle-type chute.
15. The slave end portion for a vascular interventional procedure robot of claim 14, wherein the connection site is olive-shaped.
16. The slave end portion for a vascular interventional surgical robot of any of claims 13-15, wherein the second C-tube support of the first and third mouth pieces is in the form of an obtuse-angled tube comprising a first tube section extending towards the shuttle-type slide with its passage opening substantially aligned with the shuttle-type slide and a second tube section extending longitudinally rearward.
17. The slave end portion for a vascular interventional surgical robot of any of claims 13-15, wherein the first and third mouth pieces further comprise a stop portion provided on one side of the shuttle ramp, the longitudinally forward end of which is adjacent to the connection point of the shuttle ramp to the catheter support portion, the C-tube in an assembled state in an extended or tensioned state tending to move toward the one side of the shuttle ramp.
18. The slave end portion for a vascular interventional surgical robot according to claim 17, wherein the abutment is in the form of a circular arc plate, integrally formed with the first tube segment, or the abutment is formed of the first tube segment.
19. The slave end portion for a vascular interventional procedure robot of claim 13, wherein the first C-tube support is integrally formed with the catheter support.
20. The slave end portion for a vascular interventional procedure robot of any of claims 13-15, wherein the shuttle ramp comprises tapers at both ends, the free ends of the tapers having a diameter smaller than the inner diameter of the C-tube in an extended or tensioned state.
21. The slave end portion for a vascular interventional procedure robot of claim 20, wherein the end of the shuttle-type chute is a rounded end.
22. The slave end portion for a vascular interventional procedure robot of claim 13, wherein the catheter support is cylindrical.
23. The slave end portion for a vascular interventional surgical robot of claim 13, wherein in a planar expanded view the C-tube has a plurality of circumferentially centered, axially spaced intermediate slots and a plurality of circumferentially two-sided, axially spaced edge slots, respectively, the intermediate slots being axially staggered with the edge slots.
24. The slave end portion for a vascular interventional surgical robot of claim 16, wherein the second tube segment of the second C-tube support of the first mouth gag is integrally formed with the second tube segment of the second C-tube support of the second mouth gag.
25. A slave end portion for a vascular interventional surgical robot according to claim 1 or 2, wherein the back end-giving cassette is an instrument cassette.
CN202310060243.3A 2023-01-17 2023-01-17 Slave end portion for vascular interventional surgical robot Pending CN116158861A (en)

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CN202310060243.3A CN116158861A (en) 2023-01-17 2023-01-17 Slave end portion for vascular interventional surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310060243.3A CN116158861A (en) 2023-01-17 2023-01-17 Slave end portion for vascular interventional surgical robot

Publications (1)

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CN116158861A true CN116158861A (en) 2023-05-26

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