CN218356368U - Instrument operation box assembly for vascular intervention surgical robot - Google Patents

Abstract

The utility model discloses an instrument operation box component for a vascular intervention surgical robot, which comprises an instrument operation box, a catheter rotation driving device and a balloon catheter driving device; the catheter rotation driving device and the balloon catheter driving device are arranged on the instrument operation box, are positioned below the instrument operation box and are sequentially arranged along the front and back directions of the instrument operation box; the catheter rotation driving device comprises a catheter rotation power input shaft and a first transmission assembly, the catheter rotation power input shaft extends transversely along the instrument operation box, and the power input end of the catheter rotation power input shaft extends out of one transverse side of the instrument operation box; the balloon catheter driving device comprises a balloon catheter power input shaft and a second transmission assembly, the balloon catheter power input shaft extends along the transverse direction of the instrument operation box, and the power input end of the balloon catheter power input shaft extends out of one transverse side of the instrument operation box; one lateral side of the instrument operation box can be detachably connected with one adjacent side of the power unit by using a plug connection mode.

Description

Instrument operation box assembly for vascular intervention surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to an instrument operation box subassembly that is used for blood vessel to intervene surgical robot.

Background

The minimally invasive vascular interventional operation is a basic means for diagnosing and treating cardiovascular and cerebrovascular diseases, and most of the currently implemented vascular disease diagnosis and vascular reconstruction operations need to be assisted by 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 existing propelling mechanism of instruments such as a catheter, a guide wire, a balloon catheter and the like in the vascular intervention surgical robot has the following defects: various dispersing components are complicated and inconvenient to disassemble, and are not beneficial to disinfection of a catheter, a guide wire and a balloon catheter before an operation and replacement in 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 installing and replacing catheters, guide wires, balloon catheters and other instruments remains an important issue to be considered during the surgical operation. It is therefore desirable to design an instrument manipulation case for an interventional surgical robot that allows for precise, stable, sterile and efficient manipulation of the relevant instruments

In the prior art, most of instrument operation boxes for interventional operation robots are arranged above a power unit, but the mode of arranging the instrument operation boxes above the power unit has at least the following defects: (1) Liquid in the operation process can permeate into the body of the power unit below, so that the problem of structural part corrosion or electrical short circuit is easily caused; (2) The whole thickness 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.

In view of the above problems of the conventional techniques, there is a need for a vascular interventional surgical robot with further improved structural performance.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the above-mentioned defect that the conventional art exists, and its purpose provides an apparatus operation box subassembly for blood vessel intervenes surgical robot, and it can be connected with this body of robot through the side connected mode to solve among the prior art the problem that the liquid infiltration power unit organism that apparatus operation box installed in the power unit top and led to takes place to corrode structure or electrical short circuit, and reduce the robot from the operation of the whole thickness of tip portion and being convenient for the operation.

In order to achieve the above object, the utility model provides an instrument operation box assembly for a vascular intervention surgical robot, which comprises an instrument operation box, a catheter rotation driving device and a balloon catheter driving device;

the catheter rotation driving device and the balloon catheter driving device are arranged on the instrument operation box, are positioned below the instrument operation box and are sequentially arranged along the front-back direction of the instrument operation box, and the catheter rotation driving device is arranged in front of the balloon catheter driving device;

the catheter rotation driving device comprises a catheter rotation power input shaft and a first transmission assembly, the catheter rotation power input shaft extends along the transverse direction of the instrument operation box, the power output end of the catheter rotation power input shaft is connected with the first transmission assembly, and the power input end of the catheter rotation power input shaft extends out of one transverse side of the instrument operation box and is used for being connected with a catheter rotation power output shaft of a power unit arranged on one side of the robot body;

the balloon catheter driving device comprises a balloon catheter power input shaft and a second transmission assembly, the balloon catheter power input shaft extends along the transverse direction of the instrument operation box, the power output end of the balloon catheter power input shaft is connected with the second transmission assembly, the power input end of the balloon catheter power input shaft extends out of one transverse side of the instrument operation box and is used for being connected with a balloon catheter power output shaft of a power unit arranged on one side of the robot body;

wherein the lateral side of the instrument operation box is detachably connected with the adjacent side of the power unit by using a plug connection mode.

