CN116271438A - Intervene consumptive material guiding mechanism, intervene consumptive material conveyor and intervene operation robot - Google Patents

Abstract

The invention relates to the technical field of medical instruments and discloses an intervention consumable guiding mechanism, an intervention consumable conveying device and an intervention operation robot, wherein the intervention consumable guiding mechanism is used for assisting an intervention consumable to pass through a driving module of the intervention operation robot, and comprises a first guiding pipe and a second guiding pipe which are opposite at intervals in the axis direction; at least one of the first guide tube and the second guide tube is configured to be movable toward the other such that the first guide tube and the second guide tube can be spliced to each other to form a guide channel for the insertion consumable to pass through. The guiding mechanism for the intervention consumable realizes accurate guiding of the intervention consumable, so that the intervention consumable can be smoothly penetrated through a guiding channel formed by splicing the first guiding pipe and the second guiding pipe, and after the penetration is finished, one guiding pipe is removed, the normal operation of the driving module can be ensured, and the penetration difficulty of the intervention consumable is greatly reduced.

Description

Intervene consumptive material guiding mechanism, intervene consumptive material conveyor and intervene operation robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an intervention consumable guiding mechanism, an intervention consumable conveying device and an intervention operation robot.

Background

The interventional therapy is a minimally invasive therapy performed by using modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as a catheter, a guide wire and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.

Taking vascular intervention as an example, the minimally invasive vascular intervention operation is a basic means for diagnosing and treating cardiovascular and cerebrovascular diseases, and most of vascular lesion diagnosis and vascular reconstruction operations currently implemented need the technology. The operation of a guidewire-catheter is central to minimally invasive vascular interventional procedures, which determine the quality of the procedure. Currently, interventional physicians manually perform the positioning of a guidewire-catheter within a patient's blood vessel by means of digital silhouette angiography imaging technique (DSA). The guide wire, the catheter and the balloon catheter are basic instruments used in the operation, and the robot device is used for positioning the medical instruments such as the guide wire, so that the accuracy and the stability of the positioning operation are improved, medical staff is released from radiation, the additional injury caused by wearing thick and heavy lead clothing by the medical staff is avoided, the situation that the operation is unreliable in the operation due to tiredness of the medical staff is avoided, the situation that the traditional interventional operation extremely depends on the personal experience of a doctor is improved, the learning curve of the interventional operation is reduced, and more accurate operation is provided for the vascular interventional operation. Interventional surgical robot assistance is an important direction for the development of vascular interventional procedures.

In the adjuvant therapy of interventional surgical robots, delivery of a catheter guidewire by a robot is one of the most central functions of advancement, retraction and rotation. Taking the delivery of a catheter as an example, two clamping rollers are generally configured to enable the catheter to pass through, and the catheter generates forward power under the pushing action of the clamping rollers. Before delivering the catheter, the front end of the catheter needs to be penetrated between the clamping rollers, and the currently adopted mode is to pull or push one clamping roller from the side of the clamping roller and separate from the other clamping roller, then insert the catheter to pass through the pressing surface, and the front end of the catheter is soft and easy to bend, so that the front end of the catheter is easy to deviate in the penetrating process, and the insertion cannot be accurately positioned.

Disclosure of Invention

The invention aims to solve the problem that insertion of an intervention consumable into a clamping wheel for delivery is easy to deviate or misplace in the prior art, and provides an intervention consumable guiding mechanism which is provided with a pair of guiding pipes capable of being spliced with each other to form a guiding channel for guiding the intervention consumable to pass through.

To achieve the above object, an aspect of the present invention provides an interventional consumable guide mechanism for an interventional surgical robot for assisting an interventional consumable passing through a driving module of the interventional surgical robot, the interventional consumable guide mechanism comprising:

the first guide pipe and the second guide pipe are opposite to each other at intervals in the axial direction; wherein:

at least one of the first guide tube and the second guide tube is configured to be movable toward the other such that the first guide tube and the second guide tube are capable of being spliced to one another to form a guide channel for the insertion consumable to pass through.

Through setting up along the first stand pipe and the second stand pipe of axis direction interval opposition to make at least one of first stand pipe and second stand pipe can be moved towards another, thereby can splice each other after the stand pipe is close to each other and form the guide way that supplies to intervene the consumptive material and pass, like this, intervene the consumptive material and can be basically directional straight line and go forward under the direction effect of guide way, and be difficult for off tracking or dislocation, so that intervene the smooth wearing of consumptive material and establish, can realize from this to intervene the accurate direction location of the softer easy crooked intervention consumptive material of consumptive material especially material of material. In addition, because before the stand pipe concatenation, first stand pipe and second stand pipe are in the disconnection state, only when need to intervene consumptive material (such as seal wire or pipe) and carry out the guide, can make first stand pipe and second stand pipe splice each other at first for intervene the consumptive material such as seal wire or pipe and pass through, later can make first stand pipe and second stand pipe be in the disconnection state, consequently, the setting of stand pipe also can not influence the normal operating who is used for driving the clamp wheel that intervenes the consumptive material and go forward, has taken into account simultaneously and has worn portability and the driven portability of establishing.

