CN215994240U - Convenient-to-disassemble and assemble slave end driving device of interventional operation robot - Google Patents
Convenient-to-disassemble and assemble slave end driving device of interventional operation robot Download PDFInfo
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- CN215994240U CN215994240U CN202122075143.7U CN202122075143U CN215994240U CN 215994240 U CN215994240 U CN 215994240U CN 202122075143 U CN202122075143 U CN 202122075143U CN 215994240 U CN215994240 U CN 215994240U
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Abstract
A slave end driving device of an interventional operation robot, which is convenient to disassemble and assemble and is arranged on the slave end of the interventional operation robot, comprises a twisting mechanism and a frame, the twisting mechanism comprises two clamping groups which are oppositely arranged and a driving component for driving the two clamping groups to clamp the guide wire guide pipe, each clamping group comprises a clamping part and a position adjusting part, the frame comprises a first shell for accommodating the driving assembly, the first shell is convexly provided with two extending cylinders, each extending cylinder is provided with a through hole penetrating to the inside, the positioning parts of the two clamping groups respectively penetrate through the two through holes of the first shell and are installed in a matching way with the driving component, the clamping part of each clamping group is provided with a clamping groove extending inwards, a gap for accommodating the corresponding extending cylinder is formed between the outer side surface of the corresponding adjusting part and the clamping groove, and the clamping parts of the two clamping groups are respectively wrapped on the outer sides of the two extending cylinders of the first shell. The utility model discloses after using up, can very conveniently change.
Description
Technical Field
The utility model relates to a medical instrument robot field device especially relates to a make things convenient for intervention operation robot slave end drive arrangement of dismouting.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, the incision (puncture point) of the digital technology is only the size of rice grains, and the digital technology can treat a plurality of diseases which cannot be treated in the past, need surgical treatment or have poor curative effect in internal treatment without cutting human tissues, such as tumors, hemangioma, various kinds of bleeding and the like. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
For the blood vessel interventional operation, doctors need to receive X-ray radiation for a long time, and therefore, a master-slave blood vessel interventional operation robot for remote operation is developed in engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment.
From end surgical robot at the in-process of carrying out seal wire (or pipe) pivoted, need corresponding drive mechanism to drive, drive mechanism realizes the in-process of controlling of seal wire (or pipe), the inside raffinate such as blood that exposes easily in the air or by the operation in-process of drive mechanism pollutes, for guaranteeing operation safety, realize the operation and operate in sterile environment, need abandon the drive mechanism after the operation at every turn as the consumptive material, avoid contaminated drive mechanism used repeatedly, because drive mechanism requires highly to the precision of conveying and control, its cost that corresponds is also higher, drive mechanism directly abandons as the consumptive material, increase patient's medical cost undoubtedly, increase patient's economic burden.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a novel slave-end driving device for an interventional surgical robot, which is convenient to assemble and disassemble, in order to overcome the defects in the prior art.
A slave end driving device of an interventional operation robot, which is convenient to disassemble and assemble and is arranged on the slave end of the interventional operation robot, the twisting mechanism comprises two clamping groups which are oppositely arranged and a driving component for driving the two clamping groups to clamp the guide wire guide pipe, each clamping group comprises a clamping part and a position adjusting part, the frame comprises a first shell for accommodating the driving assembly, the first shell is convexly provided with two extending cylinders, each extending cylinder is provided with a through hole penetrating to the inside, the positioning parts of the two clamping groups respectively penetrate through the two through holes of the first shell and are installed in a matching way with the driving component, the clamping part of each clamping group is provided with a clamping groove extending inwards, a gap for accommodating the corresponding extending cylinder is formed between the outer side surface of the corresponding adjusting part and the clamping groove, and the clamping parts of the two clamping groups are respectively wrapped on the outer sides of the two extending cylinders of the first shell.
Furthermore, the clamping part and the adjusting part of each clamping group are distributed in a T shape.
Furthermore, the machine frame and the rubbing mechanism are non-consumable parts.
