CN116999181A

CN116999181A - Consumable box and surgical robot

Info

Publication number: CN116999181A
Application number: CN202210364561.4A
Authority: CN
Inventors: 杨新军; 陈艾骎
Original assignee: Suzhou Runmaide Intelligent Technology Development Co ltd
Current assignee: Suzhou Runmaide Intelligent Technology Development Co ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2023-11-07
Also published as: WO2023193553A1

Abstract

The specification discloses a consumable box and surgical robot, and the consumable box includes: a first housing having a receiving chamber, provided with a first transmission assembly and a first passage; a first axial drive assembly disposed in the receiving chamber, comprising: a first pair of engagement surfaces for gripping and axially displacing a second elongate medical device, the first pair of engagement surfaces defining a second channel; a second axial drive assembly disposed in the receiving chamber, comprising: and a second pair of engagement surfaces for holding and axially displacing the third elongate medical device, the second pair of engagement surfaces defining a third channel, a predetermined angle being defined between the second channel and the third channel, an orthographic projection of a junction formed by an axis of the second channel and an axis of the third channel falling on a cross section of the first channel being located within the first channel. The three medical devices can be integrated in one consumable box, and the control functions of various instruments can be realized.

Description

Consumable box and surgical robot

Technical Field

The application relates to the technical field of medical equipment, in particular to a consumable box and a surgical robot.

Background

Catheters and guidewires are useful in a number of minimally invasive medical procedures for diagnosis and treatment of various vascular system diseases, including neurovascular interventions (NVI), percutaneous Coronary Interventions (PCI), and Peripheral Vascular Interventions (PVI). These procedures involve passing a guidewire through the vasculature and advancing a working catheter over the guidewire to deliver a therapeutic device. Catheterization begins with obtaining access to a blood vessel using standard percutaneous techniques, using a sheath or guide catheter. The sheath or guide catheter is then advanced over the guidewire to a primary location, such as the internal carotid artery for NVI, the coronary ostia for PCI, or the superficial femoral artery for PVI. In turn, a guidewire and/or microcatheter suitable for use in the vasculature is delivered to a target location in the vasculature through a sheath or guide catheter.

The above-described surgical procedure requires X-rays emitted from the DSA device to be performed, and when a doctor passes through a conventional manual catheterization, the doctor is exposed to a large amount of radiation, which may endanger the health of the doctor during long-term work. In order to reduce X-ray exposure to the physician, surgical robotic systems have been developed to assist the physician in performing catheterization procedures. The surgical robotic system may drive a catheter or guidewire under the remote control of a physician to deliver the catheter or guidewire to a target location within the patient.

In the existing surgical robots, taking the interventional surgical robot for performing PCI surgery as an example, the positions of the propelling mechanisms of instruments such as a guide catheter, a guide wire, a working catheter and the like are scattered, and the integral installation of doctors is not facilitated during each surgery. If the condition of integral installation is to be met, the guide catheter, the guide wire and the working catheter will co-operate in a relatively compact space, and the interference between each other needs to be reduced, which presents a certain challenge for the structural design of the surgical robot.

Disclosure of Invention

In order to solve at least one technical problem in the prior art, the application provides a consumable box and a surgical robot, wherein three medical devices are integrated in one consumable box, so that the control functions of various instruments can be realized, and the whole installation can be convenient.

In order to achieve the above purpose, the technical scheme provided by the application is as follows:

a consumable cartridge comprising:

a first housing having a receiving chamber, a first drive assembly and a first channel, the first drive assembly for rotating a first elongate medical device about an axis of the first channel;

a first axial drive assembly disposed in the receiving chamber, comprising: a first pair of engagement surfaces for gripping and axially displacing a second elongate medical device, the first pair of engagement surfaces defining a second channel;

A second axial drive assembly disposed in the receiving chamber, comprising: a second pair of engagement surfaces for gripping and axially displacing a third elongate medical device, the second pair of engagement surfaces defining a third channel, the second channel being at a predetermined angle to the third channel; in the axial direction of the first channel, an orthographic projection of a junction formed by the axis of the second channel and the axis of the third channel falling on the cross section of the first channel is positioned in the first channel.

As a preferred embodiment, it comprises: and the cover body is connected with the first shell and has an opening position and a closing position, and when the closing position is adopted, the cover body can cover the accommodating cavity.

As a preferred embodiment, the first housing has a partition plate assembly covering the first axial driving assembly and the second axial driving assembly, the partition plate assembly being provided with a relief passage corresponding to the second passage and the third passage, the relief passage being capable of exposing the first engagement surface and the second engagement surface.

As a preferred embodiment, the housing chamber defines a first chamber and a second chamber, the first transmission assembly and the first channel being provided in the first chamber, the first axial drive assembly and the second axial drive assembly being provided in the second chamber, the first chamber being the uncovered area of the diaphragm assembly, the first housing having a side wall, the side wall of the first chamber being provided with a communication for introducing an external conduit to the first chamber for connection with the Y valve.

As a preferred embodiment, the first housing has opposite front and rear ends, the first housing defining a housing axis between the front end and the rear end, the housing axis being coaxially disposed with the first and second channels.

As a preferred embodiment, the first elongate medical device is a catheter for contrast, the second elongate medical device is a guidewire, and the third elongate medical device is a balloon catheter or stent.

As a preferred embodiment, the consumable cartridge includes: a first motor for powering the first transmission assembly; a second motor for powering the first axial drive assembly; and a third motor for powering the second axial drive assembly.

As a preferred embodiment, the consumable cartridge includes: a rotational drive assembly for driving the second elongate medical device in rotation, and a fourth motor for powering the rotational drive assembly.