Optionally, the first guide tube is configured to be movable relative to the second guide tube, and an outer wall surface of the first guide tube, which is close to the first end of the second guide tube, is provided with a guide inclined surface; wherein:

the guide inclined surface is gradually distant from the axis of the first guide pipe in a direction from the first end of the first guide pipe to a direction away from the second guide pipe so that the first guide pipe can generate an outward component force in a radial direction of the first guide pipe in a process of moving toward the second guide pipe.

Optionally, the first end of the first guide tube is provided with a pair of the guide inclined surfaces, the pair of the guide inclined surfaces being opposed to each other.

Optionally, the interventional consumable guiding mechanism comprises a guiding matching structure arranged between the first guiding tube and the second guiding tube, the guiding matching structure comprises a first guiding conical surface and a second guiding conical surface which can be sleeved outside the first guiding conical surface to be matched with the first guiding conical surface, the first guiding conical surface is gradually reduced in shape from the middle part of the corresponding guiding tube to the end part of the guiding tube close to the other guiding tube, and the second guiding conical surface is gradually expanded in shape; wherein:

the first guide conical surface is arranged on the outer wall surface of the second guide pipe, which is close to the first end part of the first guide pipe, and the second guide conical surface is arranged on the inner wall surface of the first guide pipe, which is close to the first end part of the second guide pipe; or, the first guiding conical surface is arranged on the outer wall surface of the first guiding pipe, which is close to the first end part of the second guiding pipe, and the second guiding conical surface is arranged on the inner wall surface of the second guiding pipe, which is close to the first end part of the first guiding pipe.

Optionally, the first guide tube is configured to be movable relative to the second guide tube, and an inner wall of the second guide tube, which is far away from the second end of the first guide tube, is provided with a guiding conical surface for the access of the interventional consumable; wherein:

the guide cone surface is gradually expanded along the second end portion of the second guide tube to a direction away from the first guide tube.

Optionally, the first guide tube is configured to be movable relative to the second guide tube, and the interventional consumable guide mechanism includes a pressing boss surrounding the first guide tube and configured to be pressed.

Optionally, the interventional consumable guiding mechanism includes a first boss and a second boss that are disposed at intervals along an axial direction of the first guiding tube, the first boss is disposed on an outer wall of the first guiding tube, and the first boss can move relative to the second boss following the first guiding tube, and in a direction in which the first guiding tube moves toward the second guiding tube, the first boss and the second boss are both disposed in front of the pressing boss;

intervene consumptive material guiding mechanism includes canceling release mechanical system, canceling release mechanical system including set up in first boss with elastic component between the second boss, wherein: the elastic piece is arranged to drive the first guide tube to move and reset towards the direction away from the second guide tube after the pressing force to the pressing boss is removed.

Optionally, the interventional consumable guiding mechanism includes a stop boss in a direction in which the first guide tube moves toward the second guide tube, the stop boss is disposed in front of the pressing boss, and the stop boss is disposed so as to stop the pressing boss from continuing to move forward.

A second aspect of the present invention provides an interventional consumable delivery device, comprising:

a drive module comprising at least one pair of rotatable clamping wheels opposite each other, a pair of said clamping wheels being arranged radially closer to or further away from each other to enable forming a clamping channel for clamping an interventional consumable; and

the interventional consumable guiding mechanism is provided by the invention, and the first guiding tube and the second guiding tube are arranged along the axial direction of the clamping channel.

By arranging the intervention consumable guiding mechanism provided by the invention in the intervention consumable conveying device, the intervention consumable can be guided to advance, so that the situation that the intervention consumable such as a catheter is not easy to deviate or misplace is avoided. In addition, when the guiding operation is completed, the first guide tube and the second guide tube may be in a mutually separated state, whereby the opposing clamping wheels may be enabled to clamp the intervention consumable to push the intervention consumable.

The third aspect of the invention provides an interventional operation robot comprising the interventional consumable conveying device provided by the invention. By arranging the interventional consumable conveying device provided by the invention in the interventional operation robot, the interventional consumable can be conveniently and accurately guided between the pair of clamping wheels under the guiding action of the interventional consumable guiding mechanism, so that the accurate delivery of the interventional consumable such as a catheter or a guide wire is realized.

Drawings

FIG. 1 is a schematic side view of an interventional consumable delivery device of a preferred embodiment of the present invention;

FIG. 2 is a schematic perspective view of an interventional consumable guide mechanism according to a preferred embodiment of the present invention, in which an interventional consumable is inserted;

FIG. 3 is a schematic side view of the interventional consumable guide mechanism of FIG. 2;

FIG. 4 is a schematic cross-sectional view taken along line B-B of FIG. 3;

FIG. 5 is a schematic view of a cross-sectional structure taken along line A-A shown in FIG. 1, and showing a state before insertion of an interventional consumable;

FIG. 6 is a schematic cross-sectional view taken along line B1-B1 of FIG. 5;

FIG. 7 is a schematic cross-sectional view of an interventional consumable guide mechanism according to a preferred embodiment of the present invention;

FIG. 8 is a schematic diagram showing a front view of an interventional consumable guide mechanism according to a preferred embodiment of the present invention, and showing a state in which the first guide tube is not reset after insertion of an interventional consumable;

FIG. 9 is a schematic cross-sectional view taken along line B2-B2 of FIG. 8;

FIG. 10 is a schematic diagram showing a front view of an interventional consumable guide mechanism according to a preferred embodiment of the present invention, and showing a state after insertion of an interventional consumable and after resetting of a first guide tube;

fig. 11 is a schematic sectional view of the structure taken along the line B3-B3 shown in fig. 10.