The above technical scheme of the utility model compare prior art and obtained following technological effect:

according to the utility model discloses an instrument operation box subassembly for vascular intervention operation robot, the respective power input shaft of pipe rotation driving device and sacculus pipe drive arrangement that sets up on instrument operation box extends along instrument operation box's horizontal extension, and the power input end of each power input shaft stretches out from instrument operation box's side, can be connected with the pipe rotation power output shaft of the power pack of robot body one side and sacculus pipe power output shaft through side connected mode, make the instrument operation box of vascular intervention operation robot can be connected with robot body through side connected mode, thereby solved among the prior art instrument operation box and installed in the power pack top and the problem of the liquid infiltration power pack internal emergence corruption structure or electrical short circuit that leads to, and the horizontal side of robot body is arranged in to this kind of side connected mode messenger instrument operation box, reduce the robot from the whole thickness of tip portion, make appliances such as pipe silk loaded on the robot can press close to patient's vascular entry completely, the effective use distance of appliances such as pipe silk has been showing to have increased, easily use and popularize.

Drawings

In order to make the content of the present invention more clearly understood, the present invention will be described in further detail with reference to the following embodiments of the present invention, in conjunction with the accompanying drawings.

Fig. 1A is a perspective view illustrating the general structure of a slave end portion for a vascular interventional surgical robot;

fig. 1B is a perspective view illustrating a partial structure of a robot body for a vascular interventional surgical robot;

fig. 2 is a perspective view illustrating an instrument cassette assembly for a vascular interventional surgical robot;

FIG. 3A is a perspective view from the catheter rotational power input shaft side illustrating a first embodiment of the catheter rotational drive arrangement of the instrument pod assembly of the present invention;

FIG. 3B is a perspective view of the catheter rotary drive device of the first embodiment with a partial housing of the transmission mechanism removed to show the internal structure of the transmission mechanism;

FIG. 4 is a perspective view of a second embodiment of the catheter rotation drive arrangement of the instrument pod assembly of the present invention;

FIG. 5 is a perspective view of a third embodiment of a catheter rotational drive assembly of the instrument pod assembly of the present invention;

FIG. 6A is a perspective view from the catheter rotational power input shaft side illustrating a fourth embodiment of the catheter rotational drive arrangement of the instrument pod assembly of the present invention;

FIG. 6B is a perspective view of a catheter rotary drive device of a fourth embodiment with a partial housing of the transmission removed to show the internal structure of the transmission;

FIG. 7A is a perspective view from the catheter rotational power input shaft side illustrating a fifth embodiment of the catheter rotational drive arrangement of the instrument pod assembly of the present invention; and

FIG. 7B is a perspective view from the side facing away from the catheter rotational power input shaft illustrating a fifth embodiment of the catheter rotational drive arrangement of the instrument pod assembly of the present invention;

fig. 8A is a perspective view of a first embodiment of a balloon catheter drive device of the instrument pod assembly of the present invention;

fig. 8B is a perspective view of the balloon catheter driving device of the first embodiment with a partial housing of the transmission mechanism removed to show the internal structure of the transmission mechanism;

fig. 9 is a perspective view of a second embodiment of a balloon catheter drive device of the instrument operation cassette assembly of the present invention;

fig. 10 is a perspective view of a third embodiment of the balloon catheter drive device of the instrument operation cassette assembly of the present invention;

FIG. 11 is a perspective view of a fourth embodiment of a balloon catheter drive device of the instrument pod assembly of the present invention;

fig. 12 is a perspective view of a fifth embodiment of a balloon catheter drive device of the instrument operation cassette assembly of the present invention;

fig. 13 is a perspective view illustrating one embodiment of a bias adjustment portion of a balloon catheter delivery assembly for a balloon catheter drive device in accordance with the present invention;

fig. 14A is a perspective view illustrating a second embodiment of a bias adjustment portion of a balloon catheter delivery assembly according to the present invention;