Further, the consumable part comprises an outer cover, and the outer cover is sleeved outside the clamping part.
Further, the consumable part still includes the bolster, the bolster bonds on the dustcoat, the material of bolster is silica gel.
Furthermore, the consumable part also comprises a second shell for accommodating the first shell, the second shell comprises an accommodating part and a butt joint part connected to one end of the accommodating part, the accommodating part is arranged in a hollow manner, an opening is formed in the upper end of the butt joint part, and the clamping parts and the outer cover of the two clamping groups are respectively arranged in the opening of the butt joint part on the second shell.
Furthermore, two opposite guide grooves are arranged at the edge of the opening, the guide grooves are arranged in a V shape, and the width of each guide groove is gradually reduced from the edge inwards.
Further, the consumable part further comprises a surface cover which can be freely detached from the second housing, and the surface cover is covered on the butt joint part.
Furthermore, a clamping plate is arranged on the surface cover and matched with the guide groove to limit the guide wire or the guide pipe.
Further, the second shell and the first shell or the face cover and the second shell are fixed through a magnetic attraction method.
To sum up, the utility model discloses make things convenient for intervention operation robot of dismouting to set up positioning portion and clamping part from end drive arrangement through on the centre gripping group to set up an extension section of thick bamboo on first casing, the positioning portion of two centre gripping groups do not pass on first casing two perforation of extending a section of thick bamboo and with first drive assembly cooperation installation, seal wire or pipe are delivering the in-process, and the clamping part keeps the parcel in the outside of extending a section of thick bamboo, guarantees inner space and external isolation, has used the back, need not to change whole device, effectively reduces the use cost of product, alleviates patient's economic burden, compact structure moreover, and occupation space is less, and the practicality is strong, has stronger popularization meaning.
Drawings
FIG. 1 is a schematic structural view of a detachable auxiliary end driving device of an interventional surgical robot of the present invention;
FIG. 2 is an exploded view of the detachable slave end drive device of the interventional robot shown in FIG. 1;
FIG. 3 is an exploded view of the detachable interventional robot of FIG. 2 from another angle;
FIG. 4 is a further exploded view of the detachable slave end drive device of the interventional robot of FIG. 2;
FIG. 5 is an exploded view of the detachable interventional robot of FIG. 4 from another angle;
fig. 6 is a schematic structural view of the present invention when the clamping group of the detachable interventional surgical robot slave end driving device is installed in cooperation with the first driving assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 6, the utility model provides an intervene and make things convenient for operation robot from end drive arrangement of intervention of dismouting, it is installed and is served in the intervention operation robot, promote slender type medical instrument (seal wire or pipe) 100 and carry out the operation of centre gripping, corotation, reversal, promote slender type medical instrument 100 and be the corotation of seal wire or pipe and indicate the direction that lets seal wire or pipe rotatory get into operation patient's health, the reversal indicates the direction that lets seal wire or pipe rotatory withdraw operation patient's health.
The auxiliary end driving device of the interventional operation robot convenient to disassemble and assemble for interventional operation comprises a rack 10, an inner frame 20 and a twisting mechanism, wherein the twisting mechanism is arranged on the inner frame 20, and the rack 10 is sleeved on the outer sides of the inner frame 20 and the twisting mechanism to isolate the outside from the twisting mechanism. The twisting mechanism comprises two clamping groups 30, a first driving assembly 40 and a second driving assembly 50 which are oppositely arranged, the first driving assembly 40 drives the two clamping groups 30 to approach or depart from each other along a first direction, the second driving assembly 50 drives the two clamping groups 30 which clamp the guide wire guide pipe to move oppositely along a second direction different from the first direction, the guide wire guide pipe is twisted to rotate, the first direction and the second direction are mutually vertical, and the guide wire or the guide pipe is supported by the frame 10.