Description of the reference numerals

10. A consumable guiding mechanism is inserted; 100. a guide channel; 12. a first guide tube; 120. a guide inclined surface; 122. pressing the boss; 14. a second guide tube; 140. a guiding conical surface; 16. a guiding and matching structure; 160. a first guiding cone; 162. a second guiding cone; 180. a guide sleeve; 184a, a first boss; 184b, a second boss; 186. an elastic member; 188. a stop boss; 20. an interventional consumable delivery device; 220. a pinch roller; 24. a bracket; 240. a first side plate; 242. a second side plate; 244. a top plate; 246. a bottom plate; 40. and (5) accessing consumable materials.

Detailed Description

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

It should be noted that, the interventional operation robot is provided with a driving module for driving the interventional consumable (such as a catheter or a guide wire) forward, the driving module may include at least one pair of rotatable clamping wheels opposite to each other, and it is understood that the clamping wheels may be configured to rotate around an axis of the clamping wheels, and the pair of clamping wheels may be close to or far from each other to form a clamping channel for clamping the interventional consumable. When the front-end delivery mechanism (i.e. the driving module) of the interventional operation robot is used for delivering interventional consumables (such as a catheter or a guide wire), the catheter or the guide wire is required to be placed in a clamping channel between a pair of clamping wheels which are opposite to each other, and the catheter or the guide wire can move forward along the axial direction of the catheter or the guide wire under the combined pushing action of the pair of clamping wheels.

The invention provides an intervention consumable guiding mechanism for an intervention operation robot, wherein the intervention consumable guiding mechanism 10 is used for assisting an intervention consumable 40 to pass through a driving module of the intervention operation robot, the intervention consumable guiding mechanism 10 comprises a first guiding pipe 12 and a second guiding pipe 14, both ends of the first guiding pipe 12 can be formed into an open shape, both ends of the second guiding pipe 14 can be formed into an open shape, and the second guiding pipe 14 is opposite to the first guiding pipe 12 at intervals along an axial direction such as the axial direction of the first guiding pipe 12; wherein: at least one of the first guide tube 12 and the second guide tube 14 is configured to be movable toward the other such that the first guide tube 12 and the second guide tube 14 can be spliced to one another to form a guide channel 100 for the passage of an interventional consumable 40, such as a catheter or guidewire. Through setting up along the first stand pipe 12 of axis direction interval opposition and second stand pipe 14 to make at least one of first stand pipe 12 and second stand pipe 14 can be moved towards another, thereby can splice each other after the stand pipe is close to each other and form the guide way 100 that supplies to intervene consumable 40 to pass, like this, intervene consumable 40 can be basically directional straight line and go forward under the direction effect of guide way 100, and be difficult for the off tracking or dislocation, so that intervene the smooth wearing of consumable and establish, can realize the accurate direction location to intervene consumable 40 especially the softer easy crooked intervention consumable 40 of material from this. In addition, since the first guide tube 12 and the second guide tube 14 are in the disconnected state before the guide tube is spliced, only when the intervention consumable 40 such as a guide wire or a catheter needs to be guided, the first guide tube 12 and the second guide tube 14 can be spliced with each other for the intervention consumable 40 such as the guide wire or the catheter to pass through, and then the first guide tube 12 and the second guide tube 14 can be in the disconnected state, the arrangement of the guide tubes does not affect the normal operation of the clamping wheel 220 for driving the intervention consumable 40 to move forward. However, in the prior art, the two clamping wheels 220 are manually separated by manpower, and the insertion consumable 40 is inserted, which is difficult to operate as if the needle is placed in a box, and the thread is inserted into the needle hole and out of the other side of the box, and the present invention can smoothly solve the problem by means of the channel formed by the joint of the first guide tube 12 and the second guide tube 14.

As shown in connection with fig. 1, 5 and 6, the interventional consumable delivery device 20 may include a drive module and an interventional consumable guide mechanism 10 provided by the present invention, the drive module may include a pair of clamping wheels 220 opposing each other, the clamping wheels 220 may be configured to be rotatable about an axis of the clamping wheels 220, and the pair of clamping wheels 220 may be configured to be brought closer to or farther from each other to enable formation of a clamping channel for clamping the interventional consumable 40. It will be appreciated that the first guide tube 12 and the second guide tube 14 in the interventional consumable guide mechanism 10 may be arranged at intervals along the axial direction of the clamping channel, wherein the axis of the clamping channel coincides with the axes of the first guide tube 12, the second guide tube 14 and the guide channel 100, and the first guide tube 12 and the second guide tube 14 may be located on both sides of the clamping wheel 220, respectively, before forming the guide channel 100.

In the interventional consumable delivery device 20, a stand 24 for assembling the relevant components of the interventional consumable delivery device may be provided, and the stand 24 may be in a frame-type structure. The bracket 24 may include a first side plate 240 and a second side plate 242 spaced apart from each other; the bracket 24 may further include a top plate 244 and a bottom plate 246 disposed between the first side plate 240 and the second side plate 242; wherein the top plate 244 and the bottom plate 246 are spaced apart from each other. The pinch wheels 220 are mounted between the top plate 244 and the bottom plate 246, and the axes of the pinch wheels 220, i.e., the axes of rotation, may be perpendicular to the axis of the guide tube, e.g., the first guide tube 12, and a pair of pinch wheels 220 may be brought closer to or farther from each other by tensioning the rubber rings. In addition, the second guide tube 14 may be assembled to the first side plate 240, the first guide tube 12 may be assembled to the second side plate 242, the first guide tube 12 and the second guide tube 14 may be spaced apart from each other in the axial direction of the clamping path, and the first guide tube 12 and the second guide tube 14 may be located at both sides of the clamping wheel 220, respectively.

The first guide tube 12 may be provided to be movable relative to the second guide tube 14, and it is understood that the first guide tube 12 may be movable toward the second guide tube 14, and as shown in fig. 2, an outer wall surface of the first guide tube 12 near the first end portion of the second guide tube 14 may be provided with a guide inclined surface 120; wherein: the guide inclined surface 120 may be disposed gradually away from the axis of the first guide tube 12 in a direction from the first end of the first guide tube 12 to away from the second guide tube 14, such that the first guide tube 12 may generate an outward component force in the radial direction of the first guide tube 12 during movement toward the second guide tube 14, the front end of the guide inclined surface 120 first enters the pair of pinch wheels 220 when the first guide tube 12 moves past the pair of pinch wheels 220, and the guide inclined surface 120 gradually applies a radially outward force toward the corresponding pinch wheels 220 during continued movement of the first guide tube 12, thereby enabling separation of the pair of pinch wheels 220, and facilitating separation between the pair of pinch wheels 220. As shown in fig. 6, the first guide tube 12 moves toward the second guide tube 14, and when the first guide tube 12 approaches the pinch wheels 220, the first guide tube 12 may be inserted between the pair of pinch wheels 220 by the guide inclined surface 120, as shown in fig. 8 and 9, to thereby achieve separation between the pair of pinch wheels 220. In the consumable supply device 20, the guide inclined surface 120 may be provided so as to face the pinch roller 220, and thus, the pinch roller 220 may be separated.

In order to better achieve the separation of the pair of clamping wheels 220, the first end portion of the first guide tube 12 is provided with a pair of guide inclined surfaces 120, and the pair of guide inclined surfaces 120 may be opposite to each other, it is understood that the pair of guide inclined surfaces 120 may face the corresponding clamping wheels 220, respectively, that is, the pair of guide inclined surfaces 120 may be located on both sides of the axis of the first guide tube 12, respectively, in the moving direction of the first guide tube 12, so as to apply a force to the corresponding clamping wheels 220 outward in the radial direction of the clamping wheels 220, thereby more easily separating the pair of clamping wheels 220 from each other.

A guide-fit structure 16 may be disposed between the first guide tube 12 and the second guide tube 14, where the guide-fit structure 16 may guide the first guide tube 12 and the second guide tube 14 to be spliced together, so that the splicing between the first guide tube 12 and the second guide tube 14 may be guided, and the first guide tube 12 and the second guide tube 14 may be spliced relatively accurately and rapidly. The specific configuration of the guide-engaging structure 16 is not particularly limited as long as it can guide the engagement between the first guide tube 12 and the second guide tube 14.

As shown in fig. 2, 4, 8 and 9, the guide-engaging structure 16 may include a first guide tapered surface 160 and a second guide tapered surface 162 that can be sleeved outside the first guide tapered surface 160 to be able to engage with the first guide tapered surface 160, where the first guide tapered surface 160 may taper in a direction from a middle portion of a corresponding guide tube to an end portion of the guide tube near another guide tube, and the second guide tapered surface 162 may taper in a direction from the middle portion of the corresponding guide tube to the end portion of the guide tube near another guide tube; wherein: the first guide cone 160 may be disposed on an outer wall surface of the second guide tube 14 near the first end of the first guide tube 12, and the second guide cone 162 may be disposed on an inner wall surface of the first guide tube 12 near the first end of the second guide tube 14; alternatively, the first guide tapered surface 160 may be provided on an outer wall surface of the first guide tube 12 near the first end portion of the second guide tube 14, and the second guide tapered surface 162 may be provided on an inner wall surface of the second guide tube 14 near the first end portion of the first guide tube 12.

