CN215606254U - Catheter driving device of vascular intervention surgical robot - Google Patents
Catheter driving device of vascular intervention surgical robot Download PDFInfo
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- CN215606254U CN215606254U CN202121709455.2U CN202121709455U CN215606254U CN 215606254 U CN215606254 U CN 215606254U CN 202121709455 U CN202121709455 U CN 202121709455U CN 215606254 U CN215606254 U CN 215606254U
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Abstract
The utility model relates to a catheter driving device of a vascular intervention surgical robot, which comprises a catheter driving module arranged on an instrument operation box, wherein the catheter driving module comprises a catheter rotating mechanism, the catheter rotating mechanism comprises a rotating piece, a multi-stage transmission assembly and a driving connecting shaft, the rotating piece is arranged on a catheter, the rotating piece is connected with the multi-stage transmission assembly, the multi-stage transmission assembly is connected with the driving connecting shaft, and the driving connecting shaft is arranged on the side surface of the instrument operation box. The driving connecting shaft is arranged on the side surface of the instrument operating box, and the multistage transmission assembly is arranged to adapt to a transmission structure between the catheter and the driving connecting shaft, so that the catheter driving device of the vascular interventional surgical robot can be connected with a driving mechanism on the robot in a side connection mode, and the problem that liquid permeates into a body of the driving mechanism to corrode the structural part or cause electrical short circuit due to the fact that the instrument operating box is arranged above the driving mechanism in the prior art is solved.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a catheter driving device of a vascular intervention surgical robot.
Background
Minimally invasive vascular interventional surgery is a basic means for diagnosis and treatment of cardiovascular and cerebrovascular diseases, and most of the currently implemented vascular lesion diagnosis and vascular reconstruction surgeries need the help of the technology. The minimally invasive vascular interventional surgical robot can effectively improve the accuracy and the controllability of instrument delivery in the surgical process and reduce the cumulative radiation injury to doctors. The advancing mechanism of the instruments such as the catheter, the guide wire, the balloon catheter and the like in the existing vascular interventional surgical robot has the following defects that various dispersed components are complicated and inconvenient to disassemble, and are not beneficial to the disinfection of the catheter, the guide wire and the replacement in the operation before the operation; the advancing mechanism does not allow for simultaneous delivery of the catheter and guidewire. For the operation of the robot-assisted surgery, the instrument operation needs to be capable of realizing the cooperative action of the guide catheter, the guide wire and the balloon catheter in a relatively compact space without interfering with each other. Meanwhile, strict requirements are placed on the sterility of instruments in surgical operations, and it is necessary to ensure that instruments in direct contact with blood vessels of patients are not polluted by operating mechanisms. On the other hand, the efficiency of installation and replacement of catheters, guide wires, balloon catheter instruments remains an important consideration during surgical procedures. Therefore, it is necessary to design an instrument operation box for an interventional surgical robot, which realizes precise, stable, sterile and efficient operation of relevant instruments.
In the prior art, most instrument operation boxes for interventional surgical robots are arranged above a driving or transmission mechanism, so that a catheter driving module integrated on the instrument operation box can only be adapted to a vertical connection mode but cannot be adapted to other connection modes, but the mode of arranging the instrument operation box above the driving mechanism at least has the following defects: (1) liquid in the operation process can permeate into a machine body of a driving mechanism below, so that the problem of structural part corrosion or electrical short circuit is easily caused; (2) the whole height of the robot is large, so that instruments such as a tube wire loaded on the robot cannot be completely attached to a blood vessel inlet of a patient, the effective use distance of the instruments such as the tube wire is reduced, and the operation of part of the patients cannot be completed.
There is therefore a need for improvements to existing catheter drive modules integrated on instrument cassettes.
SUMMERY OF THE UTILITY MODEL
Therefore, the technical problem to be solved by the present invention is to overcome the defects in the prior art, and to provide an improved catheter driving device for a vascular interventional surgical robot, which is connected with a driving mechanism on the robot in a side connection manner, so as to solve the problem in the prior art that a liquid penetrates into a body of the driving mechanism to corrode a structural member or cause an electrical short circuit due to the installation of an instrument operation box above the driving mechanism.