FIG. 14B isbase:Sub>A cross-sectional view taken along line A-A of FIG. 14A;

fig. 15 is a perspective view illustrating a third embodiment of a bias adjustment portion of a balloon catheter delivery assembly according to the present invention;

figure 16 is a perspective view illustrating a fourth embodiment of a bias adjustment portion of a balloon catheter delivery assembly according to the present invention;

FIG. 17A is a perspective view of the instrument cassette illustrating the attachment structure disposed on one side of the instrument cassette;

FIG. 17B is a partial perspective view illustrating the male member of the connection structure;

FIG. 17C isbase:Sub>A cross-sectional view of the insert taken along line A-A in FIG. 17B;

FIG. 18 is a partial perspective view of a power unit on one side of the robot body illustrating a plug port for use with a plug member;

FIG. 19 is a perspective view illustrating one embodiment of a self-locking assembly;

FIG. 20 is a perspective view illustrating another embodiment of the self-locking assembly;

FIG. 21A is a perspective view of yet another embodiment of the self-locking assembly illustrating a snap-in portion disposed on one side of the instrument cassette;

fig. 21B is a partially enlarged view illustrating a detailed structure of the click portion;

fig. 21C is a sectional view of the click portion in fig. 21A and 21B;

fig. 22A is a partial perspective view of the power unit on one side of the robot body, illustrating a card slot for use with the card section; and

fig. 22B is a partial sectional view taken along line B-B in fig. 22A, illustrating the structure of a card slot for use with the card section.

Detailed Description

The following describes the instrument operation box assembly for a vascular intervention surgical robot in detail. It should be noted herein that the embodiments of the present invention are merely illustrative and are used only for the purpose of illustrating the principles of the present invention and not for the purpose of limiting the same.

Referring first to fig. 1A, the general structure of a slave end portion for a vascular interventional surgical robot is illustrated in a perspective view. As shown in fig. 1A, the slave end portion includes a robot body 1 and an instrument operation box assembly 2. The robot body 1 comprises a base mechanism and a power unit, the power unit comprises a catheter power box 5 and a guide wire power box 4, the catheter power box is installed on a sliding block arranged in the base mechanism and moves along with the sliding block, and the guide wire power box 4 is arranged at the rear part of the catheter power box and is laterally connected and fixed with the catheter power box. The transverse side of the instrument operation box component 2 is laterally connected with the adjacent side of the catheter power box 5, and the instrument operation box component 2 moves along with the catheter power box.

For convenience of description, in the following description and elsewhere in the specification, the moving direction of the instrument control box assembly is defined as a longitudinal direction, and the width direction of the instrument control box assembly perpendicular to the longitudinal direction is defined as a lateral direction; when in use, one end of the instrument operation box assembly facing to the blood vessel of the human body is called a front end, and the other end of the instrument operation box assembly facing away from the blood vessel is called a rear end; the side on which the instrument control box assembly operation surface is located is referred to as an upper side, and the side opposite to the instrument control box assembly operation surface is referred to as a lower side.

Referring now to fig. 2, there is illustrated in perspective view an instrument cassette assembly 2 for a vascular access surgical robot, which is detachably mounted laterally on one lateral side of the robot body by a connector. As shown in fig. 2, the instrument operation box assembly 2 includes an instrument operation box 300, on which a guide tube 301 is provided, the guide tube extending in a longitudinal direction of the instrument operation box, a front end of which extends from a front end of the instrument operation box, a rear end of which is connected to a front end of a guide tube connector 302, and a rear end of which is connected to a Y valve 303, the Y valve being fixedly installed on the instrument operation box 300. A rotary drive 304, typically in the form of a gear, is provided on the catheter connector, the catheter connector and catheter being rotatable relative to the Y-valve and hence the instrument cartridge. During operation, the catheter usually needs to realize two motions, namely rotation motion and longitudinal front-back motion, and the instrument operation box can move back and forth relative to the robot body, so that the catheter is driven to move back and forth together to realize the longitudinal motion of the catheter; the rotary driving member 304 is connected to a driving source, such as a motor, via a catheter rotation driving device, and is driven by the driving source to perform a rotary motion, so as to drive the catheter to rotate together to perform a rotary motion of the catheter.

In addition, the instrument operation box is provided with a balloon catheter 311 which is arranged in a channel 312 which is formed at the rear side of the Y valve and extends towards the rear side, the front end of the balloon catheter extends into the catheter through the Y valve, and the balloon catheter delivery component is used for driving the balloon catheter to perform directional movement in the catheter so as to deliver the balloon catheter to the position of the vascular lesion. The balloon catheter delivery assembly is connected with a driving source such as a motor through a balloon catheter driving device, and under the driving of the driving source, the balloon catheter delivery assembly is operated to drive the balloon catheter to move directionally. The balloon catheter delivery assembly is in the form of a pair of delivery rollers disposed in pairs, the cooperating pair of delivery rollers being located on the sides of the grooved wheels, respectively, the balloon catheter being sandwiched between the delivery rollers, the forward and backward movement of the balloon catheter being achieved by the pair of delivery rollers rotating in engagement with each other, which may be friction wheels.

According to the utility model discloses instrument operation box subassembly is provided with cassette mechanism 307 on instrument operation box, cassette mechanism 307 sets up the one side that deviates from the power pack at instrument operation box, and the contrast medium syringe is installed in this cassette mechanism, because this cassette mechanism is together longitudinal movement with instrument operation box, has guaranteed that the syringe keeps fixed for the distance between the Y valve, with the help of the contrast medium propelling movement device that moves together with instrument operation box, can realize the remote control operation of contrast medium.

The catheter rotation driving device and the balloon catheter driving device of the instrument operation box assembly of the present invention will be described in detail below. The catheter rotation driving device and the balloon catheter driving device are sequentially arranged along the front-back direction of the instrument operation box, and the catheter rotation driving device is arranged in front of the balloon catheter driving device.

Conduit rotary driving device

Fig. 3A and 3B illustrate a first embodiment of the catheter rotation driving device of the instrument operation box assembly of the present invention, in which fig. 3A is a perspective view seen from the catheter rotation power input shaft side, and fig. 3B is a perspective view with a partial housing of a transmission mechanism removed to show the internal structure of the transmission mechanism. The catheter rotation driving means is provided on the instrument manipulation box 300 and located below the instrument manipulation box. As shown in fig. 3A and 3B, the catheter rotation driving device 100 includes a catheter rotation power input shaft 101, and a transmission assembly disposed between the catheter rotation power input shaft and a rotation driving member 304, and power input from the catheter rotation power input shaft 101 is transmitted to the rotation driving member 304 via the transmission assembly, and the rotation driving member is driven to rotate the catheter.

As shown in fig. 3A and 3B and fig. 2, the catheter rotary power input shaft 101 extends in the transverse direction of the instrument cassette and is supported by bearings on the housing wall of the housing 1016 of the transmission 1015 mounted on the instrument cassette or fixed to other structural components of the instrument cassette. The catheter rotation power input shaft has a power output end 1012 provided with the first transmission gear 102, and a power input end 1011 extending from the side of the instrument operation box (see fig. 2) for connection with a catheter rotation drive shaft 901 of a drive source (such as a motor or the like) of a power unit on the side of the robot body, see fig. 1B. Preferably, the power input end 1011 of the conduit rotational power input shaft is formed with a shaft bore 1013, which may be polygonal or D-shaped in cross-sectional profile, for non-rotational coupling with the conduit rotational drive shaft 901 of the drive source.

The transmission assembly includes an intermediate transmission shaft 105 and an output shaft 109, the intermediate transmission shaft 105 being disposed parallel to the catheter rotational power input shaft 101. The intermediate drive shaft is supported on the housing wall by bearings, and the power input 1051 of the intermediate drive shaft is provided with a second drive gear 106. An intermediate transmission gear 104 is arranged between the first transmission gear 102 and the second transmission gear 106, the intermediate transmission gear is arranged on an intermediate gear shaft 103, the intermediate gear shaft 103 is arranged in parallel with the catheter rotation power input shaft 101 and is supported on the housing wall through a bearing, and the intermediate transmission gear 104 is respectively meshed with the first transmission gear 102 and the second transmission gear 106.

The power output 1052 of the intermediate drive shaft 105 is provided with a third drive gear 107 in the form of a bevel gear. The output shaft 109 is perpendicular to the middle transmission shaft, is arranged along the up-down direction and is supported on the horizontal structure wall of the instrument operation box through a bearing, a fourth transmission gear 108 in the form of a bevel gear is arranged at the power input end of the output shaft 109, a fifth transmission gear 110 in the form of a bevel gear is arranged at the power output end of the output shaft, and the fifth transmission gear is positioned above the surface of the instrument operation box. The fourth transmission gear 108 is in mesh with the third transmission gear 107, while the fifth transmission gear 110 is for meshing with a rotary drive 304 in the form of a bevel gear.

In operation, the catheter rotational power input shaft 101 receives power from the power source and transmits the power to the rotational drive 304 via the transmission assembly, thereby rotating the catheter to accommodate bifurcations and turns within the vessel.

Reference is now made to fig. 4, which illustrates a second embodiment of the catheter rotation drive arrangement of the instrument pod assembly of the present invention.

The catheter rotation driving device of the second embodiment is substantially the same in overall structure as the catheter rotation driving device of the first embodiment, except that:

in the catheter rotation driving device of the second embodiment, the intermediate gear shaft and the intermediate transmission gear are omitted, and the first transmission gear 112 on the catheter rotation power input shaft 111 is directly meshed with the second transmission gear 116 on the intermediate transmission shaft 115, thereby simplifying the structure of the transmission assembly.

Reference is now made to fig. 5, which illustrates a third embodiment of the catheter rotation drive arrangement of the instrument pod assembly of the present invention.

The catheter rotation driving device of the third embodiment is substantially the same in overall structure as the catheter rotation driving device of the first embodiment, except that:

in the catheter rotation driving device of the third embodiment, the first transmission gear, the intermediate gear shaft, and the second transmission gear are omitted, and the third transmission gear 117 is provided at the power output end of the catheter rotation power input shaft 131 and directly drives the third transmission gear, thereby simplifying the structure of the transmission assembly.

Reference is now made to fig. 6A and 6B, which illustrate a fourth embodiment of the catheter rotation drive of the instrument pod assembly of the present invention.

The conduit rotation driving device of the fourth embodiment is substantially the same in overall structure as the conduit rotation driving device of the first embodiment, except that:

in the first embodiment, a gear set composed of the first transmission gear 102, the intermediate transmission gear 104, and the second transmission gear 106 is used as a transmission mechanism between the catheter rotational power input shaft 101 and the intermediate transmission shaft 105. In the pipe rotation driving apparatus of the fourth embodiment, the power output end of the pipe rotation power input shaft 141 is provided with the first pulley 142, the power input end of the intermediate transmission shaft 145 is provided with the second pulley 146, and the transmission belt 144 is wound around the first pulley and the second pulley, respectively, so that power is transmitted from the pipe rotation power input shaft 141 to the intermediate transmission shaft 145 using a pulley-transmission belt transmission mechanism.

Reference is now made to fig. 7A and 7B, which illustrate a fifth embodiment of the catheter rotation drive arrangement of the instrument pod assembly of the present invention.

The main differences between the catheter rotation drive device of the fifth embodiment and the catheter rotation drive device of the first embodiment are as follows.