The two clamping sets 30 each include a clamping portion 31 and a positioning portion 32, the clamping portion 31 and the positioning portion 32 are distributed in a T shape, a clamping groove 35 extending inward is formed in a bottom surface of the clamping portion 31, an upper end of the positioning portion 32 is detachably mounted in the clamping groove 35, a gap is formed between an outer side surface of the positioning portion 32 and the clamping groove 35, and a plurality of positioning grooves extending inward are formed in a bottom of the positioning portion 32.
The frame 10 includes a first housing 11, the first housing 11 is integrally hollow, two extending cylinders 111 are convexly disposed on the top surface of the first housing 11, each extending cylinder is provided with a through hole 112 penetrating along the second direction, and a supporting leg 113 is further convexly disposed at one side of the first housing 11.
During assembly, the first driving assembly 40, the second driving assembly 50 and the inner frame 20 of the twisting mechanism are installed in the first housing 11, and the positioning portions 32 of the two clamping sets 30 respectively pass through the through holes 112 of the two extending cylinders 111 of the first housing 11 and are installed in cooperation with the corresponding first guide rods 44 on the first driving assembly 40 through the positioning slots thereof, so that the whole clamping set 30 can slide in a reciprocating manner along the two first guide rods 44 in the second direction. Because the groove depth of the clamping groove 35 of the clamping portion 31 is greater than the length of the extending cylinder 111, the second driving assembly 50 drives the two clamping groups 30 to slide along the corresponding first guide rods 44, and the clamping portions 31 of the two clamping groups 30 are kept wrapped outside the extending cylinder 111, so that the internal space is isolated from the outside.
The consumable part further comprises a second shell 12 and a surface cover 13, the second shell 12 is used for accommodating the first shell 11, the second shell 12 comprises an accommodating part 121 and a butt joint part 122 connected to the upper end of the accommodating part 121, the accommodating part 121 is arranged in a hollow mode, a long opening 123 extending along the first direction is formed in the upper end of the butt joint part 122, two guide grooves 124 which are oppositely arranged are formed in the edge position of the opening 123 along the third direction, the guide grooves 124 are arranged in a V-shaped mode, and the groove width of the guide grooves 124 is gradually reduced from the edge inwards. In this embodiment, the third direction is perpendicular to the first direction and the second direction.
During the use, the second casing 12 is located the outside of first casing 11 along the second direction cover, is equipped with magnet and/or iron plate on second casing 12, the first casing 11, and difficult not hard up when guaranteeing first casing 11, the cooperation of second casing 12 through the method of magnetism actuation to can freely dismouting, through setting up guide slot 124, can install the wire guide pipe more conveniently, and guide slot 124 can support the wire guide pipe.
The clamping parts 31 of the two clamping groups 30, the outer cover 33 sleeved on the clamping parts and the buffer parts 34 are arranged in the openings 123 of the butting parts 122 on the second shell 12, and the center positions of the openings are opposite to the two V-shaped guide grooves 124; the butt joint part 122 is covered with the surface cover 13, the surface cover 13 and the second shell 12 are also provided with magnets and/or iron blocks, the surface cover 13 is covered in place and can be freely disassembled and assembled from the second shell 12 through a magnetic attraction method, the surface cover 13 is provided with a clamping plate 131, the clamping plate 131 is matched with the guide groove 124 to limit a guide wire or a guide pipe, the guide wire or the guide pipe is enabled to rotate around the center of an axis, and in order to achieve a better matching effect, the bottom of the clamping plate 131 is provided with an avoiding groove 132.
Because the assembled auxiliary end driving device of the intervention operation robot which is convenient to disassemble and assemble is used, only the consumable part is exposed on the outer side, and after the auxiliary end driving device is used every time, the consumable part is only required to be directly replaced without replacing the whole auxiliary end guide wire catheter twisting device, so that the operation cost is reduced.