In order to solve the technical problem, the utility model provides a catheter driving device of a vascular intervention surgical robot, which comprises a catheter driving module arranged on an instrument operation box, wherein the catheter driving module comprises a catheter rotating mechanism used for driving a catheter to rotate, the catheter rotating mechanism comprises a rotating piece, a multi-stage transmission assembly and a driving connecting shaft, the rotating piece is arranged on the catheter, the rotating piece is connected with the multi-stage transmission assembly, the multi-stage transmission assembly is connected with the driving connecting shaft, and the driving connecting shaft is arranged on the side surface of the instrument operation box.
In one embodiment of the utility model, the driving connecting shaft is arranged to protrude from the side surface of the instrument operation box.
In one embodiment of the present invention, the multi-stage transmission assembly includes a transmission member and a gear set, a power input end of the transmission member is connected to the driving connection shaft, a power output end of the transmission member is connected to the gear set, and the gear set is connected to the rotating member.
In one embodiment of the utility model, the transmission member comprises a gear transmission unit and a first gear shaft, the first gear shaft comprises a first gear, the first gear is connected with the gear set, and the first gear shaft is connected with the gear transmission unit.
In one embodiment of the present invention, the gear set includes a second gear shaft including a second gear a and a second gear b, the second gear a and the second gear b being disposed at both ends of the second gear shaft, the second gear a engaging the first gear, the second gear b engaging the rotary member.
Compared with the prior art, the technical scheme of the utility model has the following advantages:
the utility model provides an improved catheter driving device of a vascular interventional surgical robot, wherein a driving connecting shaft is arranged on the side surface of an instrument operation box, and a multi-stage transmission assembly is arranged to adapt to a transmission structure between a catheter and the driving connecting shaft, so that the catheter driving device of the vascular interventional surgical robot can be connected with a driving mechanism on the robot in a side connection mode, thereby solving the problem that the liquid permeates into a machine body of the driving mechanism to generate corrosion structural parts or electrical short circuit due to the installation of the instrument operation box above the driving mechanism in the prior art, and the robot is arranged on the side surface of the instrument operation box in the driving side connection mode, which can reduce the overall height of the robot, so that instruments such as a tube wire loaded on the robot can be completely close to a blood vessel inlet of a patient, and the effective use distance of the instruments such as the tube wire is obviously increased, is easy to be popularized and used.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference will now be made in detail to the present disclosure, examples of which are illustrated in the accompanying drawings.
Fig. 1 is a schematic structural view of the instrument cartridge of the present invention.
Fig. 2 is a schematic structural view of the catheter drive module of the present invention.
The specification reference numbers indicate: 100. an instrument operation box; 200. a catheter drive module; 220. a conduit; 230. a rotating member; 241. a gear transmission unit; 242. a first gear shaft; 243. a second gear shaft; 244. a first gear; 245. a second gear a; 246. a second gear b; 250. the connecting shaft is driven.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1 and 2, the present invention provides a catheter driving apparatus for a vascular interventional surgical robot, including a catheter driving module 200 disposed on an instrument operation box 100, the catheter driving module 200 including a catheter rotating mechanism for driving a catheter 220 to rotate, the catheter rotating mechanism including a rotating member 230, a multi-stage transmission assembly and a driving connection shaft 250, the rotating member 230 being disposed on the catheter 220, the rotating member 230 being connected to the multi-stage transmission assembly, the multi-stage transmission assembly being connected to the driving connection shaft 250, the driving connection shaft 250 being disposed at a side of the instrument operation box 100.
The driving connecting shaft 250 is arranged on one side of the instrument operation box 100, namely, the driving connecting shaft 250 is connected with the driving mechanism on the robot in a side connection mode, the problem that a corrosion structural part or an electrical short circuit occurs when liquid permeates into the body of the driving mechanism due to the fact that the instrument operation box 100 is arranged above the driving mechanism in the prior art is solved, and the robot is arranged on the side face of the instrument operation box 100 in the driving side connection mode, so that the overall height of the robot can be reduced, instruments such as a catheter 220 loaded on the robot can be completely attached to a blood vessel inlet of a patient, and the effective use distance of the instruments such as the catheter 220 is remarkably increased.