As a preferred embodiment, the consumable cartridge includes: and the second shell is detachably arranged outside the first shell, a containing space is formed between the first shell and the second shell, and the first motor, the second motor, the third motor and the fourth motor are arranged in the containing space.

As a preferred embodiment, a bottom plate is provided in the accommodating space, and the bottom plate is used for installing the first motor, the second motor, the third motor and the fourth motor.

As a preferred embodiment, a circuit board is disposed in the accommodating space, and the circuit board is electrically connected with the first motor, the second motor, the third motor and the fourth motor, the circuit board is provided with a connection portion for transmitting an electrical signal, and the second housing is provided with an opening for guiding out the connection portion.

As a preferred embodiment, the first axial drive assembly comprises: a first pair of rotating shafts, a first pair of rotating wheels provided on the first pair of rotating shafts, the first pair of engaging surfaces being contact surfaces between the first pair of rotating wheels;

the rotary drive assembly includes: at least one rotary drive; and the moment conversion module is arranged between at least one rotating wheel of the first pair of rotating wheels and the rotating driving piece, and can convert the rotating motion of the rotating driving piece into the relative translational motion between the first pair of engaging surfaces when the rotating driving piece is driven to rotate, and the translational motion direction is the axis direction of the rotating shaft.

As a preferred embodiment, the rotary driving member has two parts including: the first rotary driving piece and the second rotary driving piece are provided with meshing gear transmission units, when the first rotary driving piece is driven to rotate, the second rotary driving piece is driven to rotate along the opposite direction through the meshing gear transmission units, and further, relative upward translational movement of one of the first pair of joint surfaces is achieved through the corresponding torque conversion module, and relative downward translational movement of the other of the first pair of joint surfaces is achieved.

As a preferred embodiment, the torque conversion module includes: the linkage plate, the linkage plate has the horizontal section of horizontal extension, horizontal section sets up rotate the driving piece with rotate between the wheel, horizontal section has first end and second end in its horizontal extending direction, first end with rotate the wheel relatively fixedly and connect, the second end with rotate the driving piece transmission and be connected.

As a preferred embodiment, the second axial drive assembly comprises: and a second pair of rotating shafts, a second pair of rotating wheels provided on the second pair of rotating shafts, the second pair of engaging surfaces being contact surfaces between the second pair of rotating wheels.

As a preferred embodiment, the first transmission assembly comprises: the first rotary gear is rotatably arranged, the second rotary gear is meshed with the first rotary gear for transmission, the first rotary gear is vertically arranged, and the second rotary gear is transversely arranged.

As a preferred embodiment, the first elongate medical device comprises: the device comprises a tube body and a proximal end part connected with the tube body, wherein the proximal end part is provided with a rotatable part, the rotatable part is used for responding to the rotation operation of the rotatable part to cause the rotation of the tube body, and the rotatable part is detachably arranged with the first rotary gear and can be driven to rotate by the first rotary gear.

As a preferred embodiment, the proximal portion is a handle comprising: the rotatable part can rotate relative to the body, the body is keeping away from the end connection Y valve of body, Y valve with the body is linked together and is used for carrying contrast medium, hold the intracavity be provided with be used for with body matched with prevent changeing the baffle, prevent changeing the baffle and be constructed: the body and the Y valve can be restricted from following the rotation of the tube.

A surgical robot, which comprises the consumable box.

As a preferred embodiment, the surgical robot includes: the consumable box is arranged on the sliding base in a sliding manner, and the consumable box and the sliding base are detachably installed; and the conveying mechanism is used for driving the consumable box to slide along the sliding base.

As a preferred embodiment, when the consumable cartridge is mounted on the sliding base, the sliding base extends longitudinally along the axial direction of the first channel, the sliding base has opposite head and tail ends in the longitudinal extension direction, and the head end is provided with a third axial driving assembly for clamping and driving the first elongated medical device to linearly displace.

As a preferred embodiment, the sliding base is provided with a position sensor for detecting the consumable box in place, and the position sensor is located on the sliding base at a position close to the head end.

As a preferred embodiment, the slide base includes: slide rail and be used for installing the base of consumptive material box, the base can be followed the slide rail removes, the base with conveying mechanism transmission is connected, connect flexible connector on the base, flexible connector is used for giving external electric signal transmission the consumptive material box.

The beneficial effects are that:

the embodiment of the application can integrate three medical devices into one consumable box, wherein the three medical devices can be a catheter, a guide wire and a balloon catheter for radiography, which are used for performing PCI operation. Wherein, inside first transmission subassembly, first axial drive subassembly and the second axial drive subassembly of setting up of consumptive material box. The first transmission component is used for driving the first slender medical device to rotate, the first axial driving component is used for driving the second slender medical device to axially displace, and the second axial driving component is used for driving the third slender medical device to axially displace, so that a consumable box can realize the control function of multiple instruments.

The consumable box in the surgical robot provided by the embodiment of the application can be integrally installed and disassembled, and three percutaneous devices and the replacement of internal driving components are realized through one-time installation and disassembly of the consumable box, so that the surgical robot is convenient for doctors to use.