To sum up, the utility model discloses make things convenient for intervention operation robot of dismouting to set up positioning portion 32 and clamping part 31 from end drive arrangement through on centre gripping group 30 to set up an extension section of thick bamboo 111 on first casing 11, positioning portion 32 of two centre gripping groups 30 pass on first casing 11 respectively two perforation 112 that extend a section of thick bamboo 111 and with the installation of 40 cooperations of first drive assembly, seal wire or pipe are delivering the in-process, and the clamping part keeps the parcel in the outside of extending a section of thick bamboo 111, guarantees inner space and external isolation, has used up the back, need not to change whole device, effectively reduces the use cost of product, alleviates patient's economic burden, and compact structure, occupation space is less moreover, and the practicality is strong, has stronger popularization meaning.
The above-described embodiments only represent one embodiment of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the spirit of the invention, and these are within the scope of the invention. Therefore, the protection scope of the utility model patent should be subject to the appended claims.
Claims (10)
1. A slave end driving device of an interventional operation robot, which is convenient to disassemble and assemble and is arranged on the slave end of the interventional operation robot, it is characterized by comprising a twisting mechanism and a frame, wherein the twisting mechanism comprises two clamping groups which are oppositely arranged and a driving component for driving the two clamping groups to clamp the guide wire guide pipe, each clamping group comprises a clamping part and a position adjusting part, the frame comprises a first shell for accommodating the driving assembly, the first shell is convexly provided with two extending cylinders, each extending cylinder is provided with a through hole penetrating to the inside, the positioning parts of the two clamping groups respectively penetrate through the two through holes of the first shell and are installed in a matching way with the driving component, the clamping part of each clamping group is provided with a clamping groove extending inwards, a gap for accommodating the corresponding extending cylinder is formed between the outer side surface of the corresponding adjusting part and the clamping groove, and the clamping parts of the two clamping groups are respectively wrapped on the outer sides of the two extending cylinders of the first shell.
2. The detachable interventional surgical robot slave-end driving device according to claim 1, wherein: the clamping part and the adjusting part of each clamping group are distributed in a T shape.
3. The detachable interventional surgical robot slave-end driving device according to claim 1, wherein: the machine frame and the rubbing mechanism are non-consumable parts.
4. A detachable interventional surgical robot slave-end driving device according to claim 3, wherein: the consumable part comprises an outer cover, and the outer cover is sleeved on the outer side of the clamping part.
5. The detachable interventional surgical robot slave-end driving device according to claim 4, wherein: the consumable part further comprises a buffer piece, the buffer piece is bonded on the outer cover, and the buffer piece is made of silica gel.
6. A detachable interventional surgical robot slave-end driving device according to claim 3, wherein: the consumable part also comprises a second shell used for accommodating the first shell, the second shell comprises an accommodating part and a butt joint part connected to one end of the accommodating part, the accommodating part is arranged in a hollow manner, an opening is formed in the upper end of the butt joint part, and the clamping parts and the outer cover of the two clamping groups are arranged in the opening of the butt joint part on the second shell.
7. The detachable interventional surgical robot slave-end driving device according to claim 6, wherein: two opposite guide grooves are arranged at the edge of the opening, the guide grooves are arranged in a V shape, and the groove width of each guide groove is gradually reduced from the edge inwards.
8. The detachable interventional surgical robot slave-end driving device according to claim 7, wherein: the consumable portion further includes a surface cover that is freely detachable from the second housing, the surface cover being covered on the docking portion.
9. The detachable interventional surgical robot slave-end driving device according to claim 8, wherein: the surface cover is provided with a clamping plate, and the clamping plate is matched with the guide groove to limit the guide wire or the guide pipe.
10. The detachable interventional surgical robot slave-end driving device according to claim 8, wherein: the second shell and the first shell or the face cover and the second shell are fixed in a magnetic attraction mode.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121856634 | 2021-08-10 | ||
| CN2021218566349 | 2021-08-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215994240U true CN215994240U (en) | 2022-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122075143.7U Active CN215994240U (en) | 2021-08-10 | 2021-08-31 | Convenient-to-disassemble and assemble slave end driving device of interventional operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215994240U (en) |
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2021
- 2021-08-31 CN CN202122075143.7U patent/CN215994240U/en active Active
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| GR01 | Patent grant | ||
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |