CN116269789A

CN116269789A - Method for selecting installation position of robot connecting seat and installation method

Info

Publication number: CN116269789A
Application number: CN202310372190.9A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Beijing Wansi Medical Technology Co ltd
Current assignee: Beijing Wansi Medical Technology Co ltd
Priority date: 2023-04-10
Filing date: 2023-04-10
Publication date: 2023-06-23

Abstract

The application relates to the technical field of medical equipment, and specifically discloses a method for selecting a mounting position of a connecting seat of a robot and the mounting method, wherein the robot comprises the connecting seat of the robot, a mechanical arm and a robot body, and the method for selecting the mounting position of the connecting seat comprises the following steps: determining a first reference value based on height characteristics of a human body; acquiring the distance from the rotating shaft of the robot to the entry point of the operation part of the patient, and determining a second reference value based on the projection of the distance on a horizontal plane; acquiring a maximum forward stroke value and a maximum backward stroke value of the mechanical arm, and determining a position compensation value based on a difference value of the maximum forward stroke value and the maximum backward stroke value; the installation position of the robot connecting holder on the operating table is determined based on the first reference value, the second reference value and the position compensation value. The position that fixed robot is reserved by the connecting seat of reservation on the bed among the prior art has been solved to this application, leads to the robot position to be fixed a position the back be difficult to compromise the problem of the patient of various heights.

Description

Method for selecting installation position of robot connecting seat and installation method

Technical Field

The application relates to the technical field of medical robots, in particular to a method for selecting a mounting position of a robot connecting seat and a mounting method.

Background

The connecting position of the interventional operation robot and the bed is not fixed each time, so that various position relations can be generated when the robot is in butt joint with the vascular sheath part of the human body, the positions of the robot are specially adjusted according to the heights of different patients, and even for patients with the same height, doctors need to operate the robot differently due to the fact that the installation position of the operation robot is not fixed, and the position adjustment time of the operation robot is prolonged.

For this reason, in the related art, a connection base is fixed on an operation table for connecting the operation robot, so that the installation position of the operation robot on the table is the same each time, but since the position of the operation robot is fixed, the heights of patients are different, so that it is difficult to consider patients with various heights for the stroke of the operation robot during use.

Disclosure of Invention

The main objective of the present application is to provide a method for selecting a mounting position of a robot connection seat, so as to solve the problem that in the related art, the position of a robot is fixed by a connection seat reserved on a bed, so that it is difficult to consider patients with various heights after the position of the robot is positioned.

In order to achieve the above object, the present application provides a method for selecting a mounting position of a robot connector, the robot including a robot connector for being fixed to an operating table to position a mounting position of the robot arm on the operating table, a robot arm for docking with the robot connector, the robot arm configured to support the robot body to translate, and a robot body to be rotated about the robot arm fixed axis by a rotation axis; the selection method comprises the following steps: determining a first reference value based on height characteristics of a human body; acquiring a distance from the rotation axis to an entry point of a surgical site of a patient, and determining a second reference value based on a projection of the distance on a horizontal plane; acquiring a maximum forward stroke value and a maximum backward stroke value of the mechanical arm, and determining a position compensation value based on a difference value of the maximum forward stroke value and the maximum backward stroke value; and determining the installation position of the robot connecting seat on an operating table based on the first reference value, the second reference value and the position compensation value.

Further, the mechanical arm comprises a vertical arm and N support arms, the vertical arm is hinged with the support arms and the support arms are hinged with the support arms through vertical shafts, and the support arms at the tail end are hinged with the robot body through the rotating shafts, so that the robot body can deflect up and down around the rotating shafts; the step of acquiring the maximum forward stroke value and the maximum backward stroke value of the mechanical arm specifically includes: determining a maximum forward stroke value based on the geometric relationship of each support arm, the vertical shaft and the rotating shaft when the robot body horizontally moves to the maximum forward stroke; the maximum back stroke value is determined based on the geometric relationship of each of the arms, the vertical axis, and the rotational axis when the robot body moves to the maximum back stroke.

Further, the step of determining the first reference value based on the height characteristics of the human body specifically includes: setting the average height of the human body, and taking one half of the average height of the human body as the first reference value.

Further, the step of determining a position compensation value based on the difference between the maximum forward stroke value and the maximum backward stroke value specifically includes: the position compensation value is one half of the difference between the maximum forward stroke value and the maximum backward stroke value.

Further, the step of determining the installation position of the robot connecting base on the operating table based on the first reference value, the second reference value and the position compensation value specifically includes: subtracting the position compensation value from the sum of the first reference value and the second reference value to obtain the installation position of the robot connecting seat on the operating table.

According to another aspect of the present application, there is provided a method of installing a vascular interventional surgical robot, the method comprising the steps of: after the installation position of the robot connecting seat on the operating table is determined based on the method for selecting the installation position of the robot connecting seat, the robot connecting seat is installed to the installation position; mounting the mechanical arm to the robot connecting base; the robot body is mounted to the robotic arm.

Further, the vascular interventional operation robot further comprises a sterile membrane, a catheter supporting component and a sterile module; after the step of "mounting the robot body to the robot arm", the mounting method further includes: adjusting the position and angle of the robot body relative to the mechanical arm to enable the robot body to be in a surgical preparation posture; covering the sterile film on the robot body and the mechanical arm; mounting the catheter support assembly to the robot body with the sterile membrane therebetween to compress the sterile membrane between the catheter support assembly and the robot body; the aseptic module is mounted to the robot body via the aseptic film.

Further, two ends of the robot body are respectively provided with a first clamping seat and a second clamping seat, a first clamping groove is formed in the first clamping seat, a second clamping groove is formed in the second clamping seat, and the catheter supporting assembly comprises a catheter protection tube, and a first fixing seat and a second fixing seat which are respectively arranged at two ends of the catheter protection tube; the step of "mounting the catheter support assembly to the robot body via the sterile film" specifically includes: the first fixing seat and the second fixing seat are respectively clamped into the first clamping groove and the second clamping groove through the sterile film.

Further, the first fixing seat is detachably clamped into the first clamping groove from a fifth direction, the first clamping groove limits the first fixing seat to be separated, the second fixing seat is detachably clamped into the second clamping groove from a sixth direction, the second fixing seat is limited to be separated from the second clamping groove, the fifth direction is parallel to the axial direction of the catheter protection tube, and the sixth direction is parallel to the radial direction of the catheter protection tube; the step of clamping the first fixing seat and the second fixing seat into the first clamping groove and the second clamping groove respectively through the sterile film specifically comprises the following steps: firstly, clamping the first fixing seat into the first clamping groove along the fifth direction through the sterile film, so that the first fixing seat compresses part of the sterile film in the first clamping groove; and then clamping the second fixing seat into the second clamping groove along the sixth direction through the sterile film, so that the second fixing seat compresses part of the sterile film into the second clamping groove.

Further, the robot body further comprises an aseptic module mounting seat, a first transmission structure and a first magnetic piece, wherein the first transmission structure and the first magnetic piece are arranged on the aseptic module mounting seat, and the aseptic module comprises a shell, and a second transmission structure and a second magnetic piece, which are arranged on the shell; the step of "mounting the aseptic module to the robot body via the aseptic film" specifically includes: the second transmission structure penetrates through the sterile film covered on the robot body and then is spliced with the first transmission structure, and the sterile module is fixedly connected with the robot body under the magnetic attraction fit of the second magnetic piece and the first magnetic piece.

According to the technical scheme, the installation position of the robot connecting seat on the operating table is selected, the height characteristics of a human body and the structural characteristics of the robot are introduced in the process of position selection, so that the robot is installed on the positioned robot connecting seat, the movement range of the robot is suitable for patients with various heights, and the problem that the position of the robot is fixed by the connecting seat reserved on the table in the related art, so that the position of the robot is difficult to be suitable for patients with various heights after being positioned is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:

fig. 1 is a schematic structural view of a robot body at a maximum downward inclination angle in the embodiment of the present invention;

fig. 2 is a schematic top view of the robot according to the embodiment;

FIG. 3 is a schematic side view of the robot in the embodiment of the present solution;

fig. 4 is a schematic diagram of an axial measurement structure of the robot in the embodiment of the present invention;

fig. 5 is a schematic structural diagram of a mechanical arm in the embodiment of the present invention;

fig. 6 is a schematic structural view of a robot connecting socket and an arm connecting socket according to an embodiment of the present invention, wherein the robot connecting socket and the arm connecting socket are in a locked state with each other;

FIG. 7 is a cross-sectional view of FIG. 6;

fig. 8 is a schematic structural view of a robot connecting socket and an arm connecting socket according to an embodiment of the present invention, wherein the robot connecting socket and the arm connecting socket are in an unlocked state with each other;

fig. 9 is a perspective view of an arm connection base according to an embodiment of the present invention;

FIG. 10 is an exploded view of the arm attachment base according to the present embodiment;

fig. 11 is a perspective view of a robot connecting holder according to an embodiment of the present invention;

fig. 12 is an exploded view of a robot attachment socket according to an embodiment of the present disclosure;

FIG. 13 is a view showing the first and second locking members locked to each other according to the embodiment;

fig. 14 illustrates the first and second locking members unlocked from each other according to the embodiment;

fig. 15 is a schematic structural view of the body connecting seat and the body fixing seat according to the embodiment;

fig. 16 is a schematic structural view of another body connecting seat and a body fixing seat according to the embodiment;

FIG. 17 is a schematic view of the body mount and body mount of FIG. 16 locked to one another;

FIG. 18 is a schematic view of a fifth latch and a sixth latch according to the present embodiment locked to each other;

fig. 19 is a schematic view of the fifth and sixth clamping members in unlocking according to the embodiment;

fig. 20 is a schematic view of the fifth clamping member and the sixth clamping member after unlocking according to the embodiment;

fig. 21 is a schematic view of a robot structure using the body connecting base and the body fixing base in fig. 16 according to the embodiment;

Fig. 22 is a schematic structural view of the aseptic module in the embodiment of the present invention;

fig. 23 is a schematic side view of the aseptic module in this embodiment;

fig. 24 is a schematic side view of the robot body in the embodiment;

FIG. 25 is a schematic view of the structure of the catheter support assembly in this embodiment;

FIG. 26 is a schematic view of an exploded construction of a catheter support assembly in an embodiment of the present disclosure;

FIG. 27 is a schematic cross-sectional view of a catheter support assembly in an embodiment of the present disclosure;

the surgical bed comprises a surgical bed body, a 100-arm connecting seat, a 101 first clamping piece, a 102 shell, a 103 first elastic piece, a 104 first hook, a 105 first inclined surface, 106 idler wheels, a 107 first electric plug connector, a 108 proximity switch, a 109 first baffle and a 110 handle, wherein the surgical bed body comprises a first clamping piece, a 102 shell, a 103 first elastic piece, a 104 first hook, a 105 first inclined surface, a 106 idler wheel, a 107 first electric plug connector, a 108 proximity switch, a 109 first baffle and a 110 handle;

200 robot connecting seats, 201 second clamping pieces, 202 main bodies, 203 second elastic pieces, 204 second hooks, 205 second inclined surfaces, 206 first sliding rails, 207 second electric connectors, 208 third electric connectors, 209 second baffle plates and 210 mounting grooves;

4 mechanical arm, 41 support arm, 401 vertical arm, 402 first vertical shaft, 403 first support arm, 404 second vertical shaft, 405 second support arm, 406 rotation shaft;

the robot comprises a robot body 5, a first clamping seat 50, a first clamping groove 501, a front end plate 5011, a first notch structure 50110, a front flange 5012, a first notch 5013, a first open structure 5014, a second clamping seat 52, a second clamping groove 502, a second notch 5021, a rear end plate 5022, a second notch structure 50220, a second open structure 5023, a positioning groove 5024, a 503 display module 504 and a driving shaft;

6 sterile module, 61 transmission shaft, 62 bolt, 63 second magnetic piece, 64 outer cover;

7 a sterile module mounting seat, 701 a first magnetic piece, 702 a pin hole;

the pipe support device comprises an 8 pipe support assembly, an 801 pipe protection pipe, an 802 first fixing seat, an 8021 first clamping plate, an 8022 clamping piece, an 8023 second clamping plate, an 8021 bulge, an 803 second fixing seat, an 8031 first end plate, an 8032 pipe part, an 8033 tensioning piece, an 8034 clamping block, an 8035 jackscrew, an 8036 second end plate, an 8037 handle, an 8038 seat body and an 8039 positioning bulge;

the lock comprises a body fixing seat 9, a fourth clamping piece 9a, a body connecting seat 10, a third clamping piece 10a, a 901 inserting part, a fifth clamping piece 902, a 9021 locking button, a 9022 locking hole, a 90221 large-diameter part, a 90222 small-diameter part, a 9023 lock tongue, a 9024 second locking inclined plane, a 9026 first locking piece, a 1001 second sliding groove, a 1002 second sliding rail, a 1003 sixth clamping piece, a 10031 unlocking button, a 10032 second locking piece, a 10033 fourth elastic piece, a 1004 locking boss, a 1005 first locking inclined plane and a 11 third elastic piece.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In the related art, a connecting seat is fixed on an operation table and is used for connecting an operation robot, so that the installation positions of the operation robot on the operation table are the same every time, but the positions of the operation robots are fixed, and the heights of patients are different, so that the stroke of the operation robot is difficult for patients with various heights during use.

To solve the above-mentioned problems, the present embodiment provides a method for selecting the installation position of the robot connecting base, wherein after the robot connecting base 200 is installed at the installation position determined by the method, the movement range of the robot docked to the robot connecting base 200 can cover the crowd range with a certain height, so that the height of the human body and the specific structure of the robot need to be used as references when the installation position of the robot connecting base 200 is selected.

Specifically, in this embodiment, the method includes the following steps:

s10, determining a first reference value based on the height characteristics of the human body. Specifically, the height characteristics of the human body are set characteristics, and can be set based on the height range of the patient aimed by the robot. Under ideal conditions, the patient with average height is just in the middle of the movement range of the robot, so that the average height of the human body can be set, when the actual height of the patient is greater than the average height, the robot can be translated backwards, and when the actual height of the patient is less than the average height, the robot can be translated forwards.

S20, acquiring the distance from the rotating shaft 406 of the robot to the entry point of the operation site of the patient, and determining a second reference value based on the projection of the distance on the horizontal plane. Specifically, since the robot structure to be docked with the robot connection base 200 needs to be referred to in the process of selecting the installation position, the position needs to be selected according to the actually connected robot structure characteristics. As shown in fig. 1 to 3, the robot for interfacing with the robot connecting socket 200 in the present embodiment performs a vascular interventional operation, the robot including a robot arm 4 and a robot body 5, the robot arm 4 for interfacing with the robot connecting socket 200, the robot arm 4 configured to support the robot body 5 for translation, the robot body 5 being rotated about the robot arm 4 by a rotation shaft 406 in a fixed axis such that the robot body 5 can deflect up and down; the vascular interventional operation robot is characterized in that the vascular interventional operation robot can translate along the length direction of the operation table 1 so as to adapt to patients with different heights, and meanwhile, the robot body 5 mounted on the mechanical arm 4 can do pitching motion (namely, rotate around the rotation shaft 406 in a fixed shaft mode), so that the vascular sheath part at the root of the thigh of the patient can be pressed close to when the front end of the robot body 5 rotates downwards, and a catheter and a guide wire required by operation can be conveniently sent into a blood vessel. Since the robot body 5 needs to be in a declined state during the operation, and the installation position of the robot connecting base 200 on the operating table 1 directly affects the position of the robot body 5 on the horizontal plane, the projection of the distance from the rotation axis 406 of the robot to the entry point of the operation site of the patient on the horizontal plane is used as the second reference value in this embodiment.

S30, acquiring a maximum forward stroke value and a maximum backward stroke value of the mechanical arm 4, and determining a position compensation value based on a difference value of the maximum forward stroke value and the maximum backward stroke value. Specifically, due to structural limitations of the mechanical arm 4 applied to the interventional operation robot, a stroke value when the robot body 5 is translated forward from the start point to the limit position may not be the same as a stroke value when it is translated backward to the limit position. When the stroke value when translating forward to the limit position is larger than the stroke value when translating backward to the limit position, the midpoint of the movement range of the robot body 5 is more biased to the front relative to the starting point, and similarly, when the stroke value when translating forward to the limit position is smaller than the stroke value when translating backward to the limit position, the midpoint of the movement range of the robot body 5 is more biased to the rear relative to the starting point; for this reason, the installation position of the robot link 200 is compensated based on the maximum forward stroke value and the maximum backward stroke value of the robot arm 4 in the present embodiment such that the movement start position of the robot body 5 installed to the installation position is closer to the middle of the movement range. In order to make the movement start position of the robot body 5 precisely located in the middle of the movement range, the position compensation value in the present embodiment may be one half of the difference between the maximum forward stroke value and the maximum backward stroke value. When the difference is positive, the robot connecting holder 200 needs to translate toward the front end of the operating table, and vice versa.

S40, determining the installation position of the robot connecting base on an operating table based on the first reference value, the second reference value and the position compensation value. Specifically, the position compensation value may be subtracted from the sum of the first reference value and the second reference value to obtain the installation position of the robot connecting base 200 on the operating table 1; after the first reference value and the second reference value are acquired, the installation position of the robot connecting holder 200 on the operating table 1 can be approximately determined. The installation position of the robot connecting socket 200 on the operating table 1 is precisely determined based on the position compensation value. The mounting position may be a distance relative to the front end of the operating table 1, i.e. relative to the distance of the robot connecting socket 200 from the patient's head when the patient is lying onto the operating table 1. The installation position selected by the method described in the embodiment can enable the movement range of the robot to cover most of patients with height ranges. Meanwhile, the robot connector 200 fixed to the operating table 1 enables the robot to be installed at fixed points, and for doctors having multiple operating experiences, the robot body 5 can be quickly adjusted to an operating position during operation, so that the operating efficiency is improved, and the pre-operation preparation time is shortened.

Since the robot connecting holder 200 of the present embodiment is used for connecting a vascular interventional operation robot, the operation site is located approximately in the middle of the height of the patient, and thus, when determining the first reference value, one half of the average height of the human body can be set as the first reference value. In the present embodiment, the position compensation value is a key technical feature for determining the accuracy of the mounting position of the robot connecting base 200, and the structure of the mechanical arm 4 connected to the robot connecting base 200 needs to be fully considered when calculating the position compensation value, and the position compensation values corresponding to different mechanical arms 4 are different. In the present embodiment, as shown in fig. 1 to 5, the mechanical arm 4 includes a vertical arm 401 arranged in a vertical direction, N support arms 41 arranged in a horizontal direction, N being 2 or more; the vertical arm 401 is hinged with the support arm 41, and the support arm 41 is hinged with the support arm 41 through a vertical shaft, and the support arm 41 at the tail end is hinged with the robot body 5 through a rotating shaft 406, so that the robot body 5 can deflect up and down around the rotating shaft, and the rotating shaft 406 is a transverse shaft in the embodiment; determining a maximum forward stroke value based on the geometric relationship of each arm 41, the vertical axis and the rotation axis 406 when the robot body 5 moves horizontally to the maximum forward stroke; the maximum back stroke value is determined based on the geometric relationship of each arm 41, the vertical axis, and the rotation axis 406 when the robot body 5 moves to the maximum back stroke.

In this embodiment, the robot body 5 translates along the length direction of the operating table 1 by means of the mechanical arm 4, so that the mechanical arm 4 requires at least two arms 41 hinged to each other by a vertical axis, and the robot body 5 also requires to tilt down or up, so that the robot body 5 and the end arm 41 also need to be hinged by a rotation axis 406.

As shown in fig. 1 and 5, in this embodiment, two support arms 41 are provided, namely, a first support arm 403 and a second support arm 405, the first support arm 403 is hinged to the vertical arm 401 through a first vertical axis 402, the first support arm 403 is hinged to the second support arm 405 through a second vertical axis 404, the end of the second support arm 405 is hinged to the robot body 5 through a transverse axis, and the calculation formula of the position compensation value L1 is as follows:

L1＝(L2-L3)/2；

L2^2＝L4^2-L5^2；L4＝L6+L7；L6＝L8·COSA1；L7＝L9·COSA2；

L2^2＝(L8·COSA1+L9·COSA2)^2-L5^2；

L3^2＝L10^2-L5^2；L10＝L11+L12；

L11＝L8·COSA3；L12＝L9·COSA4；

L3^2＝(L8·COSA3+L9·COSA4)^2-L5^2；

as shown in fig. 1 and 2, L2 is a maximum forward stroke value, L3 is a maximum backward stroke value, L8 is an axial distance from the axis of the first vertical shaft 402 to the axis of the second vertical shaft 404, L9 is an axial distance from the axis of the second vertical shaft 404 to the horizontal axis, and L5 is a vertical distance from the axis of the first vertical shaft 402 to the axis of the horizontal axis;

a1 is the included angle of the connecting line M between the axis of the first vertical shaft 402 and the axis of the second vertical shaft 404 and the connecting line N between the axis of the first vertical shaft 402 and the axis of the horizontal shaft when the robot body 5 moves horizontally to the maximum front stroke;

A2 is the included angle of the connecting line N between the axis of the first vertical shaft 402 and the axis of the horizontal shaft and the connecting line O between the axis of the second vertical shaft 404 and the axis of the horizontal shaft when the robot body 5 moves horizontally to the maximum front stroke;

a3 is the included angle of the connecting line P between the axis of the first vertical shaft 402 and the axis of the second vertical shaft 404 and the connecting line Q between the axis of the first vertical shaft 402 and the axis of the horizontal shaft when the robot body 5 moves horizontally to the maximum back stroke;

a4 is the included angle between the line P between the axis of the first vertical shaft 402 and the axis of the horizontal shaft and the line R between the axis of the second vertical shaft 404 and the axis of the horizontal shaft when the robot body 5 moves horizontally to the maximum back stroke.

The calculation formula of the second reference value L13 is:

L13＝L14·COSB；

as shown in fig. 1, L14 is the distance between the axis of the horizontal axis and the vascular sheath on the robot body 5, and B is the maximum downward inclination angle of the robot body 5;

in summary, the calculation formula of the installation position L15 of the robot connecting holder 200 is:

L15＝L16/2+L13-L1；

wherein L16 is the set average height of the human body, and L15/2 is the first reference value.