Specific embodiments of the application are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the application are not limited in scope thereby.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other drawings can be obtained from them without the benefit of the inventive effort to the person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a consumable cartridge according to one embodiment of the present disclosure;

fig. 2 is a schematic structural view of a first housing of the consumable cartridge according to one embodiment of the present disclosure;

FIG. 3 is a schematic view of the internal components of the consumable cartridge according to one embodiment of the present disclosure;

FIG. 4 is a front view of a first housing of the consumable cartridge provided in one embodiment of the present disclosure;

FIG. 5 is a bottom view of the first housing of the consumable cartridge provided in one embodiment of the present disclosure;

FIG. 6 is a schematic diagram I of a consumable cartridge according to one embodiment of the present disclosure when a bottom plate of the consumable cartridge is mated with a first housing;

FIG. 7 is a second schematic view of a base plate of a consumable cartridge according to one embodiment of the present disclosure mated with a first housing;

FIG. 8 is a schematic structural view of a rotary drive assembly according to one embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a driving structure of an adjustable bend conduit in a consumable cassette according to one embodiment of the present disclosure;

FIG. 10 is a schematic view of the overall structure of a surgical robot according to one embodiment of the present disclosure;

fig. 11 is a schematic view of a consumable cartridge according to an embodiment of the present disclosure when connected to a sliding base.

Reference numerals illustrate:

1. a first housing; 100. a sidewall; 101. a front end; 102. a rear end; 103. a communication section; 104. an anti-rotation baffle; 11. a first axial drive assembly; 111. a first rotating wheel; 112. a second rotating wheel; 113. a first rotation shaft; 114. a second rotation shaft; 115. a meshing gear transmission unit; 116. a linkage plate; 12. a second axial drive assembly; 13. a second channel; 14. a third channel; 15. a separator assembly; 16. a first motor; 161. a first bevel gear; 162. a second bevel gear; 17. a second motor; 18. a third motor; 19. a fourth motor; 2. a first elongate medical device; 20. a tube body; 21. a handle; 211. a rotatable member; 212. a control part; 22. a Y valve; 23. a fifth motor; 231. a third bevel gear; 232. a fourth bevel gear; 3. a second elongate medical device; 4. a third elongate medical device; 5. a second housing; 51. a bottom plate; 52. a circuit board; 53. a connecting rod; 6. a cover body; 61. a limit label; 7. a first transmission assembly; 71. a first rotary gear; 72. a second rotary gear; 8. a second transmission assembly; 81. bending the rack; 82. bending adjusting gears; 9. a sliding base; 91. a third axial drive assembly; 92. a position sensor; 93. a slide rail; 94. a flexible connection member; 95. a sixth motor; 96. and (5) a screw rod.

Detailed Description

The technical solution of the present application will be described in detail below with reference to the accompanying drawings and the specific embodiments, it being understood that these embodiments are for illustrating the present application only and not for limiting the scope, and that various equivalent modifications of the present application will fall within the scope defined by the present application by those skilled in the art after reading the present application.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

The consumable cartridge and the surgical robot according to the embodiment of the present specification will be explained and described with reference to fig. 1 to 11. In the embodiments of the present application, like reference numerals denote like components. While, for the sake of brevity, detailed descriptions of the same components are omitted in the different embodiments, and the descriptions of the same components may be referred to and cited with each other.

As used herein, the terms "front", "distal", "head" refer to the side of the consumable cartridge that faces the patient. The terms "rear", "proximal", "trailing" refer to the side of the consumable cartridge that is remote from the patient. The terms "pushing", "pushing" or "delivery" refer to the process of moving from a side away from the patient toward a side facing the patient. The terms "withdraw", "retreating" or "withdrawal" refer to the process of moving from the patient facing side toward the side away from the patient.

As shown in fig. 1 to 7, the consumable cartridge includes: the first housing 1 has a receiving chamber in which the first transmission assembly 7, the first axial drive assembly 11 and the second axial drive assembly 12 are disposed.

The consumable cartridge is used to house medical devices for performing minimally invasive medical procedures, which often have an elongated configuration for diagnosis and treatment of various vascular system diseases, such as guidewires, guide catheters, microcatheters, embolic coils, working catheters such as balloon catheters, aspiration catheters, and atherectomy catheters.

In the present specification, the type of the medical device is not limited at all, and may be a catheter or a guide wire for performing NVI surgery, PCI surgery, and PVI surgery, and the following description will be made mainly in terms of PCI surgery. However, it will be appreciated from the foregoing that the scope of the embodiments of the present description is not limited thereto.

In particular, a first channel is provided within the containment chamber, along which the first elongate medical device 2 is translatable. A mounting portion may be provided within the receiving chamber for clamping the first elongate medical device 2 to prevent the first elongate medical device 2 from being deflected relative to the axis of the first channel.

The first transmission assembly 7 is adapted to rotate the first elongate medical device 2 about the axis of the first channel. The first axial drive assembly 11 comprises: a first pair of engagement surfaces for gripping a second elongate medical device 3 and bringing said second elongate medical device 3 into axial displacement, said first pair of engagement surfaces defining a second channel 13. The second axial drive assembly 12 includes: a second pair of engagement surfaces for gripping a third elongate medical device 4 and bringing said third elongate medical device 4 into axial displacement, said second pair of engagement surfaces defining a third channel 14. The second channel 13 and the third channel 14 form a predetermined angle therebetween, and in the axial direction of the first channel, a projection of a junction point formed by the axis of the second channel 13 and the third channel 14 along the axial direction of the first channel falls in the first channel.

Further, the first channel is for placement of a first elongate medical device 2, the second channel 13 is for placement of a second elongate medical device 3, and the third channel 14 is for placement of a third elongate medical device 4. The axis of the first channel substantially coincides with the axis of the first elongate medical device 2, when the first elongate medical device 2 is rotated about the axis of the first channel, i.e. the first elongate medical device 2 is rotated about its own axis. Likewise, the axis of the second elongate medical device 3 substantially coincides with the axis of the second channel 13 and the axis of the third elongate medical device 4 substantially coincides with the axis of the third channel 14.