The multi-stage transmission assembly includes a transmission member and a gear set, wherein a power input end of the transmission member is connected to the driving connection shaft 250, a power output end of the transmission member is connected to the gear set, and the gear set is connected to the rotating member 230.
Specifically, the transmission member includes a gear transmission unit 241 and a first gear shaft 242, the gear set includes a second gear shaft 243, the first gear shaft 242 includes a first gear 244, the first gear shaft 242 is connected to the gear transmission unit 241, the second gear shaft 243 includes a second gear a245 and a second gear b246, the second gear a245 and the second gear b246 are disposed at both ends of the second gear shaft 243, the second gear a245 is engaged with the first gear 244, and the second gear b246 is engaged with the rotary member 230.
Preferably, the first gear 244, the second gear a245, the second gear b246 and the rotary member 230 may be bevel gears.
In actual operation, the driving connection shaft 250 is connected to a driving source (which may be a motor or the like), the driving source drives the first gear 244 to rotate through the gear transmission unit 241, the first gear 244 drives the rotating member 230 to rotate through the second gear a245 and the second gear b246, and then the rotating member 230 drives the catheter 220 to rotate, so as to adapt to operations such as bifurcation and turning in a blood vessel.
The above-mentioned catheter driving device for vascular interventional surgical robot is provided with an improved driving connecting shaft 250 disposed at the side of the instrument operation box 100, and a multi-stage transmission assembly is provided to adapt the transmission structure between the catheter 220 and the driving connecting shaft 250.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the utility model may be made without departing from the spirit or scope of the utility model.
Claims (5)
1. The utility model provides a vascular intervention surgical robot's pipe drive arrangement which characterized in that, is including setting up the pipe drive module on the apparatus operation box, pipe drive module is including being used for driving the rotatory pipe rotary mechanism of pipe, pipe rotary mechanism includes rotating member, multistage transmission subassembly and drive connecting axle, the rotating member sets up on the pipe, the rotating member is connected multistage transmission subassembly, multistage transmission subassembly is connected the drive connecting axle, the drive connecting axle sets up the side at the apparatus operation box.
2. The catheter driving apparatus of a vascular interventional surgical robot as set forth in claim 1, wherein: the driving connecting shaft protrudes out of the side face of the instrument operating box.
3. The catheter driving apparatus of a vascular interventional surgical robot as set forth in claim 1, wherein: the multistage transmission assembly comprises a transmission piece and a gear set, the power input end of the transmission piece is connected with the driving connecting shaft, the power output end of the transmission piece is connected with the gear set, and the gear set is connected with the rotating piece.
4. The catheter driving apparatus of a vascular interventional surgical robot as set forth in claim 3, wherein: the transmission part comprises a gear transmission unit and a first gear shaft, the first gear shaft comprises a first gear, the first gear is connected with the gear set, and the first gear shaft is connected with the gear transmission unit.
5. The catheter driving apparatus of a vascular interventional surgical robot as set forth in claim 4, wherein: the gear set comprises a second gear shaft, the second gear shaft comprises a second gear a and a second gear b, the second gear a and the second gear b are arranged at two ends of the second gear shaft, the second gear a is meshed with the first gear, and the second gear b is meshed with a rotating member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121709455.2U CN215606254U (en) | 2021-07-26 | 2021-07-26 | Catheter driving device of vascular intervention surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121709455.2U CN215606254U (en) | 2021-07-26 | 2021-07-26 | Catheter driving device of vascular intervention surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215606254U true CN215606254U (en) | 2022-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121709455.2U Active CN215606254U (en) | 2021-07-26 | 2021-07-26 | Catheter driving device of vascular intervention surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215606254U (en) |
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2021
- 2021-07-26 CN CN202121709455.2U patent/CN215606254U/en active Active
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