According to another aspect of the present application, there is provided an installation method of a vascular interventional operation robot, the installation method including the method of selecting an installation position of the robot connecting holder 200 in the above-described embodiment, and the steps of:

After determining the installation position of the robot connecting socket 200 on the operating table 1, installing the robot connecting socket 200 to the installation position;

mounting the mechanical arm 4 to the robot connecting holder 200;

the robot body 5 is mounted to the robot arm 4.

As shown in fig. 3 and 4, the vascular interventional operation robot includes consumable components required to be used in an operation in addition to the robot connection base 200, the mechanical arm 4 and the robot body 5, the consumable components are mounted on the robot body 5 to be used, and the consumable components are composed of a sterile film, a catheter support component 8 and a sterile module 6.

Based on the above-described vascular intervention robot structure, after the step of "mounting the robot body 5 onto the mechanical arm 4", the vascular intervention robot mounting method further includes:

the position and angle of the robot body 5 with respect to the robot arm 4 are adjusted so as to be in the operation preparation posture. The surgical preparation posture refers to a posture of the robot body 5 when the robot body 5 translates and rotates downward to the vascular sheath portion close to the root of the thigh of the patient by the mechanical arm 4; according to the aseptic requirements of the operation, after the robot body 5 is in the operation preparation posture, the aseptic film is covered on the robot body 5 and the mechanical arm 4, and according to the connection structure of the aseptic film and the robot body 5, the aseptic film can be directly sleeved on the robot body 5 and covers the mechanical arm 4; the catheter support assembly 8 is mounted to the robot body 5 with the sterile film therebetween at the time of mounting to compress the sterile film between the catheter support assembly 8 and the robot body 5, thereby positioning the sterile film on the robot body 5 such that the sterile film does not easily move at the time of mounting of the subsequent sterile module 6; the aseptic module 6 is mounted after the catheter support assembly 8 is mounted, also to the robot body 5 via an aseptic membrane. Because the aseptic membrane is positioned on the robot body 5 through the catheter support assembly 8 before the aseptic module 6 is installed, the aseptic module 6 can not influence the position of the aseptic membrane on the robot body 5 even if the aseptic membrane is punctured due to transmission requirement during the installation, and the protection effect of the aseptic membrane can be effectively improved.

As shown in fig. 24 and 25, to facilitate connection and disconnection of the catheter support assembly 8 and the robot body 5. In this embodiment, a first card seat 50 and a second card seat 52 are respectively disposed at the front end and the rear end of the robot body 5, a first card slot 501 is disposed on the first card seat 50, and a second card slot 502 is disposed on the second card seat 52; the catheter support assembly 8 comprises a first fixing seat 802, a second fixing seat 803 and a catheter protection tube 801; both ends of the catheter protection tube 801 are connected to the first fixing seat 802 and the second fixing seat 803, respectively.

Based on the above-described structure, the step of "attaching the catheter support assembly 8 to the robot body 5 via the sterile film" in the method of attaching the vascular interventional operation robot specifically includes:

the first holder 802 and the second holder 803 are respectively engaged into the first engaging groove 501 and the second engaging groove 502 via the aseptic film. The first end of the sterile film can be fixed on the robot body 5 through the cooperation of the first fixing seat 802 and the first clamping groove 501, and the second end of the sterile film can be fixed on the robot body 5 through the cooperation of the second fixing seat 803 and the second clamping groove 502, so that the whole sterile film can be stably fixed on the robot body 5.

In order to avoid the damage to the sterile film caused by excessive clamping force during the installation of the catheter support assembly 8 and to avoid the deformation problem caused by the stretching of the catheter protection tube 801 during the installation of the catheter support assembly 8, in this embodiment, the first fixing seat 802 is configured to be detachably clamped into the first clamping groove 501 from the fifth direction, the first fixing seat 802 is limited to be disengaged by the first clamping groove 501, the second fixing seat 803 is configured to be detachably clamped into the second clamping groove 502 from the sixth direction, the second fixing seat 803 is limited to be disengaged by the second clamping groove 502, the fifth direction is parallel to the axial direction of the catheter protection tube 801, and the sixth direction is parallel to the radial direction of the catheter protection tube 801.

Based on the above structure, the step of "clamping the first fixing seat 802 and the second fixing seat 803 into the first clamping groove 501 and the second clamping groove 502 respectively via the sterile film" in the installation method of the vascular intervention operation robot specifically includes:

firstly, the first fixing base 802 is clamped into the first clamping groove 501 along the fifth direction through the sterile film, so that the first fixing base 802 compresses part of the sterile film into the first clamping groove 501;

then, when the second fixing seat 803 is clamped into the second clamping groove 502 along the sixth direction with the sterile film therebetween, the second fixing seat 803 compresses a portion of the sterile film in the second clamping groove 502.

In this embodiment is installed the fixing base at pipe protection pipe 801 both ends to the draw-in groove on the robot body 5 from two different directions, need not tensile pipe protection pipe 801 when the installation also need not extra spring catch, carry out two-way spacing purpose by the fixing base at both ends to the draw-in groove at both ends to realized can guaranteeing pipe bearing structure installation stability, can avoid pipe protection pipe 801 to draw and warp and avoid damaging the technological effect of aseptic membrane because of local clamping force is too big again in the installation, and then solved the pipe bearing structure among the prior art and produced deformation and extrusion damage aseptic membrane's problem easily when the installation.

To facilitate the connection between the aseptic module 6 and the robot body 5, as shown in fig. 22 to 24, the robot body 5 further includes an aseptic module mount, a first transmission structure and a first magnetic member 701 disposed on the aseptic module mount 7, and the aseptic module 6 includes a housing 64, and a second transmission structure and a second magnetic member 63 disposed on the housing.

Based on the above-described configuration, the step of "attaching the sterile module 6 to the robot body 5 via the sterile film" in the method of attaching the vascular interventional operation robot specifically includes:

the second transmission structure is inserted into the first transmission structure after penetrating through the sterile film covered on the robot body 5, and the fixed connection between the sterile module 6 and the robot body 5 is realized under the magnetic attraction fit of the second magnetic piece 63 and the first magnetic piece 701.

In particular, it should be noted that the aseptic module 6 includes a housing 64, a second transmission structure and a second magnetic member 63, both of which are installed in the housing 64, and the second transmission structure is capable of cooperating with the catheter and the Y valve to realize delivery and rotation of the catheter and the guide wire. The power of the second transmission structure comes from the first transmission structure in the robot body, so that when the second transmission structure is installed, the second transmission structure needs to be inserted and connected with the first transmission structure in an inserting mode, and the first transmission structure in the robot body 5 can drive the first transmission structure in the sterile module 6 to act.

In this embodiment, the first magnetic member 701 is disposed in the aseptic module mounting seat 7, and the second magnetic member 63 magnetically engaged with the first magnetic member 701 is disposed on the housing 64, so as to simultaneously consider the stability of connection and the convenience of disassembly. The first magnetic member 701 may be an electromagnet, a magnet, or a magnetic metal, and the corresponding second magnetic member 63 may be a magnetic metal or a magnet. When the aseptic module 6 is mounted to the aseptic module mount 7, the first magnetic member 701 and the second magnetic member 63 can adsorb and fix the housing 64 on the aseptic module mount 7 by magnetic force. Only the outer shell 64 is required to be pulled out during disassembly, and the assembly and the disassembly are convenient.

Meanwhile, as the robot body 5 needs to be covered with a layer of sterile film, the sterile film covered on the robot body 5 cannot be damaged when the sterile module 6 is fixed in a magnetic attraction mode, so that a better protection effect is ensured.

In this embodiment, the first transmission structure is a spline groove connected to the driving shaft 504, and the second transmission structure is a spline connected to the driving shaft 61, and the spline cooperates with the spline groove to make the driving shaft 504 and the driving shaft 61 in transmission connection, so that the reliability of transmission is effectively ensured. When the aseptic module 6 is installed, the transmission shaft 61 is inserted into the drive shaft 504 through the aseptic film coated on the robot body 5, and the spline is engaged with the spline groove.

In this embodiment, the transmission shaft 61 may extend out of the assembling surface of the aseptic module 6, and the driving shaft 504 may be a shaft protruding from the surface of the robot body 5 or a shaft hidden in the robot body 5. Since the sterile film also needs to be isolated between the sterile module 6 and the robot body 5, in this embodiment, the transmission shaft 61 is in transmission connection with the drive shaft 504 after passing through the sterile film covered on the robot body 5 when the sterile module 6 is installed. After the transmission shaft 61 passes through the aseptic film, the aseptic film located in the vicinity of the perforation can be well surrounded on the annular side of the transmission shaft 61, and the isolation effect on the connection position of the transmission shaft 61 and the drive shaft 504 can be improved.

The robot is divided into a plurality of parts capable of being quickly disassembled and assembled, the parts are sequentially assembled during the assembly, the weight of equipment during single assembly can be reduced, and the disassembly and the transportation are more convenient. And can design connection structure and mounting structure between equipment for equipment need not with the help of extra instrument and apparatus when installing and dismantling, realizes quick convenient equipment.

According to another aspect of the present application, as shown in fig. 3 to 5, there is provided a vascular intervention robot applied to the method of installing a vascular intervention robot in the above-described embodiments.

As shown in fig. 2 to 4, the vascular interventional operation robot includes a robot connecting holder 200, a robot arm 4, a robot body 5, a sterile module 6, and a catheter support assembly 8 which are separately provided; the robot connecting seat 200 is used for being fixed on the operating table 1, two ends of the mechanical arm 4 are respectively provided with the arm connecting seat 100 and the body connecting seat 10, and the robot body 5 is provided with the body fixing seat 9; the arm connecting seat 100 is detachably connected with the robot connecting seat 200, and the body connecting seat 10 is detachably connected with the body fixing seat 9; the robot body 5 is further provided with an aseptic module mounting seat 7 and a catheter support assembly mounting seat, the aseptic module 6 is detachably connected with the aseptic module mounting seat 7, and the catheter support assembly 8 is detachably connected with the catheter support assembly mounting seat.

In this embodiment, the components that are connected to each other are all quickly disassembled and quickly assembled through corresponding connection structures.

As shown in fig. 5 to 14, the present embodiment describes the structures of the robot link holder 200 and the arm link holder 100 in detail:

the robot connecting holder 200 can be fixed to the operating table 1 and connected to the arm connecting holder 100, thereby achieving connection to the robot arm 4. In the connection structure with the operation table 1, a bed guide rail adapting part is arranged at the lower end of the robot connecting seat 200 in the embodiment, bed guide rail connecting holes are arranged at two sides of the bed guide rail adapting part, and the bed guide rail adapting part is sleeved on two guide rails on the side of the operation table 1 through the bed guide rail connecting holes. The bed guide rail adapting part can be fixedly connected with the robot connecting seat 200 through a plurality of bolts, and the bed guide rail adapting part and the robot connecting seat are arranged on the guide rail of the operating bed 1 after forming a whole.

The robot connecting base 200 and the arm connecting base 100 can be connected by a horizontal plugging manner, however, other plugging manners, such as vertical plugging, etc., can be adopted; after connection, the locking structure is used for locking, and when the locking structure is detached, the locking structure is firstly unlocked and then detached. In order to facilitate locking and unlocking of the robot connecting holder 200 and the arm connecting holder 100, as shown in fig. 7, in this embodiment, a first clamping member 101 is disposed in the arm connecting holder 100, and a second clamping member 201 is disposed in the robot connecting holder 200; the arm link socket 100 is insertable into and detachable from the robot link socket 200 in a first direction (referring to the orientation in fig. 3, the first direction in the present embodiment is a horizontal direction), the first clamping member 101 is configured to be insertable into the robot link socket 200 and to be locked with each other with the second clamping member 201 to restrict the arm link socket 100 from being detached from the robot link socket 200, and the second clamping member 201 is configured to be releasable from the first clamping member 101 to allow the arm link socket 100 to be detached from the robot link socket 200.

The arm connecting seat 100 includes a housing 102 and a first clamping member 101, a bolt connecting hole for fixedly connecting with the mechanical arm 4 is provided on the housing 102, the robot connecting seat 200 includes a main body 202 and a second clamping member 201, and a bed guide rail adapting portion is fixedly connected with the main body 202. The housing 102 of the arm connection socket 100 is inserted into the main body 202 of the robot connection socket 200 along a first direction, and the first clamping member 101 is inserted into the main body 202 by operating the first clamping member 101 to limit the housing 102 to be separated from the main body 202 along the first direction, and the first clamping member 101 and the second clamping member 201 are locked with each other to limit the first clamping member 101 to be separated from the main body 202 along a second direction; further, by operating the second latch 201, the second latch 201 can be unlocked from the first latch 101 to allow the first latch 101 to be disengaged from the main body 202 and further allow the housing 102 to be disengaged from the main body 202 in the first direction.

Regarding the operation of the first and

second stoppers

101 and 201, both may be manual operation, and may specifically be a pressing or pulling operation.

In the connection and disconnection operation of the arm link 100 to and from the robot link 200, the robot link 200 is a relatively fixed member and the arm link 100 is a relatively moving member, and thus, the member for starting the locking operation (i.e., the first clamping member 101) is provided on the arm link 100, the locking operation is completed by subsequently operating the first clamping member 101 after the housing 102 of the arm link 100 is installed in place, and the member for starting the unlocking operation (the second clamping member 201) is provided on the robot link 200, and the second clamping member 201 is operated by one hand, and the other hand can drive the arm link 100 to be withdrawn from the robot link 200.

As shown in fig. 7 and 8, the two clamping members are used for locking and unlocking, respectively, so that the arm connecting base 100 can be prevented from being accidentally unlocked by misoperation of the first clamping member 101. Meanwhile, the rear arm connecting seat 100 and the robot connecting seat 200 of the second clamping piece 201 are locked in the unlocking state after being pressed once during the disassembly, the second clamping piece 201 does not need to be kept pressed in the disassembly process, and the disassembly is more convenient under the condition that the mechanical arm 4 is heavier. Similarly, when the robot connecting base 200 is installed, the arm connecting base 100 and the robot connecting base 200 are in the unlocking state, so that the arm connecting base can be locked only by pressing the first clamping piece 101 after the arm connecting base 100 and the robot connecting base 200 are in butt joint, and the first clamping piece is not required to be pressed in the butt joint process, so that the installation is more convenient.

In this scheme, arm connecting seat 100 can conveniently insert or break away from robot connecting seat 200 to realize quick locking unblock through first joint spare 101 and second joint spare 201, thereby can realize the quick installation and the dismantlement of arm 4 on the bed, simplified the operation, improved the convenience.

In some embodiments, as shown in fig. 6, 7 and 8, the first catch 101 is configured to be movable from a first unlocked position, in which the first catch 101 is disengaged from the body 202, to a first locked position, in which the second catch 201 is configured to return from the second unlocked position to the second locked position to lock the first catch 101, to the first unlocked position, and to drive the second catch 201 from the second locked position to the second unlocked position, and wherein the second catch 201 is configured to be movable from the second locked position to the second unlocked position, in which the second catch 201 is configured to allow the first catch 101 to return from the first locked position to the first unlocked position.

The first clamping member 101 is operable to move from a first unlocking position disengaged from the main body 202 to a first locking position inserted into the main body 202, and the first clamping member 101 drives the second clamping member 201 to move from the second locking position to the second unlocking position during the movement from the first unlocking position to the first locking position; when the first latch 101 moves from the first unlocked position to the first locked position, the second latch 201 moves from the second locked position to the second unlocked position, and then the second latch 201 may return from the second unlocked position to the second locked position to be locked with the first latch 101. Such operation of the first clamping member 101 may be performed when the housing 102 is fully inserted into the body 202 to lock the first clamping member 101 with the second clamping member 201, thereby locking the housing 102 to the body 202.

The second catch 201 may be operable to move from the second locked position to the second unlocked position, and when it reaches the second unlocked position, may allow the first catch 101 to move from the first locked position to the first unlocked position to allow the drive housing 102 to disengage from the main body 202, i.e., remove the arm connector 100 from the robotic connector 200. This operation of the second latch 201 may be performed while the housing 102 is locked to the body 202 to unlock the first latch 101 and allow the housing 102 to be removed from the body 202.

Further, as shown in fig. 13 and 14, the arm link 100 includes a first elastic member 103 for driving the first clamping member 101 to move from the first locking position to the first unlocking position, and the robot link 200 includes a second elastic member 203 for driving the second clamping member 201 to move from the second unlocking position to the second locking position. The first elastic member 103 may provide an elastic force for the first latch member 101 to return from the first locking position to the first unlocking position, and when the second latch member 201 is operated to move from the second locking position to the second unlocking position, the first latch member 101 returns to the first unlocking position under the elastic force of the second elastic member 203 to unlock the housing 102 and the main body 202. The second elastic member 203 may provide an elastic force for the second latch 201 to move from the second unlocking position to the second locking position, when the first latch 101 moves from the first unlocking position to the second locking position, the second latch 201 is driven to the second unlocking position, and then the second latch 201 may return from the second unlocking position to the second locking position under the elastic action of the second elastic member 203, thereby locking the first latch 101.

As shown in fig. 7 and 8, the first catch 101 is movable in a second direction (referring to the orientation in fig. 3, the second direction in the present embodiment is a vertical direction) perpendicular to the first direction between a first locked position in which the first catch 101 is partially inserted into the main body 202, and a first unlocked position. The insertion direction of the first clamping member 101 is perpendicular to the insertion direction of the housing 102, so that the housing 102 can be restricted from being separated from the main body 202 in the first direction.

The main body of the housing 102 is a plate-shaped structure, and is parallel to a horizontal plane, and the top surface of the main body may be connected to the mechanical arm 4. The housing 102 is inserted into the main body 202 in a horizontal first direction, and the first clamping member 101 is inserted into the main body 202 in a vertical second direction.

Further, the second catch 201 is movable in a horizontal first direction between a second locked position and a second unlocked position. The moving direction of the second clamping member 201 is the first direction, in other embodiments, the moving direction of the second clamping member 201 and the moving direction of the first clamping member 101 may be other directions perpendicular to the second direction, and the moving direction of the second clamping member 201 and the moving direction of the first clamping member 101 may be perpendicular to each other, so as to allow the relative movement of the two members, so as to facilitate locking and unlocking.

As shown in fig. 9 to 12, the first clamping member 101 is provided with a first hook 104, the second clamping member 201 is provided with a second hook 204, and the first hook 104 of the first clamping member 101 in the first locking position and the second hook 204 of the second clamping member 201 in the second locking position are hooked with each other. The hooking structure generally includes a lever portion and a protruding portion protruding from a side portion of the lever portion, the lever portions of the two hooks extending in the same direction, for example, a second direction, the protruding portions of the two hooks hanging from each other to lock with each other in the second direction, thereby restricting the first catching member 101 from returning to the first unlocking position in the second direction. Further, such a hooking direction may allow the two hooks to move in a specific direction perpendicular to the second direction, for example, in a direction such that the two protrusions are away from each other when the second latching member 201 moves to the second unlocking position.

Further, as shown in fig. 13 and 14, the first hook 104 is provided with a first inclined surface 105 that is angled with respect to the first direction and the second direction, respectively, and the second hook 204 is provided with a second inclined surface 205 that is angled with respect to the first direction and the second direction, respectively, and the first inclined surface 105 is engageable with the second inclined surface 205 to urge the second lock member 201 to move from the second lock position to the second unlock position.

The first hook 104 is provided with a first inclined surface 105, the second hook 204 is provided with a second inclined surface 205, and the two inclined surfaces are respectively angled with the first direction and the second direction, so that the locking process is smoother.

When the first latch 101 moves from the first unlocked position to the first locked position, i.e., downward, the first inclined surface 105 acts on the second inclined surface 205, and the two inclined surfaces interact to generate a force in the second direction from the movement in the first direction, so that the second latch 201 can move to the left, i.e., from the second locked position to the second unlocked position in the first direction. When the first locking member 101 reaches the first locking position, the protruding portion of the first hook 104 and the protruding portion of the second hook 204 start to be staggered in the second direction, so that the second locking member 201 is allowed to return to the second locking position from the second unlocking position, so that the second hook 204 is hooked with the first hook 104, and locking of the first locking member 101 is achieved.

Wherein in the first unlocked position, the first clamping member 101 protrudes relative to the housing 102, and in the second locked position, the second clamping member 201 protrudes relative to the body 202. The first clamping member 101 and the second clamping member 201 can be operated in a pressing mode, namely, the first clamping member and the second clamping member can be moved by pressing so as to realize locking or unlocking. Accordingly, the first clamping member 101 protrudes with respect to the housing 102, the protruding portion thereof may be used for pressing, and the second clamping member 201 protrudes with respect to the main body 202, the protruding portion thereof may be used for pressing, so that the operation is facilitated.

The first latch 101 is in the first unlocked position with one end protruding with respect to the housing 102 and the other end (the portion where the first hook 104 is formed) retracted in the housing 102, and when the first latch 101 is pressed, the first hook 104 protrudes and can be inserted into the main body 202, and a detachable first shutter 109 is provided on the housing 102, which can hold the first latch 101 on the housing 102 and can accommodate the first latch 101 to partially pass through. The first elastic member 103 may be disposed between the first baffle 109 and the first engaging member 101, or may be disposed between the housing 102 and the first engaging member 101. The first shutter 109 and the housing 102 cooperate with each other to restrict movement of the first catch 101 between the first locked position and the first unlocked position.

As shown in fig. 11 and 12, the main body 202 is provided with a passage accommodating movement of the second catching member 201, and the second catching member 201 is stopped by the second shutter 209, the second shutter 209 is provided with a through-hole structure, and the second catching member 201 may partially pass through the through-hole structure provided on the second shutter 209 to allow a pressing operation; the second elastic member 203 is disposed between the second clamping member 201 and the main body 202.

Further, as shown in fig. 10 to 12, the robot connecting holder 200 includes a first slide rail 206 having a first slide groove provided on the main body 202, and the arm connecting holder 100 includes a first roller 106 provided on the housing 102, the first roller 106 being receivable in the first slide groove. The robot connecting holder 200 includes two first sliding rails 206, each first sliding rail 206 is provided with a first sliding groove to accommodate a portion of the housing 102, and the housing 102 is provided with a plurality of first rollers 106, and the plurality of first rollers 106 can cooperate with the first sliding rails 206 to convert sliding friction between the housing 102 and the main body 202 into rolling friction, so as to reduce friction force and prevent the problem that the housing 102 and the main body 202 are easy to be blocked.

Based on the structures of the robot connecting holder 200 and the arm connecting holder 100, as shown in fig. 15, the structures of the body connecting holder 10 and the body fixing holder 9 are further described in this embodiment:

the body connecting seat 10 is a structure mounted on the upper end of the mechanical arm 4, the body fixing seat 9 is a structure mounted on the robot body 5, and the connection, locking and unlocking of the body fixing seat 9 and the body fixing seat can be performed in the same manner as the connection seat 200 and the arm connecting seat 100 in the above embodiment. Namely, a third clamping piece 10a is arranged in the body connecting seat 10, and a fourth clamping piece 9a is arranged in the body fixing seat 9; the body fixing seat 9 can be inserted into and separated from the body connecting seat 10, the third clamping piece 10a is arranged to be inserted into the body fixing seat 9 and locked with the fourth clamping piece 9a to limit the body fixing seat 9 from being separated from the body connecting seat 10, and the fourth clamping piece 9a is arranged to be unlocked with the third clamping piece 10a to allow the body fixing seat 9 to be separated from the body connecting seat 10. The structure and function of the third clamping member 10a in this embodiment are substantially identical to those of the first clamping member 101, and the structure and function of the fourth clamping member 9a are substantially identical to those of the second clamping member 201. The body connecting seat 10 is also provided with a first sliding rail 206 and a first sliding groove which are in the same form as those of the robot connecting seat 200, and two sides of the body fixing seat 9 are also provided with a plurality of first rollers 106 matched with the first sliding groove. The specific structures of the body connecting seat 10, the body fixing seat 9, the third clamping member 10a and the fourth clamping member 9a can be seen from the description of the structures of the robot connecting seat 200 and the arm connecting seat 100 in the above embodiment, and the description thereof is omitted.

On the basis of the structures of the body connecting base 10 and the body fixing base 9, as shown in fig. 16 to 21, the present embodiment also provides another connecting, locking and unlocking structure of the body connecting base 10 and the body fixing base 9. Specific:

the structure comprises a first connecting seat and a second connecting seat; the first connecting seat is provided with a first plug-in structure, and the second connecting seat is provided with a second plug-in structure which is in plug-in fit with the first plug-in structure. When the structure is applied to the interventional operation robot, as shown in fig. 16 and 17, the first connecting seat may be a body connecting seat 10, and the second connecting seat may be a body fixing seat 9, however, the structure may also be applied to the connection between the robot connecting seat 200 and the mechanical arm 4, and this change of the specific application scenario is not limited.

As shown in fig. 17, in this embodiment, the first connecting seat is the body connecting seat 10, and the second connecting seat is the body fixing seat 9, which is described as follows:

the body fixing base 9 is provided with a fifth clamping member 902 and a sixth clamping member 1003, the fifth clamping member 902 can move on the body fixing base 9 along a third direction (refer to the direction in fig. 17, the third direction in the preferred embodiment is a horizontal direction), the sixth clamping member 1003 can move on the body fixing base 9 along a fourth direction (refer to the direction in fig. 17, the fourth direction in the preferred embodiment is a vertical direction), and a certain included angle is formed between the fourth direction and the third direction, and the included angle can be an acute angle. In order to facilitate the movement of the sixth clamping member 1003 in the fourth direction, in this embodiment, the included angle between the fourth direction and the third direction is 90 °;

The fifth clamping member 902 is provided with a locking hole 9022 for inserting the sixth clamping member 1003 along the fourth direction, when the fifth clamping member 902 moves linearly from the unlocking position to the locking position along the fourth direction, the sixth clamping member 1003 is inserted into the locking hole 9022 and locks the fifth clamping member 902, and meanwhile, the fifth clamping member 902 extends out of the body fixing seat 9 and is meshed with the body connecting seat 10; when the fifth latch 902 moves from the locked position to the unlocked position in the third direction, the sixth latch 1003 is disengaged from the locking hole 9022 in the fourth direction, and the fifth latch 902 is disengaged from the body coupling seat 10 and reset.

In this embodiment, a first plugging structure is formed on the body connection seat 10 along a vertical direction (i.e., a fourth direction), the plugging structure may be a slot, two second sliding grooves 1001 are formed on two sides of the slot, and second sliding rails 1002 are correspondingly disposed on the second sliding grooves 1001. The lower end of the body fixing seat 9 is provided with a second inserting structure, the second inserting structure is a convex inserting part 901, and the inserting part 901 can be inserted into the second slide rail 1002. The lower end of the slot is of a closed structure, and when the plug-in part 901 abuts against the lower end closed structure of the slot, the body fixing seat 9 is connected to the set position. To reduce friction, a plurality of rollers 106 are provided on both sides of the mating portion 901 in sliding connection with the second rail 1002.

In this embodiment, the fifth clamping member 902 responsible for locking and the sixth clamping member 1003 responsible for unlocking are both installed on the body fixing seat 9, which is different from the above embodiment in which the clamping member responsible for locking is installed on one connecting seat and the clamping member responsible for unlocking is installed on the other connecting seat.

In this embodiment, the fifth clamping member 902 can move on the body fixing base 9 along a third direction, the third direction is a horizontal direction (refer to the orientation in fig. 3), the sixth clamping member 1003 can move on the body fixing base 9 along a fourth direction, the fourth direction is a vertical direction (refer to the orientation in fig. 3), and the fourth direction and the third direction are perpendicular to each other.

As shown in fig. 18 to 20, in order to achieve mutual restriction between the fifth clamping member 902 and the sixth clamping member 1003, in this embodiment, a locking hole 9022 is formed in the fourth direction on the fifth clamping member 902, and the locking hole 9022 has an inner contour matching the sixth clamping member 1003. When the fifth clamping member 902 moves from the unlocking position to the locking position in the third direction in a pressing manner, the locking hole 9022 and the sixth clamping member 1003 are corresponding downward and upward, and the sixth clamping member 1003 will partially fall into the locking hole 9022, so that the fifth clamping member 902 is locked. At this time, the fifth clamping member 902 extends out of the body fixing seat 9 and is engaged with the body connecting seat 10, so that the body fixing seat 9 is locked on the body connecting seat 10, that is, the robot body 5 is locked on the mechanical arm 4, thereby realizing the connection between the robot body 5 and the mechanical arm 4. When the sixth clamping member 1003 moves from the locking position to the unlocking position in the fourth direction in a pressing manner, the sixth clamping member 1003 is completely separated from the locking hole 9022, the fifth clamping member 902 can resume free movement in the third direction, at this time, the fifth clamping member 902 can be separated from the body connecting seat 10, the locking is released, and the body fixing seat 9 can be detached from the body connecting seat 10, so that the robot body 5 is detached.

In this embodiment, the fifth clamping member 902 and the sixth clamping member 1003 are matched, so that the robot body 5 does not need to be kept pressed on the corresponding clamping member during installation and disassembly, and the installation of the heavier robot body 5 is more convenient.

In order to make the fifth clamping member 902 and the sixth clamping member 1003 smoother when locking and unlocking operations are performed, as shown in fig. 18 to 20, two third elastic members 11 and a fourth elastic member 10033 are further disposed in the body fixing seat 9 in the embodiment, and the third elastic member 11 is used for driving the fifth clamping member 902 to move from the locking position to the unlocking position, and when locking, the fifth clamping member 902 is pressed to deform the third elastic member 11; the fourth elastic member 10033 is configured to drive the sixth clamping member 1003 to move from the unlocked position to the locked position, and when the sixth clamping member 1003 is unlocked, the fourth elastic member 10033 is deformed by pressing.

In this embodiment, when the fifth latch 902 moves to the locking position, the sixth latch 1003 is driven by the fourth elastic member 10033 to be locked in the locking hole 9022 of the fifth latch 902. When the sixth clamping member 1003 moves to the unlocking position, the fifth clamping member 902 is separated from the body connecting seat 10 under the driving of the third elastic member 11 to achieve unlocking.

In order to facilitate the actions of the fifth clamping member 902 and the sixth clamping member 1003, in this embodiment, a first chamber and a second chamber are formed on the body fixing seat 9, the first chamber extends along a third direction, the second chamber extends along a fourth direction, and the first chamber and the second chamber are communicated; the fifth clamping member 902 is slidably disposed in the first chamber, the sixth clamping member 1003 is slidably disposed in the second chamber, and the fifth clamping member 902 can extend out of the first chamber and engage with the body connecting base 10.

The first chamber is in a through arrangement, as shown in fig. 18, the fifth clamping piece 902 includes a locking button 9021, a first locking piece 9026 and a locking tongue 9023 which are sequentially connected, and a locking hole 9022 is formed in the first locking piece 9026; the first locking piece 9026 is slidably connected with the inner wall of the first chamber, the locking button 9021 can extend out of the first end of the first chamber, and the locking tongue 9023 can extend out of the second end of the first chamber and be meshed with the body connecting seat 10; as shown in fig. 18 to 20, the diameter of the first locking piece 9026 is significantly larger than the diameters of the locking button 9021 and the locking tongue 9023, the size of the middle part of the corresponding first chamber is significantly larger than the sizes of the two ends of the first chamber, the first locking piece 9026 can move back and forth along the third direction in the middle part of the first chamber, and meanwhile, the middle part of the first chamber can limit the first locking piece 9026 to prevent the first locking piece 9026 from being separated.

In addition, the third elastic element 11 is disposed in the first chamber and is used for driving the lock tongue 9023 to move from the locking position to the unlocking position, the third elastic element 11 is selectively connected with the lock tongue 9023, the first locking piece 9026 or the locking button 9021, and when the lock tongue 9023 is in the locking position, the third elastic element 11 is elastically deformed. Because of the large width of the first locking piece 9026, the third elastic member 11 is selectively mounted on the first locking piece 9026 in order to facilitate the mounting of the third elastic member 11. At the time of unlocking, the third elastic member 11 pulls the locking tongue 9023 to the unlocking position by elastic force, thereby achieving unlocking. It can be appreciated that the locking button 9021, the first locking piece 9026 and the locking tongue 9023 can be in an integral structure, and the three parts are respectively different parts of the structure; or can be arranged in a split mode and then fixedly connected into a whole.

In addition, the lower end of the second chamber is provided with an opening, and as shown in fig. 18 to 20, the sixth clamping member 1003 includes a second locking block 10032 and an unlocking button 10031 which are sequentially connected; the diameter of the second locking piece 10032 is also obviously larger than that of the unlocking button 10031, the size of the upper part of the corresponding second chamber is also obviously larger than that of the lower part, the second locking piece 10032 can move up and down on the upper part of the second chamber, and meanwhile, the upper part of the second chamber also plays a limiting role on the second locking piece 10032, so that the second locking piece 10032 is prevented from being separated, and the reliability of the second locking piece is effectively improved. It will be appreciated that the second lock block 10032 and the unlocking button 10031 can be of unitary construction, which are different parts of the construction, respectively; or can be arranged in a split mode and then fixedly connected into a whole.

The second locking piece 10032 is slidably disposed in the second cavity, the unlocking button 10031 is located at one end of the second locking piece 10032 away from the body fixing seat 9, and the unlocking button 10031 passes through the locking hole 9022 and can extend out of the second cavity; when the second lock block 10032 is in the unlocked position, the second lock block 10032 is misaligned with the locking aperture 9022; the fourth elastic member 10033 is disposed in the second chamber and is used for driving the second locking piece 10032 to move from the unlocking position to the locking position. It is understood that the fourth elastic member 10033 may be selectively connected to the second locking block 10032 or the unlocking button 10031, and the fourth elastic member 10033 may be selectively mounted on the second locking block 10032 for easy installation because the second locking block 10032 has a larger width than the unlocking button 10031. When the second lock block 10032 is in the unlocked position, the fourth elastic member 10033 elastically deforms and pushes the second lock block 10032 to abut against the upper end surface of the first lock block 9026, and when the second lock block 10032 is locked, the fourth elastic member 10033 pushes the second lock block 10032 to the locked position (i.e., partially inserts into the locking hole 9022) by elastic force.

Specifically, in this embodiment, the upper end of the second chamber is disposed in a closed manner, the lower end is disposed in an open manner, and the second locking piece 10032 is installed in the second chamber and is close to the upper end of the second chamber. The fourth elastic member 10033 is installed at the upper portion of the second chamber, the upper end of the fourth elastic member 10033 abuts against the upper end wall of the second chamber, the lower end is connected with the upper end of the second locking piece 10032, and the unlocking button 10031 can extend out of the lower end of the second chamber, so as to be convenient to press during unlocking.

Further, as shown in fig. 18 to 20, the third elastic member 11 and the fourth elastic member 10033 are both provided as springs, the end surface of the first locking block 9026 is provided with a first mounting hole for mounting the third elastic member 11, and the upper end of the second locking block 10032 is provided with a second mounting hole for mounting the fourth elastic member 10033. The number of the third elastic members 11 and the fourth elastic members 10033 can be designed according to the actual product structure, and the description thereof is omitted in this embodiment.

Since the locking and unlocking of the whole structure requires the matching of the locking hole 9022 and the sixth clamping member 1003, in order to stabilize the unlocking and locking, in this embodiment, as shown in fig. 19, the locking hole 9022 includes a large diameter portion 90221 and a small diameter portion 90222, the profile of the large diameter portion 90221 matches the profile of the second locking piece 10032, and the profile of the small diameter portion 90222 matches the profile of the unlocking button 10031; when in the unlocked position, the unlocking button 10031 is positioned at the small-diameter portion 90222, the second lock block 10032 is offset from the large-diameter portion 90221, and when in the locked position, the unlocking button 10031 is positioned at the large-diameter portion 90221, and the second lock block 10032 is partially inserted into the large-diameter portion 90221.

In this embodiment, the second locking piece 10032 may be configured as an ellipse, the corresponding large-diameter portion 90221 may also be configured as an ellipse, the unlocking button 10031 may be configured as a cylinder, and the corresponding small-diameter portion 90222 may be configured as a semi-cylinder protruding from the large-diameter portion 90221. When in the locking position, the second locking piece 10032 is partially inserted into the large-diameter portion 90221 and is attached to the inner surface of the large-diameter portion 90221, when in the unlocking position, the second locking piece 10032 moves upwards and is completely separated from the locking hole 9022, the unlocking button 10031 is positioned in the small-diameter portion 90222 and is attached to the inner surface of the small-diameter portion, and the lower end of the second locking piece 10032 is abutted to the upper end surface of the first locking piece 9026.

In order to facilitate the locking of the lock tongue 9023 and the body connecting seat 10, a locking boss 1004 is provided on the body connecting seat 10, the locking boss 1004 has a first locking inclined plane 1005, the end of the lock tongue 9023 is provided with a second locking inclined plane 9024, and when in a locking position, the first locking inclined plane 1005 and the second locking inclined plane 9024 are engaged up and down.

Because the power source in the robot body 5 needs to be connected with the power supply, the first electric plug connector 107 is arranged on the body fixing seat 9, and the second electric plug connector 207 which can be in plug connection with the first electric plug connector 107 is arranged on the body connecting seat 10, so that the problem of disordered wiring is effectively avoided, the wiring process can be effectively simplified, and the wiring efficiency is improved. The first electrical connector 107 is connected to a power source, such as a motor, in the robot body 5 via power and communication lines, and the second electrical connector 207 is connected to power and communication lines arranged in the robot arm 4.

In order to facilitate the determination of whether the robot body 5 is mounted in place at the time of mounting, as shown in fig. 16 and 17, the present embodiment is provided with a proximity switch 108 for detecting the position of the body connection seat 10 in the body fixing seat 9; and/or a proximity switch 108 for detecting the position of the body holder 9 can be provided in the body connection base 10. It will be appreciated that corresponding proximity switches 108 may be provided on the arm connector 100 and the robotic connector 200 to detect whether the corresponding components are in place.

In this embodiment, the sterile film is detachably sleeved on the robot body 5 and covers the robot body 5, the catheter support assembly 8 is detachably connected with the robot body 5 through the sterile film, and the sterile module 6 is detachably connected with the robot body 5 through the sterile film.

Specifically, the sterile membrane is a part separating the catheter support assembly 8 and the sterile module 6 from the robot body 5 and the mechanical arm 4, and the sterile membrane, the catheter support assembly 8 and the sterile module 6 are disposable sterile consumables, which are consumed in each operation. When the device is installed, after the standby robot body 5 and the mechanical arm 4 are installed in place, the sterile film is sleeved on the robot body 5 and the mechanical arm 4, the covering effect is achieved, and the catheter support assembly 8 and the sterile module 6 are connected to the robot body 5 through the sterile film. The invention is not limited in any way by the material and specific structure of the sterile film, as long as it can exert the effect of covering the bacteria.

As shown in fig. 24 to 27, the present embodiment describes a connection structure of the catheter support assembly 8 and the robot body 5:

the fixing seats at two ends of the catheter protection tube in the prior art are all arranged on the robot body from the same direction, so that an additional spring lock catch structure is needed to lock the fixing seats to ensure that the fixing seats are stably installed, or the catheter protection tube is needed to be stretched to ensure that the fixing seats are stably installed by utilizing the elasticity of the catheter protection tube. In addition, because the robot body and the catheter protection tube are generally isolated by the sterile film, the sterile film is easily damaged due to overlarge pressure by utilizing the spring lock catch structure to realize locking, the protection effect of the sterile film is affected, and the deformation of the catheter protection tube is easily caused by the mode of stretching the catheter protection tube, so that the normal use is affected. Therefore, the catheter support assembly of the prior art is relatively inconvenient to mount to the robot body.

In order to solve the above technical problems, as shown in fig. 22 and 24, in the present embodiment, a first card holder 50 and a second card holder 52 are respectively disposed at the front end and the rear end of the robot body 5, a first card slot 501 is disposed on the first card holder 50, and a second card slot 502 is disposed on the second card holder 52; the catheter support assembly 8 comprises a first fixing seat 802, a second fixing seat 803 and a catheter protection tube 801; two ends of the catheter protection tube 801 are respectively connected with a first fixed seat 802 and a second fixed seat 803; the first fixing seat 802 is configured to be detachably clamped into the first clamping groove 501 from the fifth direction, the first clamping groove 501 limits the first fixing seat 802 from being separated, and the second fixing seat 803 is configured to be detachably clamped into the second clamping groove 502 from the sixth direction, and the second fixing seat 803 limits the second fixing seat from being separated from the second clamping groove 502; the fifth direction is parallel to the axial direction of the catheter protection tube 801, and the sixth direction is parallel to the radial direction of the catheter protection tube 801.

It should be noted that, the specific structures of the first card holder 50, the second card holder 52, the first fixing seat 802 and the second fixing seat 803 are not limited in the present invention, and a person skilled in the art may set the fixing apparatuses according to the actual use requirements thereof, as long as the first fixing seat 802 can be detachably clamped into the first card slot 501 from the fifth direction and the first fixing seat 802 is limited to be separated by the first card slot 501, and the second fixing seat 803 can be detachably clamped into the second card slot 502 from the sixth direction and the second fixing seat 803 is limited to be separated by the second card slot 502. In addition, the present invention does not limit the specific structure of the catheter protection tube 801 at all, as long as the catheter protection tube 801 can perform the effect of supporting and protecting the catheter.

In this embodiment, the front end and the rear end of the side face of the robot body 5 are respectively provided with a first card holder 50 and a second card holder 52, and a first card slot 501 and a second card slot 502 are respectively formed on the first card holder 50 and the second card holder 52. The catheter support assembly 8 is composed of a catheter protection tube 801 and first and second fixing

seats

802 and 803 installed at both ends of the catheter protection tube 801. The catheter protection tube 801 may internally house a catheter, which is an elongated hollow, non-enclosed cavity with some flexibility, and may provide support for the linear motion of the catheter disposed therein. The catheter protection tube 801 in this embodiment may be a C-shaped tube, or may be a hollow tube of other shapes, including a protection tube for opening and closing the catheter. The first fixing base 802 is matched with the first clamping groove 501 during installation, and the second fixing base 803 is matched with the second clamping groove 502. In order to avoid the damage to the sterile film covered in the first clamping groove 501 and the second clamping groove 502 due to the additional clamping force during installation and to avoid the deformation problem caused by the large pulling force and pushing force on the catheter protection tube 801, as shown in fig. 24, the first fixing seat 802 in the present embodiment may be detachably clamped into the first clamping groove 501 from the fifth direction, and the first clamping groove 501 limits the further movement of the first fixing seat 802 after abutting against the first clamping groove 501.

Because of the need to meet the connection stability of the post-installation catheter support assembly 8, after the first fixing base 802 is first installed and is clamped into the first clamping groove 501 along the fifth direction (parallel to the axial direction of the catheter protection tube 801), the present application finds that if the post-installation second fixing base 803 is still clamped into the second clamping groove 502 along the fifth direction, it will inevitably result in bending or pulling elongation of the catheter protection tube 801 or require an additional spring lock to fix. For this reason, the second fixing seat 803 is allowed to be fitted into the second clamping groove 502 in the sixth direction (parallel to the radial direction of the catheter protection tube 801) by the cooperation of the second fixing seat 803 and the second clamping groove 502 in the present embodiment. Because the installation direction of the first fixing seat 802 and the second fixing seat 803 during installation is adjusted, when the installation is performed, under the premise of meeting enough structural stability, the catheter protection tube 801 can be prevented from generating additional pulling force and pushing force, and therefore deformation of the catheter protection tube 801 in the installation process can be avoided.

Since the first fixing seat 802 and the second fixing seat 803 in this embodiment do not adopt an additional spring lock structure to lock when being mounted on the robot body 5, the local extrusion force generated on the aseptic film covered on the robot body 5 (covered on the first clamping groove 501 and the second clamping groove 502) is smaller, so that the problem of aseptic film damage caused by overlarge local extrusion force can be avoided, and the bacteria isolation effect is ensured.

The first clamping seat 50 is provided with a first axial limiting structure and a first radial limiting structure, the first axial limiting structure is used for limiting the first fixing seat 802 to move in the fifth direction, and the first radial limiting structure is used for limiting the first fixing seat 802 to move in the sixth direction. In this embodiment, two limiting structures are used to limit the axial and radial displacement of the first fixing base 802 relative to the first clamping groove 501 in the catheter protection tube 801. In addition, a second axial limiting structure for limiting the movement of the catheter support assembly 8 in the fifth direction may be further provided on the second clamping groove 502.

Specifically, as shown in fig. 26, in this embodiment, a first slot 5013 that communicates with the first slot 501 is formed in the first card holder 50 along the fifth direction, and the first axial limiting structure includes a front end plate 5011 that is disposed on the opposite side of the first slot 5013; the first radial limiting structure is a front flange 5012 arranged in the first clamping groove 501, the front flange 5012 extends along the fifth direction, and the first fixing seat 802 is provided with a bulge 8021 corresponding to the front flange 5012; the first fixing base 802 may slide into the first clamping groove 501 along the fifth direction through the first slot 5013, and make the end surface of the first fixing base 802 abut against the front end plate 5011, and make the protrusion 8021 abut against the front flange 5012.

When the first fixing base 802 is mounted, the first fixing base 802 is horizontally moved and clamped into the first clamping groove 501 through the first notch 5013 in the fifth direction, and is abutted against the front end plate 5011 in the left-to-right direction shown in fig. 26, and meanwhile, the first fixing base 802 is abutted against the front flange 5012 through the protrusion 8021 in the sixth direction, so that the first fixing base 802 is prevented from falling out from the upper side. At this time, the movement of the first fixing base 802 in the radial direction is restricted, and the movement toward the front end plate in the axial direction is also restricted.

In order to make the front flange 5012 better limit the displacement of the first fixing base 802 in the radial direction, in this embodiment, the number of the front flanges 5012 is two, the two front flanges 5012 are respectively disposed on two sides of the first slot 5013 in the sixth direction and extend towards the middle of the first slot 5013, two sides of the first fixing base 802 are respectively provided with protrusions 8021 corresponding to the front flanges 5012, the protrusions 8021 can be propped against the front flanges 5012 in the sixth direction, and the protrusions 8021 and the first fixing base 802 are in a convex structure integrally after being combined. After the installation, the two front flanges 5012 are abutted against the protrusions 8021 on two sides of the first fixing seat 802, so that the first fixing seat 802 is balanced in stress, the structure after the installation is more stable, and a certain interval can be reserved between the two front flanges 5012.

Since the catheter protection tube 801 needs to extend out of the rear end of the first fixing seat 802 (toward one end of the second fixing seat 803), in order to avoid interference between the catheter protection tube 801 and the first fixing seat 802 after installation, in this embodiment, a first notch structure 50110 through which the catheter protection tube 801 passes is provided on the front end plate 5011, a portion between the two front flanges 5012 is provided as a first open structure 5014, the first open structure 5014 can communicate with the first notch 5013 and the first notch structure 50110, and this arrangement not only can facilitate the threading of the catheter protection tube 801, but also can facilitate the insertion of the first fixing seat 802.

Specifically, during installation, the catheter protection tube 801 is first inserted into the first notch structure 50110 after passing through the first opening structure 5014 in the sixth direction (radial direction), at this time, the catheter protection tube 801 is partially located in the first notch 5013, the first fixing seat 802 is located in front of the first clamping seat 50, and then the first fixing seat 802 is translated in the fifth direction (axial direction) to be inserted into the first clamping seat 50. Since the catheter protection tube 801 needs to pass through the first open structure 5014, the width of the first open structure 5014 (i.e., the spacing between the two front flanges 5012) needs to be larger than the diameter of the catheter protection tube 801.

Similarly, when the second fixing seat 803 is mounted on the second card seat 52, the catheter protection tube 801 and the second fixing seat 803 need to be clamped into the second card slot 502 from the sixth direction, for this reason, in the embodiment, a second opening structure 5023 communicated with the second card slot 502 is disposed on the second card seat 52 along the sixth direction, and the second fixing seat 803 and the catheter protection tube 801 can slide into the second card slot 502 along the sixth direction through the second opening structure 5023.

For convenient disassembly of the second fixing seat 803, in this embodiment, a second notch 5021 which is communicated with the second open structure 5023 is formed in the second clamping seat 52 along the fifth direction, the second notch 5021 can be more convenient for deformation of the second clamping seat 52 so as to facilitate disassembly of the second fixing seat 803, and the second fixing seat 803 can be pulled outwards through the second notch 5021 to be separated from the second clamping seat 52 during disassembly. In order to enable the second clamping seat 52 to limit the displacement of the second fixing seat 803 in the fifth direction, the second axial limiting structure in this embodiment includes a rear end plate 5022 disposed on an opposite side of the second notch 5021, and an end surface of the second fixing seat 803 can abut against the rear end plate 5022.

After the first fixing seat 802 is mounted, the second fixing seat 803 is clamped into the second notch 5021 along the sixth direction, and meanwhile, the end face of the second fixing seat 803 abuts against the rear end plate 5022, so that the movement of the second fixing seat 803 towards the front end (towards the first fixing seat 802) in the fifth direction is limited. Similarly, in order to avoid interference between the catheter protection tube 801 and the rear end plate 5022, in this embodiment, a second notch structure 50220 through which the catheter protection tube 801 passes is provided on the rear end plate 5022, the second notch structure 50220 is communicated with the second open structure 5023, and when the second fixing seat 803 is clamped into the second clamping groove 502 from the second open structure 5023, the catheter protection tube 801 is synchronously clamped into the second notch structure 50220.

In this embodiment, under the cooperation of the front end plate 5011 and the rear end plate 5022, the first fixing base 802 and the second fixing base 803 are both restricted in the bidirectional movement in the fifth direction, while the first fixing base 802 and the second fixing base 803 are restricted from being detached from the sixth direction by the front flange 5012, so that the entire catheter support assembly 8 can be stably mounted on the robot body 5. Since the first fixing base 802 in the present embodiment needs to be matched with the front end plate 5011 and the front flange 5012, the first fixing base 802 is convex in shape as a whole in combination with the protrusions 8021 on both sides, and the second fixing base 803 only needs to be matched with the rear end plate 5022, so that the second fixing base 803 can be configured in various shapes, such as square or cylindrical. When set up to cylindrical, second draw-in groove 502 has curved mating surface, in order to avoid cylindrical second fixing base 803 to produce the rotation when installing in second draw-in groove 502 and arouse the deformation of pipe protection pipe 801, as shown in fig. 25 and 26, this embodiment is provided with location arch 8039 on second fixing base 803, is provided with the location recess 5024 in second draw-in groove 502, and location arch 8039 can the butt to the location recess 5024 in, makes second fixing base 803 install in second draw-in groove 502 through the cooperation of location arch 8039 and location recess 5024, and second fixing base 803 can't rotate to avoid pipe protection pipe 801 distortion. To facilitate guiding at the time of installation, the positioning projection 8039 in this embodiment has inclined guiding slopes on both sides, and the corresponding positioning groove 5024 also has guiding slopes therein. It is to be understood that the second fixing seat 803 may also be provided with a positioning groove 5024, and the second clamping groove 502 is provided with a positioning protrusion 8039.

For the convenience of taking down the second fixing seat 803 when dismantling, as shown in fig. 23, the embodiment is further provided with an annular handle 8037 on the second fixing seat 803, and the handle 8037 can be installed at one end of the second fixing seat 803 far away from the rear end plate 5022, and is arranged in a surrounding manner, so that the second fixing seat 803 can be more conveniently taken down under the cooperation of the second notch 5021.

To avoid loosening of the catheter protection tube 801, as shown in fig. 26 and 27, the second fixing seat 803 in the present embodiment includes a seat body 8038, a clamping block 8034 movably disposed in the seat body 8038, and a tensioning member 8033 disposed between the seat body 8038 and the clamping block 8034, the clamping block 8034 is capable of clamping the catheter protection tube 801, and the tensioning member 8033 is capable of applying an elastic force to the clamping block 8034 away from the first fixing seat 802; the seat 8038 can slide into the second clamping groove 502 from the second opening structure 5023 along the sixth direction and prop against the rear end plate 5022.

The first fixing base 802 clamps and fixes the first end of the catheter protection tube 801, and the catheter in the catheter protection tube 801 may be protruded outward through the first fixing base 802.

In the second fixing seat 803, the clamping block 8034 can clamp the second end (or a portion close to the second end) of the catheter protection tube 801, a space for accommodating movement of the clamping block 8034 is provided in the seat body 8038, and a movement direction of the clamping block 8034 is a length direction of the clamped catheter protection tube 801, so that the clamping block 8034 is far away from the first fixing seat 802 under elastic force of the tensioning member 8033, and the catheter protection tube 801 can be tensioned.

In this scheme, two fixing bases can be respectively the both ends of centre gripping pipe protection pipe 801 to one of them fixing base can apply the pulling force effect to pipe protection pipe 801 through elastic force, guarantees that pipe protection pipe 801 is in the tensioning state, avoids pipe jamming wherein.

In addition, the second fixing seat 803 includes a jackscrew 8035, and the clamping block 8034 is provided with an axial through hole for accommodating the catheter protection tube 801 to pass through and a radial through hole for accommodating insertion of the jackscrew 8035, and the jackscrew 8035 can radially compress the catheter protection tube 801. The jackscrew 8035 may be screwed into the clamping block 8034 to compress against the catheter protection tube 801 in a radial direction, thereby achieving clamping of the catheter protection tube 801. In use, a catheter in catheter protection tube 801 may extend from a central portion of catheter protection tube 801, for example, over catheter protection tube 801 between first mount 802 and second mount 803, i.e., no catheter is disposed in catheter protection tube 801 held by second mount 803, and thus catheter protection tube 801 may be held by a radial force without consideration of the clamping effect of such a radial force on the catheter.

In some embodiments, the housing 8038 includes a tube portion 8032 and first and

second end plates

8031, 8036 disposed at both ends of the tube portion 8032, the first and

second end plates

8031, 8036 being capable of receiving the catheter protection tube 801 therethrough, and the tensioning member 8033 being disposed between the first end plate 8031 and the clamping block 8034. The seat 8038 is formed in a substantially cylindrical shape, including a hollow tube portion 8032 and first and

second end plates

8031 and 8036 at both ends, the clamp block 8034 is formed in a substantially cylindrical shape, and the tension member 8033 is located between the first end plate 8031 and the clamp block 8034 to apply an elastic force to the clamp block 8034. The first end plate 8031 may be closer to the first mount 802 than the second end plate 8036, and the tensioning member 8033 may be a spring in a compressed state that applies a compressive force to the clamping block 8034 to urge the clamping block 8034 away from the first mount 802. The tensioning member 8033 in the form of a spring can be partially sleeved on the clamping block 8034, so that the tensioning member 8033 is positioned. The tension member 8033 may also be of other forms, such as elastic rubber or the like.

In addition, a handle 8037 is provided on the second end plate 8036. The handle 8037 can be used to hold the seat 8038 more conveniently, so that the seat 8038 can be placed at a proper position and the seat 8038 can be detached.

Wherein, the first fixing base 802 includes a first clamping plate 8021 and a second clamping plate 8023, the first clamping plate 8021 can accommodate the catheter protection tube 801 (a catheter is arranged therein) to pass through, the second clamping plate 8023 can accommodate the catheter to pass through, and the first clamping plate 8021 and the second clamping plate 8023 can clamp a clamping piece 8022 radially connected to the first end of the catheter protection tube 801.

The first clamping plate 8021 is formed with a hole to allow the passage of the catheter protection tube 801 (in which a catheter is disposed) therethrough, and the second clamping plate 8023 is formed with a hole to allow the passage of a catheter, and both clamping plates can clamp the clamping piece 8022 connected to the end of the catheter protection tube 801, i.e., clamp in the length direction of the catheter protection tube 801, instead of applying a clamping force in the radial direction, thereby protecting the catheter located in the catheter protection tube 801. The grip 8022 is integrally connected with the catheter protection tube 801, and can be formed by cutting the end of the catheter protection tube 801 to form two parts, and bending the two parts to extend radially. Wherein the first clamping plate 8021 and the second clamping plate 803 can be detachably connected by bolts. In other embodiments, the two may also be connected by a snap fit.

As shown in fig. 22 to 24, the present embodiment describes in detail the quick-mounting structure of the aseptic module 6 and the robot body 5:

in the prior art, when the aseptic module 6 is mounted on the robot body 5, an additional tool is required to lock the aseptic module 6 on the robot body 5, and a corresponding tool is required to be used when the aseptic module 6 is detached, so that the installation and the detachment of the aseptic module 6 are troublesome.

For this purpose, the robot body 5 of the present embodiment includes a sterile module mount 7, a first transmission structure provided on the sterile module mount 7, and a first magnetic member 701; the aseptic module 6 comprises a housing 64, a second transmission structure and a second magnetic member 63 arranged on the housing 64; during assembly, the first transmission structure and the second transmission structure can be spliced and connected, and the fixed connection of the sterile module 6 and the robot body 5 is realized under the magnetic attraction fit of the second magnetic piece 63 and the first magnetic piece 701.

In the present embodiment, the robot body 5 is provided with the aseptic module mount 7, and the aseptic module mount 7 and the robot body 5 are fixedly connected by bolts, and the outline of the aseptic module mount 7 is substantially the same as the outline of the housing 64 of the aseptic module 6. The sterile module mount 7 may be arranged on the side of the robot body 5 such that the sterile module 6 is also on the side of the robot body 5 after installation, facilitating handling during surgery. The second transmission structure and the second magnetic member 63 are both installed in the housing 64, and the second transmission structure can be matched with the catheter and the Y valve to realize delivery and rotation of the catheter and the guide wire. The power of the second transmission structure comes from the first transmission structure in the robot body, so that when the second transmission structure is installed, the second transmission structure needs to be inserted and connected with the first transmission structure in an inserting mode, and the first transmission structure in the robot body 5 can drive the first transmission structure in the sterile module 6 to act.

In addition, because the robot body 5 needs to be covered with a layer of sterile film, the sterile film covered on the robot body 5 can not be damaged when the sterile module 6 is fixed by adopting a magnetic attraction mode, so that a better protection effect is ensured.

In order to facilitate positioning of the housing 64 during installation, the aseptic module installation seat 7 of this embodiment is further provided with a first clamping structure, and the housing 64 is further provided with a second clamping structure matched with the first clamping structure. Specifically, as shown in fig. 23 and 24, the first clamping structure is a pin hole 702 formed on the aseptic module mounting seat 7, the second clamping structure is a pin 62 formed on the housing 64 and in plug-in fit with the pin hole 702, and the pin 62 is in plug-in fit with the pin hole 702, so that the housing 64 is positioned on the aseptic module mounting seat 7. It will be appreciated that pin hole 702 may also be formed in housing 64 and latch 62 may be disposed on sterile module mount 7.

To further improve positioning accuracy, the pin holes 702 in this embodiment are provided in a plurality and distributed at both ends of the aseptic module mount 7, and the pins 62 are provided in a plurality and distributed at both ends of the housing 64. To further improve the stability of the connection, in this embodiment, the first magnetic members 701 are disposed in a plurality of positions on the aseptic module mounting base 7, and the second magnetic members 63 are disposed in a plurality of positions on the housing 64.

To further enhance the stability of the fixation of the aseptic module 6, the first magnetic member 701 in this embodiment is configured as an electromagnet, so that the attractive force can be adjusted, and the second magnetic member 63 is configured as a magnet or a magnetic metal member. Before the aseptic module 6 is installed, the first magnetic element 701 is not electrified, and after the aseptic module 6 is docked into the aseptic module installation seat 7, the first magnetic element 701 is electrified through a button, so that the electromagnet generates magnetism, and the aseptic module 6 is adsorbed and fixed. The sterile module 6 can be removed by de-energizing the first magnetic member 701 with a button upon removal.

In addition, as shown in fig. 24, the aseptic module mounting base 7 is provided with a mounting groove 210, and the front end of the mounting groove 210 is provided with an open end; the housing 64 is detachably disposed in the mounting groove 210, the inner wall of the mounting groove 210 is close to the side wall of the housing 64, and the front end of the housing 64 extends out of the opening end of the mounting groove 210. In this embodiment, the front end of the mounting groove 210 is configured as an opening structure, so that the length of the aseptic module mounting seat 7 can be reduced, and the housing 64 can be attached to the inner wall of the mounting groove 210, thereby reducing the occupied space and improving the connection compactness.

The aseptic module 6 is used as a mounting member in use, and also in order to facilitate the determination of the installation of the aseptic module 6 in place, the present embodiment is provided with a proximity switch in the aseptic module mounting seat 7, the proximity switch being used for detecting the installation position of the aseptic module 6.

In order to facilitate in-place installation and prompt, as shown in fig. 24, a display module 503 is disposed on the robot body 5 in this embodiment, the display module 503 is electrically connected to the proximity switch 108, when the aseptic module 6 is located at a set installation position, the proximity switch 108 generates an electrical signal and transmits the electrical signal to the display module 503, and the display module 503 can display based on the received electrical signal. The display module 503 may be a display screen or a display lamp. The display module 503 may also be electrically connected to the proximity switch on the body fixing base 9 and the arm connecting base 100, and may also display whether the body fixing base 9 and the arm connecting base 100 are in place.

In order to facilitate the power source arranged in the robot body 5 to drive the motion assembly in the aseptic module 6 to move, a driving shaft 504 is arranged on the robot body 5 in the embodiment, the driving shaft 504 is connected with the power source in the robot body 5, a transmission shaft 61 is arranged on the aseptic module 6, and the transmission shaft 61 is connected with the motion assembly in the aseptic module 6. The drive shaft 61 may extend out of the end face of the housing 64 and the sterile module mount 7 may have mounting holes corresponding to the drive shaft 504. To facilitate the interfacing of the drive shaft 504 and the drive shaft 61, the first transmission structure is spline grooves associated with the drive shaft 504; the second transmission structure is a spline connected with the transmission shaft 61; the spline cooperates with the spline grooves to drivingly connect the drive shaft 504 and the drive shaft 61, thereby effectively ensuring the reliability of the drive.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The method for selecting the installation position of the robot connecting seat is characterized in that the robot comprises a robot connecting seat, a mechanical arm and a robot body, wherein the robot connecting seat is used for being fixed on an operation table to position the installation position of the mechanical arm on the operation table, the mechanical arm is used for being in butt joint with the robot connecting seat, the mechanical arm is configured to support the robot body to translate, and the robot body rotates around the mechanical arm fixed shaft through a rotating shaft;

the selection method comprises the following steps:

determining a first reference value based on height characteristics of a human body;

acquiring a distance from the rotation axis to an entry point of a surgical site of a patient, and determining a second reference value based on a projection of the distance on a horizontal plane;

acquiring a maximum forward stroke value and a maximum backward stroke value of the mechanical arm, and determining a position compensation value based on a difference value of the maximum forward stroke value and the maximum backward stroke value;

And determining the installation position of the robot connecting seat on an operating table based on the first reference value, the second reference value and the position compensation value.

2. The method according to claim 1, wherein the mechanical arm includes a vertical arm and N support arms, the vertical arm and the support arms, and the support arms are hinged by vertical shafts, and the support arms at the distal ends and the robot body are hinged by the rotation shafts, so that the robot body can deflect up and down around the rotation shafts;

the step of acquiring the maximum forward stroke value and the maximum backward stroke value of the mechanical arm specifically includes:

determining a maximum forward stroke value based on the geometric relationship of each support arm, the vertical shaft and the rotating shaft when the robot body horizontally moves to the maximum forward stroke;

the maximum back stroke value is determined based on the geometric relationship of each of the arms, the vertical axis, and the rotational axis when the robot body moves to the maximum back stroke.

3. The method for selecting a mounting position of a robot connecting socket according to claim 1, wherein the step of determining the first reference value based on the height characteristics of the human body specifically comprises:

Setting the average height of the human body, and taking one half of the average height of the human body as the first reference value.

4. The method according to claim 1, wherein the step of determining a position compensation value based on a difference between the maximum forward stroke value and the maximum rearward stroke value comprises:

the position compensation value is one half of the difference between the maximum forward stroke value and the maximum backward stroke value.

5. The method according to claim 1, wherein the step of determining the installation position of the robotic connector on the operating table based on the first reference value, the second reference value, and the position compensation value comprises:

subtracting the position compensation value from the sum of the first reference value and the second reference value to obtain the installation position of the robot connecting seat on the operating table.

6. A method for installing a vascular interventional surgical robot, the method comprising the steps of:

after determining the installation position of the robot connecting holder on the operating table based on the robot connecting holder installation position selection method according to any one of claims 1 to 5, installing the robot connecting holder to the installation position;

Mounting the mechanical arm to the robot connecting base;

the robot body is mounted to the robotic arm.

7. The method of installing according to claim 6, wherein the vascular interventional procedure robot further comprises a sterile membrane, a catheter support assembly, and a sterile module;

after the step of "mounting the robot body to the robot arm", the mounting method further includes:

adjusting the position and angle of the robot body relative to the mechanical arm to enable the robot body to be in a surgical preparation posture;

covering the sterile film on the robot body and the mechanical arm;

mounting the catheter support assembly to the robot body with the sterile membrane therebetween to compress the sterile membrane between the catheter support assembly and the robot body;

the aseptic module is mounted to the robot body via the aseptic film.

8. The method according to claim 7, wherein a first clamping seat and a second clamping seat are respectively arranged at two ends of the robot body, a first clamping groove is formed in the first clamping seat, a second clamping groove is formed in the second clamping seat, and the catheter supporting component comprises a catheter protection tube, and a first fixing seat and a second fixing seat which are respectively arranged at two ends of the catheter protection tube;

The step of "mounting the catheter support assembly to the robot body via the sterile film" specifically includes:

the first fixing seat and the second fixing seat are respectively clamped into the first clamping groove and the second clamping groove through the sterile film.

9. The mounting method according to claim 8, wherein the first holder is provided so as to be detachably caught in the first catching groove from a fifth direction, and the first holder is restrained from escaping by the first catching groove, and the second holder is provided so as to be detachably caught in the second catching groove from a sixth direction, which is parallel to an axial direction of the catheter protection tube, and the second holder is restrained from escaping by the second catching groove, which is parallel to a radial direction of the catheter protection tube;

the step of clamping the first fixing seat and the second fixing seat into the first clamping groove and the second clamping groove respectively through the sterile film specifically comprises the following steps:

firstly, clamping the first fixing seat into the first clamping groove along the fifth direction through the sterile film, so that the first fixing seat compresses part of the sterile film in the first clamping groove;

And then clamping the second fixing seat into the second clamping groove along the sixth direction through the sterile film, so that the second fixing seat compresses part of the sterile film into the second clamping groove.

10. The method of claim 7, wherein the robot body further comprises a sterile module mount and a first transmission structure and a first magnetic member disposed on the sterile module mount, the sterile module comprising a housing and a second transmission structure and a second magnetic member disposed on the housing;

the step of "mounting the aseptic module to the robot body via the aseptic film" specifically includes:

the second transmission structure penetrates through the sterile film covered on the robot body and then is spliced with the first transmission structure, and the sterile module is fixedly connected with the robot body under the magnetic attraction fit of the second magnetic piece and the first magnetic piece.