Preferably, the second channel 13 is at an acute angle to the third channel 14. And, the second channel 13 and the third channel 14 have a junction point. Thus, in the delivery direction of the second elongate medical device 3, the second elongate medical device 3 and the third elongate medical device 4 move non-coaxially before the junction, after which the second elongate medical device 3 and the third elongate medical device 4 move coaxially and together along the first channel after the junction. The junction may be located on an axis of the first passage.

In one embodiment, the first elongate medical device 2 may be a catheter for imaging, the second elongate medical device 3 may be a guidewire, and the third elongate medical device 4 may be a balloon catheter or stent.

In some embodiments, the catheter for imaging comprises: the device comprises a hollow tube body structure, wherein a handle can be arranged at the proximal end of the tube body structure, a control component for actuating the distal end of the tube body structure to deflect is arranged on the handle, a Y valve is connected to the handle, the Y valve is generally provided with a first end, a second end and a third end, the first end is connected with the handle, the second end is used for injecting contrast agent through a guide wire, and the third end is used for injecting the contrast agent into the body of a patient through the handle and the tube body structure for contrast. Of course, in some embodiments, the catheter for contrast may include only a hollow tube structure, the proximal end of which may be directly connected to the Y-valve. The first elongate medical device according to the present embodiment is not particularly limited, and may be an adjustable catheter having a handle or a general radiography catheter having no handle.

In particular, the catheter for contrast is rotated by the first transmission assembly 7 so that the distal end of the first elongate medical device 2 successfully reaches a desired location in the patient, such as the coronary ostium. The guide wire is linearly displaced along the second channel 13 by the first axial drive assembly 11, the axial direction of said second channel 13 being substantially coincident with the axial direction of the first channel, so that the guide wire can be delivered into the patient through the internal cavity of the first elongate medical device 2. The balloon catheter is linearly displaced along the third channel 14 by the second axial drive assembly 12 until reaching the junction coaxial with the guidewire and then delivered along the guidewire.

According to the embodiment of the application, three medical devices, namely a catheter, a guide wire and a balloon catheter for radiography, can be integrated in one consumable box, so that the consumable box can realize the control function of multiple instruments. The consumable box can be integrally installed and disassembled, and three medical devices and the replacement of internal driving components are realized through one-time installation and disassembly of the consumable box, so that the use of doctors is facilitated.

In this specification, as shown in fig. 1 and 2, the consumable cartridge includes: a cover 6, said cover 6 being connected to said first housing 1 and having an open position and a closed position, in which said cover 6 can cover said containing chamber. Further, a plurality of limit labels 61 are provided on the inner surface of the cover 6, and the limit labels 61 are used for limiting the shaft body of the first elongated medical device 2 to the first channel, limiting the shaft body of the second elongated medical device 3 to the second channel 13 and limiting the shaft body of the third elongated medical device 4 to the third channel 14 when the cover 6 is in the closed position, so as to prevent the shaft body of the medical device from being separated from the first channel, the second channel 13 and the third channel 14.

In this description, the first housing 1 has a spacer assembly 15 covering the first axial drive assembly 11 and the second axial drive assembly 12, the spacer assembly 15 being provided with a relief channel corresponding to the second channel 13 and the third channel 14, the relief channel being capable of exposing the first and second engagement surfaces for facilitating the mounting of the second elongate medical device 3 in the first axial drive assembly 11 and the mounting of the third elongate medical device 4 in the second axial drive assembly 12.

The receiving chamber defines a first chamber in which the first transmission assembly 7 and the first channel are arranged, and a second chamber in which the first axial drive assembly 11 and the second axial drive assembly 12 are arranged, wherein the first chamber is the uncovered area of the diaphragm assembly 15. The first housing 1 has a side wall 100, and a communication part 103 is provided on the side wall 100 of the first chamber, and the communication part 103 is used for introducing an external pipeline into the first chamber to be connected with the Y valve 22. The external pipeline is used for conveying contrast medium and is connected with a high-pressure injector outside the consumable box.

Further, the first housing 1 has a front end 101 and a rear end 102 opposite to each other, and the first housing 1 defines a housing axis between the front end 101 and the rear end 102, and the housing axis is coaxially disposed with the first channel and the second channel 13.

In this specification, the first transmission assembly 7 may include: the first rotary gear 71 is rotatably arranged, the second rotary gear 72 is meshed with the first rotary gear 71, the first rotary gear 71 is vertically arranged, and the second rotary gear 72 is horizontally arranged. When the second rotary gear 72 is driven to rotate, the first rotary gear 71 engaged with the second rotary gear 72 is driven to rotate, which in turn drives the first elongate medical device 2 coupled with the first rotary gear 71 to rotate.

In this specification, the first elongate medical device 2 comprises: a tube body and a proximal end portion connected to the tube body, the proximal end portion being provided with a rotatable member which causes rotation of the tube body in response to a rotational operation thereof, the rotatable member being detachably mounted to the first rotation gear 71 and rotatable by the first rotation gear 71.

In one embodiment, as shown in fig. 9, the proximal portion is a handle 21, the handle 21 comprising: a body, the rotatable member 211 is rotatable relative to the body, the body being connected to the Y valve 22 at an end remote from the tube 20. The rotatable member 211 is a rotation control portion on the handle 21 for controlling the rotation of the tube 20. The first rotary gear 71 is detachably connected to the rotation control portion, and when the second rotary gear 72 is driven to rotate, the rotation control portion can be driven to rotate, thereby causing the tube 20 to rotate.

In another embodiment, the proximal portion is a Y valve, the rotatable member is a Y valve body, the Y valve body is detachably mounted to the first rotary gear 71, and when the second rotary gear 72 is driven to rotate, the Y valve body can be driven to rotate, which in turn causes the tube body to rotate.

In this specification, as shown in fig. 3 and 8, the first axial driving assembly 11 includes: and a first pair of rotating shafts, a first pair of rotating wheels arranged on the first pair of rotating shafts, and the first pair of engaging surfaces are contact surfaces between the first pair of rotating wheels.

Specifically, the first pair of rotation shafts includes: the first rotation shaft 113 and the second rotation shaft 114, the first rotation shaft 113 and the second rotation shaft 114 being provided on both sides of the second passage 13, respectively. The first pair of rotating wheels includes: a first rotating wheel 111 and a second rotating wheel 112, the first rotating wheel 111 is disposed on the first rotating shaft 113, the second rotating wheel 112 is disposed on the second rotating shaft 114, and when the first rotating shaft 113 and the second rotating shaft 114 rotate, a pair of rotating wheels can be driven to rotate around the axis of the rotating shaft. When the pair of rotating wheels are rotated in opposite directions, the second elongate medical device 3 can be driven to advance or retreat in the direction of its own axis.

Further, the first rotating shaft 113 is fixedly provided with a first meshing gear, the second rotating shaft 114 is fixedly provided with a second meshing gear, and the first meshing gear and the second meshing gear are meshed for transmission. When the first rotating shaft 113 is driven to rotate, the first meshing gear fixed with the first rotating shaft 113 is driven to rotate, and then the second meshing gear is driven to rotate, so that the first rotating wheel 111 and the second rotating wheel 112 are driven to rotate reversely, and the second slender medical device 3 is driven to advance along the axis of the second slender medical device.

In this specification, the second axial drive assembly 12 includes: and a second pair of rotating shafts, a second pair of rotating wheels provided on the second pair of rotating shafts, the second pair of engaging surfaces being contact surfaces between the second pair of rotating wheels. Similarly, the second pair of rotating shafts includes: third and fourth rotating shafts provided on both sides of the third passage 14, respectively. For the way how the second axial drive assembly 12 advances the third elongate medical device 4, please refer to the description of the first axial drive assembly 11 above, which is not repeated in this specification.

As shown in fig. 4 to 5, the consumable cartridge further includes: a first motor 16 for powering said first transmission assembly 7; a second motor 17 for powering said first axial drive assembly 11; a third motor 18 for powering the second axial drive assembly 12. The first motor 16, the second motor 17 and the third motor 18 are arranged outside the first housing 1, in particular at the bottom of the first housing 1, and power the second rotary gear 72 in the first transmission assembly 7, the rotary shaft in the first axial driving assembly 11 and the rotary shaft in the second axial driving assembly 12.

In one embodiment, a first commutation unit is disposed between the first motor 16 and the second rotary gear 72, the first commutation unit comprising: the first bevel gear 161 and the second bevel gear 162, the first bevel gear 161 is connected with the second bevel gear 162 in a meshed manner, and the first motor 16 changes the torque transmission direction through the first reversing unit, so that the first motor 16 can be placed horizontally.

Of course, in some embodiments, the output shaft of the first motor 16 may also be directly coupled to the second rotary gear 72.

In one embodiment, a second reversing unit is disposed between the second motor 17 and the first rotating shaft 113, and the second motor 17 changes the torque transmission direction through the second reversing unit, so that the second motor 17 can be placed horizontally. Similarly, the consumable box may further include a third reversing unit, the third motor 18 changes the torque transmission direction through the third reversing unit, and the third motor 18 may be horizontally placed, so that the overall height of the consumable box may be reduced.

In this specification, as shown in fig. 8, the consumable cartridge includes: a rotational drive assembly for driving the second elongate medical device 3 in rotation, and a fourth motor 19 for powering the rotational drive assembly.

Thus, by rotating the driving member and the torque conversion module a relative translational movement is created between the first pair of rotating wheels, which simulates a doctor's thread rolling action, such that the second elongate medical device 3 (e.g. a guide wire) is rotated about its own axis. It can be seen that the first pair of rotating wheels can also perform relative translational movement under the action of the rotating driving member and the torque conversion module when rotating, so that the guide wire can perform rotation and delivery simultaneously.

The turning wheel moves in translation, in particular along the axial direction of the turning shaft. In this process, the rotary shaft is only allowed to rotate, but not axially, by the drive of the second motor 17. To achieve this, the rotation shaft may be of a special-shaped structure, or a square structure, or other structure having an irregular shape. In a specific embodiment, the rotation axis is a profiled structure with a planar section formed by slitting along the axial direction of the cylinder.

In addition, since the rotation shaft only performs rotational movement, but not axial movement, when the second motor 17 drives the rotation shaft, no additional transmission parts are needed, the structure of the whole scheme is relatively simple, and the movement modes of the rotation wheel can be diversified.

In one embodiment, the rotary drive has two, including: the first rotation driving piece and the second rotation driving piece are provided with a meshing gear transmission unit 115 therebetween, and when the first rotation driving piece is driven to rotate, the second rotation driving piece is driven to rotate along the opposite direction through the meshing gear transmission unit 115, and further, relative upward translational movement of one of the first pair of engagement surfaces is realized through the corresponding torque conversion module, and relative downward translational movement of the other of the first pair of engagement surfaces is realized.

The first rotational drive and the second rotational drive may be provided on both sides of the second elongate medical device 3, respectively, the first rotational drive being adapted to drive one of the first pair of rotational wheels in a relative upward translational movement, and the second rotational drive being adapted to drive the other of the first pair of rotational wheels in a relative downward translational movement. In this way, the guide wire clamped between the first pair of rotating wheels is prevented from being deflected by the upward or downward movement of the guide wire by this movement pattern.

In one embodiment, as shown in fig. 8, the torque conversion module includes: the linkage plate 116, the linkage plate 116 has the horizontal section of horizontal extension, horizontal section sets up rotate the driving piece with rotate between the wheel, horizontal section has first end and second end in its horizontal extension direction, first end with rotate the wheel relatively fixedly and be connected, the second end with rotate the driving piece transmission and be connected.

In this embodiment, the number of the torque conversion modules is the same as the number of the rotation driving members, the rotation driving members may be screw structures with threads, the external threads on the first rotation driving member and the second rotation driving member are the same in rotation direction, and the second end of the torque conversion module is provided with internal threads matched with the external threads. When the first rotation driving member is driven to rotate, the second rotation driving member is driven to rotate through the meshing gear transmission unit 115, and the rotation direction of the second rotation driving member is opposite to that of the first rotation driving member. Then, the first pair of rotating wheels are driven by the corresponding torque conversion modules to move along opposite directions, so that the guide wire clamped between the first pair of rotating wheels rotates.

In one embodiment, a fourth reversing unit is disposed between the fourth motor 19 and the first rotating driving member, and the fourth motor 19 changes the torque transmission direction through the fourth reversing unit, so that the fourth motor 19 can be horizontally placed, thereby reducing the overall height of the consumable cartridge.

In this specification, as shown in fig. 1 and 6, the consumable cartridge includes: a second housing 5 detachably installed outside the first housing 1, a receiving space is formed between the first housing 1 and the second housing 5, and the first motor 16, the second motor 17, the third motor 18, and the fourth motor 19 are installed in the receiving space.

In particular, the second housing 5 has a chamber capable of housing the entire first housing 1 to protect the first motor 16, the second motor 17, the third motor 18 and the fourth motor 19. The second housing 5 is provided with a relief groove at a position corresponding to the first housing 1 to allow the first, second and third elongate medical devices 2, 3, 4 to extend from the respective channels to the outside of the second housing 5.

A bottom plate 51 is disposed in the accommodating space, the bottom plate 51 is used for mounting the first motor 16, the second motor 17, the third motor 18 and the fourth motor 19, and the bottom plate 51 is connected with the first housing 1 through a plurality of connecting rods 53. Further, a circuit board 52 is disposed in the accommodating space, the circuit board 52 is electrically connected with the first motor 16, the second motor 17, the third motor 18 and the fourth motor 19, the circuit board 52 is provided with a connection portion for transmitting an electrical signal, and the second housing 5 is provided with an opening for guiding out the connection portion. In order to secure connection stability, the circuit board 52 is disposed on the bottom plate 51, and a groove is provided on the bottom plate 51 to draw out a connection portion of the circuit board 52.

When needed for use, the consumable cartridge is connected to the surgical robot by a doctor. Wherein, the first motor 16, the second motor 17, the third motor 18 and the fourth motor 19, as well as the first axial driving component 11, the second axial driving component 12, the rotary driving component and the first transmission component 7 can be installed to the surgical robot end at one time without multiple installation of doctors. And through one-time installation, the motion control of three kinds of slender medical devices can be realized, and the application of various operation scenes is satisfied. Accordingly, the surgical robot end is provided with a docking portion to dock with the connection portion drawn out from the second housing 5, and can supply electric signals to the respective components inside the consumable cartridge and power the circuit board 52.

In one embodiment, as shown in fig. 1 and 9, the first elongate medical device 2 comprises: a tube 20 and a proximal portion connected to the tube 20, the proximal portion being provided with a rotatable member 211, the rotatable member 211 causing rotation of the tube 20 in response to a rotational operation thereto, the proximal portion being a handle 21, the handle 21 comprising: a body with respect to which the rotatable member 211 is rotatable, the body being connected to the Y valve 22 at an end remote from the tube 20, the Y valve 22 being in communication with the body for delivery of contrast media, the receiving chamber being provided with an anti-rotation barrier 104 for cooperation with the body, the anti-rotation barrier 104 being configured to: the body and the Y valve 22 can be restricted from following the rotation of the tube 20.

In the present embodiment, when the rotatable member 211 is rotated by the first rotation gear 71, only the rotatable member 211 and the tube 20 are rotated, and the body and the Y valve 22 are not rotated by the rotation preventing partition 104, so that the Y valve 22 is prevented from affecting the conveyance of the contrast agent by the rotation.

The anti-rotation barrier 104 has a slot for receiving the handle body of the first elongate medical device 2. When the rotatable member 211 is driven by the first rotary gear 71, a part of force is inevitably transmitted to the handle body, and at this time, the handle body is limited by the anti-rotation partition 104, so that the handle body is prevented from rotating, and the Y valve 22 connected to the handle body is further prevented from rotating.

In one embodiment, as shown in fig. 3 and 9, the consumable cartridge includes: a second transmission assembly 8 disposed in the first chamber, the first elongate medical device 2 comprising: a tube 20 and a proximal portion connected to the tube 20, the tube 20 having a proximal end proximal to the proximal portion and a distal end distal from the proximal portion, the proximal portion being provided with a control member 212, the control member 212 causing distal deflection of the tube 20 in response to operation thereof.