Taking the example that the first guide tapered surface 160 is provided on the outer wall surface of the second guide tube 14 near the first end portion of the first guide tube 12 and the second guide tapered surface 162 is provided on the inner wall surface of the first guide tube 12 near the first end portion of the second guide tube 14, and the first guide tube 12 is provided to be movable toward the second guide tube 14, the guide inclined surface 120 may be provided on the outer wall surface of the first guide tube 12 near the first end portion of the second guide tube 14, and the guide inclined surface 120 may be gradually separated from the axis of the first guide tube 12 in a direction from the first end portion of the first guide tube 12 to a direction away from the second guide tube 14 so that the first guide tube 12 may generate an outward component force in the radial direction of the first guide tube 12 during the movement toward the second guide tube 14. The front ends of the guide inclined surfaces 120 first enter between the pair of clamping wheels 220 when the first guide tube 12 is moved toward the second guide tube 14 by the external thrust, and then the guide inclined surfaces 120 can apply a radially outward component force toward the corresponding clamping wheels 220 with the movement of the first guide tube 12, so that the pair of clamping wheels 220 can be separated from each other by the guide inclined surfaces 120 when the first guide tube 12 continues to move toward the second guide tube 14; it should also be noted that during movement of the first guide tube 12 toward the second guide tube 14, as the guide inclined surface 120 gradually applies a radially outward force component toward the corresponding pinch wheel 220, the first guide tapered surface 160 and the second guide tapered surface 162 cooperate with each other, i.e., the second guide tapered surface 162 is sleeved outside the first guide tapered surface 160, so that the first guide tube 12 and the second guide tube 14 are mutually spliced to form the guide channel 100 through which the insertion consumable 40, such as a catheter, passes, and since the first guide tapered surface 160 and the second guide tapered surface 162 can cooperate with each other, the first guide tube 12 and the second guide tube 14 can be better guided to better splice the first guide tube 12 and the second guide tube 14, thereby achieving a more precise splice.

From the foregoing, it will be appreciated that the first guide tube 12 may be provided to be movable relative to the second guide tube 14, it being understood that the first guide tube 12 may be movable towards the second guide tube 14, and that the inner wall of the second guide tube 14 remote from the second end of the first guide tube 12 may be provided with a guiding taper 140 for the access of the access consumable 40, as shown in connection with fig. 5, 6, 8, 9, 10 and 11; wherein: in a direction from the second end of the second guide tube 14 to the second end of the first guide tube 12, it is understood that the guiding tapered surface 140 is gradually widened in a direction from the first end of the second guide tube 14 to the second end of the second guide tube 14, the insertion consumable 40 may first enter the guiding channel 100 through the guiding tapered surface 140, and the guiding tapered surface 140 is gradually widened, so that the insertion consumable 40 may conveniently enter the guiding channel 100 formed by mutually splicing the first guide tube 12 and the second guide tube 14.

It should be noted that during the movement of the first guide tube 12 towards the second guide tube 14, a radially outward force component is first gradually applied towards the corresponding clamping wheel 220 by means of the guiding inclined surface 120 to separate the pair of clamping wheels 220 from each other, at the same time, the second guiding tapered surface 162 may be sleeved outside the first guiding tapered surface 160 so that the first guide tube 12 and the second guide tube 14 can be mutually spliced to form the guiding channel 100 allowing the insertion consumable 40, such as a catheter, to pass through, and after the guiding channel 100 is formed, the insertion consumable 40 can more conveniently enter into the guiding channel 100 through the guiding tapered surface 140 of the second guide tube 14.

In addition, a pressing boss 122 for pressing may be provided, and the pressing boss 122 may be disposed around the outside of the first guide tube 12, and by applying a pressing force to the pressing boss 122, the first guide tube 12 may be driven to move toward the second guide tube 14. Specifically, the pressing boss 122 may be located outside the bracket 24. When it is desired to guide the interventional consumable 40, a pressing force may be applied towards the pressing boss 122 such that the first guide tube 12 moves towards the second guide tube 14 until the pressing boss 122 abuts against the stop boss 188, and the first guide tube 12 and the second guide tube 14 are spliced with each other to form the guide channel 100 allowing the interventional consumable 40, such as a catheter, to pass through, wherein the stop boss 188 will be mentioned later, and will not be repeated herein.

As shown in fig. 2, 3 and 7, a first boss 184a and a second boss 184b may be provided, the first boss 184a and the second boss 184b may be disposed at a distance from each other in the axial direction of the first guide tube 12, the first boss 184a may be disposed at an outer wall of the first guide tube 12, and the first boss 184a may be capable of following the first guide tube 12 to move relative to the second boss 184b, it should be noted that the second boss 184b may be disposed at the second side plate 242 of the bracket 24 such that the second boss 184b is stationary relative to the first boss 184a, and both the first boss 184a and the second boss 184b may be disposed in front of the pressing boss 122 in the direction in which the first guide tube 12 moves toward the second guide tube 14; in addition, a reset mechanism may be provided, which may be disposed between the first boss 184a and the second boss 184b, and which may be configured to reset the first guide tube 12 upon removal of the pressing force applied to the pressing boss 122, whereby disconnection between the first guide tube 12 and the second guide tube 14 may be achieved, such that the intervention consumables 40 located in the clamping channels are pushed under the transfer of the pair of clamping wheels 220.

The reset mechanism may include an elastic member 186 disposed between the first boss 184a and the second boss 184b, wherein: the elastic member 186 may be configured to drive the first guide tube 12 to move away from the second guide tube 14 for resetting when the pressing force applied to the pressing boss 122 is removed, thereby achieving automatic resetting of the first guide tube 12. The elastic member 186 may be a spring, and the elastic member 186 may also be made of an elastic material, such as rubber, and two ends of the spring may respectively abut against the first boss 184a and the second boss 184b. It will be appreciated that when a pressing force is applied to the pressing boss 122, the first guide tube 12 can move toward the second guide tube 14, thereby driving the first boss 184a to move toward the second boss 184b, and thus compressing the elastic member 186 located between the first boss 184a and the second boss 184 b; when the pressing boss 122 is released, i.e. the pressing force on the pressing boss 122 is removed, the elastic member 186 may drive the first guide tube 12 to move away from the second guide tube 14 until the first boss 184a abuts against the stop boss 188, and the first guide tube 12 may stop moving, thereby achieving the resetting of the first guide tube 12.

As shown in connection with fig. 6 and 7, a guide sleeve 180 may be provided, the guide sleeve 180 may be fitted to the second side plate 242 of the bracket 24, the guide sleeve 180 may be sleeved outside the first guide tube 12, and the first boss 184a and the elastic member 186 may be located within the guide sleeve 180, and furthermore, the second boss 184b may also be located within the guide sleeve 180. Wherein, the guide sleeve 180 may be assembled to the second side plate 242 of the bracket 24, and the axial direction of the guide sleeve 180 may coincide with the axial direction of the second guide tube 14. When the pressing boss 122 receives a pressing force, the first guide tube 12 may move toward the second guide tube 14, and the elastic member 186 is stably stretched or contracted by the guide of the guide sleeve 180.

In addition, a stop boss 188 may be disposed, in a direction in which the first guide tube 12 moves toward the second guide tube 14, the stop boss 188 may be disposed in front of the pressing boss 122, and the stop boss 188 may be disposed to stop the pressing boss 122 from continuing, where it is noted that, after the stop boss 188 contacts with the pressing boss 122, the first guide tube 12 may be stopped from continuing, which corresponds to a limiting effect on the pressing boss 122, so that the first guide tube 12 and the second guide tube 14 may be more accurately spliced. The surface of the stop boss 188 facing away from the pressing boss 122 may be provided with a cavity extending along the axial direction of the first guide tube 12 and into which the first boss 184a slides, so that the stop boss 188 may realize a stop limiting effect on the first boss 184a, and the whole structure of the insertion consumable guiding mechanism 10 may be more compact.

The following will describe in detail the guiding process of the interventional consumable 40 by the interventional consumable guiding mechanism 10 in conjunction with the interventional consumable guiding mechanism 10 for an interventional surgical robot provided by the present invention.

In the interventional consumable guide mechanism 10, the first guide tube 12 and the second guide tube 14 are opposed to each other at intervals in the axial direction, and at least one of the first guide tube 12 and the second guide tube 14 is configured to be movable toward the other so that the first guide tube 12 and the second guide tube 14 can be spliced with each other to form the guide channel 100; the first guide tube 12 may be provided to be movable with respect to the second guide tube 14, an outer wall surface of the first guide tube 12 near the first end of the second guide tube 14 being provided with a guide inclined surface 120, the guide inclined surface 120 being gradually distant from an axis of the first guide tube 12 in a direction from the first end of the first guide tube 12 to be distant from the second guide tube 14 so that the first guide tube 12 can generate an outward component force in a radial direction of the first guide tube 12 in a course of moving toward the second guide tube 14; a guide-fit structure 16 may be disposed between the first guide tube 12 and the second guide tube 14, the guide-fit structure 16 may include a first guide tapered surface 160 and a second guide tapered surface 162 that may be sleeved outside the first guide tapered surface 160 to be able to be matched with the first guide tapered surface 160, the first guide tapered surface 160 may be tapered along a direction from a middle portion of the corresponding guide tube to an end portion of the guide tube near the other guide tube, and the second guide tapered surface 162 may be tapered, wherein: the first guide cone 160 may be disposed on an outer wall surface of the second guide tube 14 near the first end of the first guide tube 12, and the second guide cone 162 may be disposed on an inner wall surface of the first guide tube 12 near the first end of the second guide tube 14; the inner wall of the second guide tube 14 remote from the second end of the first guide tube 12 may be provided with a guiding cone 140 for the access of the access consumable 40, wherein: the guiding cone 140 may be tapered in a direction along the second end of the second guiding tube 14 to away from the first guiding tube 12; the pressing boss 122 surrounding the first guide tube 12 and provided for pressing may be provided on the first guide tube 12, while the first boss 184a and the second boss 184b provided at intervals from each other in the axial direction of the first guide tube 12 may be provided, the first boss 184a may be provided on the outer wall of the first guide tube 12, and the first boss 184a may be capable of following the first guide tube 12 to move relative to the second boss 184b, in the direction in which the first guide tube 12 moves toward the second guide tube 14, both the first boss 184a and the second boss 184b may be provided in front of the pressing boss 122, a reset mechanism may be provided, which may include an elastic piece 186 provided between the first boss 184a and the second boss 184b, wherein: the elastic member 186 may be configured to move the first guide tube 12 away from the second guide tube 14 for return when the pressing force applied to the pressing boss 122 is removed.

Before the insertion consumable 40 enters the pair of clamping wheels 220, a pressing force can be firstly applied to the pressing boss 122 arranged on the first guide tube 12, so that the pressing boss 122 can drive the first guide tube 12 to move towards the second guide tube 14; during the movement of the first guide tube 12 toward the second guide tube 14, as shown in fig. 3, 5, 6 and 8, the guide inclined surfaces 120 of the first guide tube 12 may exert a radially outward component force toward the corresponding pinch wheel 220, and particularly when a pair of guide inclined surfaces 120 opposite to each other are provided on the first guide tube 12, the guide inclined surfaces 120 may exert a radially outward component force toward the corresponding pinch wheel 220, respectively, thereby making it easier for the pair of pinch wheels 220 to separate from each other; the first guide tube 12 can continue to move towards the second guide tube 14 under the pushing of the pressing force, the first guide tube 12 and the second guide tube 14 are close to each other, the first guide conical surface 160 and the second guide conical surface 162 are matched with each other, namely the second guide conical surface 162 can be sleeved outside the first guide conical surface 160, so that the first guide tube 12 and the second guide tube 14 are mutually spliced to form the guide channel 100, and meanwhile, the pressing boss 122 can abut against the stop boss 188 to play a limiting role on the first guide tube 12; after the guide channel 100 is formed, the interventional consumable 40, such as a catheter, may enter the guide channel 100 through the guide cone 140; after the insertion consumable 40 passes through the guide channel 100, the pressing boss 122 is released to remove the pressing force on the pressing boss 122, and it should be noted that, in the process that the first guide tube 12 moves toward the second guide tube 14, the elastic member 186 in the reset mechanism may be in a compressed state, and when the pressing boss 122 is released, the first guide tube 12 may move toward a direction away from the second guide tube 14 under the action of the elastic member 186 to realize reset, as shown in fig. 10 and 11. Therefore, the guiding operation of the interventional consumable 40 such as the catheter is realized by the interventional consumable guiding mechanism 10, so that the interventional consumable 40 is convenient to enter between the paired clamping wheels 220, and the interventional consumable 40 is not easy to deviate or misplace.

The present invention also provides an interventional consumable delivery device for an interventional surgical robot, the interventional consumable delivery device 20 including a driving module and the interventional consumable guide mechanism 10 provided by the present invention, the driving module may include at least one pair of rotatable clamping wheels 220 opposing each other, it being understood that the clamping wheels 220 are configured to be rotatable about an axis of the clamping wheels 220, the pair of clamping wheels 220 being configured to push an interventional consumable 40 such as a catheter during rotation of the pair of clamping wheels 220 relative to each other, the pair of clamping wheels 220 being configured to be moved toward or away from each other in a radial direction of the clamping wheels 220 to be capable of forming a clamping channel for clamping the interventional consumable 40, it being noted that the pair of clamping wheels 220 may be moved toward or away from each other by a tension rubber ring; the first guide tube 12 and the second guide tube 14 in the insertion consumable guide mechanism 10 are disposed along the axial direction of the clamping channel, it is understood that the axis of the clamping channel coincides with the axes of the first guide tube 12, the second guide tube 14 and the guide channel 100, and the first guide tube 12 and the second guide tube 14 may be located at both sides of the clamping wheel 220, respectively. By arranging the interventional consumable guiding mechanism 10 provided by the invention in the interventional consumable conveying device 20, the interventional consumable 40 can be guided to advance, so that the condition that the interventional consumable 40 such as a catheter is not easy to deviate or misplace is avoided.

In connection with the pressing of the pressing boss 122 shown in fig. 5 and 6, the first guide tube 12 may be moved toward the second guide tube 14, when the first guide tube 12 approaches the clamping wheel 220, the first guide tube 12 may exert a radially outward force component toward the corresponding clamping wheel 220 under the action of the guiding inclined surface 120, and in connection with the illustration in fig. 8 and 9, the first guide tube 12 may be inserted between the pair of clamping wheels 220 such that the pair of clamping wheels 220 are separated from each other, after which, under the mutual cooperation of the first guiding tapered surface 160 and the second guiding tapered surface 162, the first guide tube 12 may be spliced with the second guide tube 14 to form the guiding channel 100, after the insertion consumable 40 such as a catheter is inserted into the guiding channel 100, the pressing force to the pressing boss 122 may be removed under the action of the elastic member 186 toward a direction away from the second guide tube 14 to reset, and, as can be understood that the pair of clamping wheels 220 are disconnected from each other at this time, the insertion consumable 40 such as the catheter 40 is pushed.

The invention also provides an interventional operation robot, which comprises the interventional consumable conveying device 20 provided by the invention, wherein the interventional consumable conveying device 20 can be used for pushing interventional consumables 40 such as a catheter. By providing the interventional consumable delivery device 20 provided by the invention in the interventional operation robot, the interventional consumable 40 can be conveniently and accurately guided between the pair of clamping wheels 220 under the guiding action of the interventional consumable guiding mechanism 10, thereby realizing accurate delivery of the interventional consumable 40 such as a catheter or a guide wire.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a number of simple variants of the technical solution of the invention are possible, including combinations of individual specific technical features in any suitable way. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

Claims (10)

1. An intervention consumable guiding mechanism for an intervention surgical robot, characterized in that the intervention consumable guiding mechanism (10) is used for assisting an intervention consumable (40) to pass through a driving module of the intervention surgical robot, and the intervention consumable guiding mechanism (10) comprises:

a first guide pipe (12) and a second guide pipe (14), the first guide pipe (12) and the second guide pipe (14) being opposed to each other with a spacing in the axial direction; wherein:

at least one of the first guide tube (12) and the second guide tube (14) is configured to be movable towards the other such that the first guide tube (12) and the second guide tube (14) are capable of being spliced to each other to form a guide channel (100) for the intervention consumable (40) to pass through.

2. The interventional consumable guiding mechanism according to claim 1, wherein the first guiding tube (12) is arranged movable relative to the second guiding tube (14), the outer wall surface of the first guiding tube (12) near the first end of the second guiding tube (14) being provided with a guiding inclined surface (120); wherein:

the guide inclined surface (120) is gradually distant from the axis of the first guide pipe (12) in a direction from the first end of the first guide pipe (12) to a direction away from the second guide pipe (14) so that the first guide pipe (12) can generate an outward component force in a radial direction of the first guide pipe (12) in a process of moving toward the second guide pipe (14).

3. The interventional consumable guiding mechanism according to claim 2, wherein the first end of the first guiding tube (12) is provided with a pair of guiding inclined surfaces (120), the guiding inclined surfaces (120) being opposed to each other.

4. The interventional consumable guiding mechanism according to claim 1, wherein the interventional consumable guiding mechanism (10) comprises a guiding and matching structure (16) arranged between the first guiding tube (12) and the second guiding tube (14), the guiding and matching structure (16) comprises a first guiding conical surface (160) and a second guiding conical surface (162) which can be sleeved outside the first guiding conical surface (160) so as to be matched with the first guiding conical surface (160), and the first guiding conical surface (160) is gradually-enlarged in the direction from the middle part of the corresponding guiding tube to the end part of the guiding tube close to the other guiding tube; wherein:

the first guide conical surface (160) is arranged on the outer wall surface of the second guide pipe (14) close to the first end part of the first guide pipe (12), and the second guide conical surface (162) is arranged on the inner wall surface of the first guide pipe (12) close to the first end part of the second guide pipe (14); alternatively, the first guide tapered surface (160) is provided on an outer wall surface of the first guide pipe (12) near the first end portion of the second guide pipe (14), and the second guide tapered surface (162) is provided on an inner wall surface of the second guide pipe (14) near the first end portion of the first guide pipe (12).

5. The interventional consumable guiding mechanism according to claim 1, wherein the first guiding tube (12) is arranged movable relative to the second guiding tube (14), an inner wall of the second guiding tube (14) remote from the second end of the first guiding tube (12) being provided with a guiding cone (140) for the interventional consumable (40) to enter; wherein:

the guiding conical surface (140) is gradually expanded along the second end of the second guiding tube (14) to a direction away from the first guiding tube (12).

6. The interventional consumable guiding mechanism according to any one of claims 1-5, wherein the first guiding tube (12) is arranged movable relative to the second guiding tube (14), the interventional consumable guiding mechanism (10) comprising a pressing boss (122) arranged around the first guiding tube (12) for pressing.

7. The interventional consumable guiding mechanism according to claim 6, wherein the interventional consumable guiding mechanism (10) comprises a first boss (184 a) and a second boss (184 b) arranged at intervals from each other in an axial direction of the first guiding tube (12), the first boss (184 a) being arranged at an outer wall of the first guiding tube (12), and the first boss (184 a) being movable with respect to the second boss (184 b) following the first guiding tube (12), the first boss (184 a) and the second boss (184 b) being each arranged in front of the pressing boss (122) in a direction in which the first guiding tube (12) moves towards the second guiding tube (14);

the interventional consumable guiding mechanism (10) comprises a resetting mechanism comprising an elastic member (186) arranged between the first boss (184 a) and the second boss (184 b), wherein: the elastic piece (186) is arranged to drive the first guide tube (12) to move and reset towards a direction away from the second guide tube (14) after the pressing force on the pressing boss (122) is removed.

8. The interventional consumable guiding mechanism according to claim 7, wherein the interventional consumable guiding mechanism (10) comprises a stop boss (188), the stop boss (188) is arranged in front of the pressing boss (122) in the direction in which the first guiding tube (12) moves towards the second guiding tube (14), and the stop boss (188) is arranged to be able to stop the pressing boss (122) from going further.

9. An interventional consumable delivery device, characterized in that the interventional consumable delivery device (20) comprises:

a drive module comprising at least one pair of rotatable clamping wheels (220) opposite each other, a pair of said clamping wheels (220) being arranged radially closer to or farther from each other to enable forming a clamping channel for clamping an interventional consumable (40); and

intervention consumable guiding mechanism (10), the intervention consumable guiding mechanism (10) is an intervention consumable guiding mechanism (10) according to any one of claims 1-8, and the first guiding tube (12) and the second guiding tube (14) are arranged along the axial direction of the clamping channel.

10. An interventional procedure robot, characterized in that it comprises an interventional consumable delivery device (20) according to claim 9.

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