The control unit 212 may be any of the following: a sliding block and a rotary knob. Specifically, when the control member 212 is a slider, the second transmission assembly 8 may drive the slider to move to actuate the distal end of the tube 20 to deflect, and when the control member 212 is a rotary knob, the second transmission assembly 8 may drive the rotary knob to rotate to actuate the distal end of the tube 20 to deflect. In this embodiment, the second transmission assembly 8 is different according to the specific form of the control component of the existing adjustable bend catheter, and the technical solution of the distal deflection of the tube body caused by the sliding block and the distal deflection of the tube body caused by the rotation knob is the prior art, and the present application will not be described in detail.

In a specific embodiment, the control member 212 is a slider, and the second transmission assembly 8 includes: the bending adjusting rack 81 and the bending adjusting gear 82, and the bending adjusting gear 82 is connected with the sliding block through an adapter. The bending gear 82 is driven by the fifth motor 23 to rotate, and drives the bending rack 81 meshed with the bending gear 82 to move back and forth, so as to drive the slider to move, thereby realizing the bending function of the pipe body 20. Wherein, set up third bevel gear 231 and fourth bevel gear 232 between fifth motor 23 and the accent curved gear 82, through third bevel gear 231 and fourth bevel gear 232 change moment transmission direction, so fifth motor 23 can horizontal place to can reduce the whole height of consumptive material box.

In the present embodiment, the fifth motor 23 is disposed in the accommodating space between the first housing 1 and the second housing 5, and is electrically connected to the circuit board 52.

The specification also provides a surgical robot comprising the consumable cartridge. As shown in fig. 10 and 11, the surgical robot includes: the consumable box is arranged on the sliding base 9 in a sliding manner, and the consumable box and the sliding base 9 are detachably installed; and the conveying mechanism is used for driving the consumable box to slide along the sliding base 9.

Specifically, when the consumable cartridge is mounted on the sliding base 9, the sliding base 9 extends longitudinally along the axial direction of the first channel, the sliding base 9 has opposite head ends and tail ends in the longitudinal extending direction, and the head ends are provided with a third axial driving assembly 91 for clamping the first elongated medical device 2 and driving the first elongated medical device 2 to displace linearly.

The third axial driving assembly 91 is fixed at the head end of the sliding base 9, and the consumable box is mounted at a position of the sliding base 9 close to the tail end. When the first elongate medical device 2 is delivered, the delivery mechanism is activated to advance the consumable cartridge along the sliding base 9 to advance the proximal portion of the first elongate medical device 2 and deliver the tubing 20 of the first elongate medical device 2 through the third axial drive assembly 91. By this pushing, the manual delivery procedure of the physician can be simulated. Second, this advancement prevents the first elongate medical device 2 from buckling during delivery into the patient's body 20.

It can be seen that the surgical robot provided in the embodiments of the present disclosure not only can implement the rotation and bending functions of the first elongated medical device 2, but also can implement the delivery of the first elongated medical device 2, thereby implementing various motion control modes.

In one embodiment, the third axial drive assembly 91 may include: a third pair of rotational shafts, a third pair of rotational wheels disposed on the third pair of rotational shafts for gripping the tubular body 20 of the first elongate medical device 2.

In one embodiment, the sliding base 9 may further be provided with a position sensor 92 for detecting that the consumable cartridge is in place, where the position sensor 92 is located on the sliding base 9 near the head end, so as to send out an in-place signal when the consumable cartridge approaches the head end of the sliding base 9, so as to stop the conveying mechanism and continue to push the consumable cartridge.

In one embodiment, the sliding base 9 comprises: the base can move along the sliding rail 93, the base is in transmission connection with the conveying mechanism, the base is connected with a flexible connecting piece 94, and the flexible connecting piece 94 is used for transmitting external electric signals to the consumable box.

In this embodiment, the base is provided with a docking portion that mates with the connection portion in the consumable box, the flexible connection piece 94 may be a drag chain structure, one end of the drag chain structure is connected with the docking portion of the base, and the other end of the drag chain structure is connected to the sliding base 9 and connected to the PCB board on the sliding base 9 to transmit an electrical signal. As such, when the consumable cartridge moves along the sled 93, the tow chain structure can keep signal transmission unaffected and can move in response to movement of the consumable cartridge. Alternatively, in other possible embodiments, the flexible connector 94 may be a cable made of a flexible material.

In one embodiment, the transport mechanism comprises: the base is arranged on the screw rod 96, so that when the sixth motor 95 is started, the base is driven to move along the sliding rail 93 through the screw rod 96, and then the consumable box is driven to move.

In this specification, the surgical robot further includes a console, the console includes an input device for user to trigger, and a controller in communication with the first motor 16, the second motor 17, the third motor 18, the fourth motor 19, the fifth motor 23, and the sixth motor 95, where the input device sends corresponding instructions to the controller in response to a triggering operation of the user, and the controller controls the motors to perform corresponding actions.

The above embodiments are provided to illustrate the technical concept and features of the present application and are intended to enable those skilled in the art to understand the content of the present application and implement the same, and are not intended to limit the scope of the present application. All equivalent changes or modifications made in accordance with the spirit of the present application should be construed to be included in the scope of the present application.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The disclosures of all articles and references, including patent applications and publications, are incorporated herein by reference for the purpose of completeness.

Claims

1. A consumable cartridge, comprising:

2. The consumable cartridge of claim 1, comprising: and the cover body is connected with the first shell and has an opening position and a closing position, and when the closing position is adopted, the cover body can cover the accommodating cavity.

3. The consumable cartridge of claim 1, wherein the first housing has a bulkhead assembly covering the first and second axial drive assemblies, the bulkhead assembly defining a relief channel corresponding to the second and third channels, the relief channel exposing the first and second engagement surfaces.

4. A consumable cartridge according to claim 3, wherein the receiving chamber defines a first chamber and a second chamber, the first transmission assembly and the first channel being provided in the first chamber, the first axial drive assembly and the second axial drive assembly being provided in the second chamber, the first chamber being the uncovered area of the diaphragm assembly, the first housing having a side wall on which a communication is provided for introducing an external conduit to the first chamber for connection with a Y valve.

5. The consumable cartridge of claim 1, wherein the first housing has opposite front and rear ends, the first housing defining a housing axis between the front end and the rear end, the housing axis being coaxially disposed with the first channel and the second channel.

6. The consumable cartridge of claim 1, wherein the first elongate medical device is a catheter for imaging, the second elongate medical device is a guidewire, and the third elongate medical device is a balloon catheter or stent.

7. The consumable cartridge of claim 1, wherein the consumable cartridge comprises: a first motor for powering the first transmission assembly; a second motor for powering the first axial drive assembly; and a third motor for powering the second axial drive assembly.

8. The consumable cartridge of claim 7, wherein the consumable cartridge comprises: a rotational drive assembly for driving the second elongate medical device in rotation, and a fourth motor for powering the rotational drive assembly.

9. The consumable cartridge of claim 8, wherein the consumable cartridge comprises: and the second shell is detachably arranged outside the first shell, a containing space is formed between the first shell and the second shell, and the first motor, the second motor, the third motor and the fourth motor are arranged in the containing space.

10. The consumable cartridge of claim 9, wherein a bottom plate is provided in the receiving space, the bottom plate being for mounting the first motor, the second motor, the third motor, and the fourth motor.

11. The consumable cartridge of claim 9, wherein a circuit board is disposed in the receiving space, the circuit board is electrically connected to the first motor, the second motor, the third motor, and the fourth motor, the circuit board is provided with a connection portion for transmitting an electrical signal, and the second housing is provided with an opening for drawing out the connection portion.

12. The consumable cartridge of claim 8, wherein the first axial drive assembly comprises: a first pair of rotating shafts, a first pair of rotating wheels provided on the first pair of rotating shafts, the first pair of engaging surfaces being contact surfaces between the first pair of rotating wheels;

13. The consumable cartridge of claim 12, wherein the rotational drive has two, comprising: the first rotary driving piece and the second rotary driving piece are provided with meshing gear transmission units, when the first rotary driving piece is driven to rotate, the second rotary driving piece is driven to rotate along the opposite direction through the meshing gear transmission units, and further, relative upward translational movement of one of the first pair of joint surfaces is achieved through the corresponding torque conversion module, and relative downward translational movement of the other of the first pair of joint surfaces is achieved.

14. The consumable cartridge of claim 12, wherein the torque conversion module comprises: the linkage plate, the linkage plate has the horizontal section of horizontal extension, horizontal section sets up rotate the driving piece with rotate between the wheel, horizontal section has first end and second end in its horizontal extending direction, first end with rotate the wheel relatively fixedly and connect, the second end with rotate the driving piece transmission and be connected.

15. The consumable cartridge of claim 1, wherein the second axial drive assembly comprises: and a second pair of rotating shafts, a second pair of rotating wheels provided on the second pair of rotating shafts, the second pair of engaging surfaces being contact surfaces between the second pair of rotating wheels.

16. The consumable cartridge of claim 1, wherein the first transmission assembly comprises: the first rotary gear is rotatably arranged, the second rotary gear is meshed with the first rotary gear for transmission, the first rotary gear is vertically arranged, and the second rotary gear is transversely arranged.

17. The consumable cartridge of claim 16, wherein the first elongate medical device comprises: the device comprises a tube body and a proximal end part connected with the tube body, wherein the proximal end part is provided with a rotatable part, the rotatable part is used for responding to the rotation operation of the rotatable part to cause the rotation of the tube body, and the rotatable part is detachably arranged with the first rotary gear and can be driven to rotate by the first rotary gear.

18. The consumable cartridge of claim 17, wherein the proximal portion is a handle comprising: the rotatable part can rotate relative to the body, the body is keeping away from the end connection Y valve of body, Y valve with the body is linked together and is used for carrying contrast medium, hold the intracavity be provided with be used for with body matched with prevent changeing the baffle, prevent changeing the baffle and be constructed: the body and the Y valve can be restricted from following the rotation of the tube.

19. A surgical robot comprising a consumable cartridge according to any one of claims 1 to 18.

20. The surgical robot of claim 19, wherein the surgical robot comprises: the consumable box is arranged on the sliding base in a sliding manner, and the consumable box and the sliding base are detachably installed; and the conveying mechanism is used for driving the consumable box to slide along the sliding base.

21. The surgical robot of claim 20, wherein the slide mount extends lengthwise along the axis of the first channel when the consumable cartridge is mounted on the slide mount, the slide mount having opposite head and tail ends in its lengthwise extension, the head end being provided with a third axial drive assembly for clamping and linearly displacing the first elongate medical device.

22. The surgical robot of claim 21, wherein the slide mount is provided with a position sensor for detecting the consumable cartridge in place, the position sensor being located on the slide mount near the head end.

23. The surgical robot of claim 20, wherein the slide mount comprises: slide rail and be used for installing the base of consumptive material box, the base can be followed the slide rail removes, the base with conveying mechanism transmission is connected, connect flexible connector on the base, flexible connector is used for giving external electric signal transmission the consumptive material box.