In the fifth embodiment, the output shaft 159 is arranged perpendicularly to the catheter rotation power input shaft 151 and the intermediate transmission shaft 155 in the longitudinal direction and is supported by bearings on a vertical structural wall of the instrument operation box, the power input end of the output shaft 159 is provided with a fourth transmission gear 158 in the form of a bevel gear, and the power output end of the output shaft 159 is provided with a fifth transmission gear 160 in the form of a spur gear, said fourth transmission gear 158 being in mesh with the third transmission gear 157. The fifth drive gear 160 is partially exposed through an opening formed in a horizontal structural wall of the instrument console box for engagement with a rotary drive member in the form of a spur gear directly below.

Further, as a modification of the catheter rotation drive apparatus of the fifth embodiment, for the transmission mechanism between the catheter rotation power input shaft and the intermediate transmission shaft, it is possible to adopt a manner in which the first transmission gear on the catheter rotation power input shaft is directly meshed with the second transmission gear on the intermediate transmission shaft, similarly to the catheter rotation drive apparatus of the second embodiment, thereby omitting the intermediate transmission gear.

Further, as another modification of the catheter rotation driving device of the fifth embodiment, the first transmission gear, the intermediate gear shaft, and the second transmission gear may be omitted, and the third transmission gear may be provided at the power output end of the catheter rotation power input shaft and directly drive the third transmission gear, similarly to the catheter rotation driving device of the third embodiment, thereby simplifying the structure of the transmission assembly.

Also, as a further modification of the catheter rotation driving device of the fifth embodiment, for the transmission mechanism between the catheter rotation power input shaft and the intermediate transmission shaft, a first pulley may be provided at the power output end of the catheter rotation power input shaft, a second pulley may be provided at the power input end of the intermediate transmission shaft, and a belt may be wound around the first pulley and the second pulley, respectively, similarly to the catheter rotation driving device of the fourth embodiment, so that power is transmitted from the catheter rotation power input shaft to the intermediate transmission shaft using the pulley-belt transmission mechanism.

Balloon catheter driving device

Fig. 8A and 8B illustrate a first embodiment of a balloon catheter driving device of an instrument operation box assembly according to the present invention, in which fig. 8A is a perspective view of the balloon catheter driving device, and fig. 8B is a perspective view of a transmission mechanism 297 with a part of a housing removed to show the internal structure of the transmission mechanism.

The balloon catheter driving device 200 is provided on and below the instrument operation box 300. As shown in fig. 8A and 8B, the balloon catheter driving device 200 includes a balloon catheter power input shaft 201, and a transmission assembly disposed between the balloon catheter power input shaft and a balloon catheter delivery assembly 290, wherein power input from the balloon catheter power input shaft 201 is transmitted to the balloon catheter delivery assembly 290 through the transmission assembly, and the balloon catheter delivery assembly drives the balloon catheter to move back and forth longitudinally.

With continued reference to fig. 8A, 8B and 2, the balloon catheter power input shaft 201 extends transversely of the instrument cassette and is bearing-supported on the housing wall of the housing 296 of the transmission 297 mounted on the instrument cassette or fixed to another structural component of the instrument cassette, the first transmission gear 202 is provided on the power output end 2012 of the balloon catheter power input shaft, and the power input end 2011 extends from the side of the instrument cassette (see fig. 2) for connection to a balloon catheter delivery drive shaft 902 of a drive source (e.g., a motor or the like) of a power unit on the robot body side, see fig. 1B. Preferably, the power input end 2011 of the balloon catheter power input shaft is formed with a shaft hole, and the cross section profile of the shaft hole is polygonal or D-shaped, so as to realize non-rotational connection with the balloon catheter output shaft 902 of the driving source.

Referring to fig. 8A and 8B, the transmission assembly includes a first intermediate transmission shaft 205, a second intermediate transmission shaft 209 and an output shaft 2011, the first intermediate transmission shaft 205 is disposed parallel to the balloon catheter power input shaft 201 and is supported on the housing wall through a bearing, and a power input end of the first intermediate transmission shaft is provided with a second transmission gear 206. An intermediate transmission gear 204 is arranged between the first transmission gear 202 and the second transmission gear 206, the intermediate transmission gear is arranged on an intermediate gear shaft 203, the intermediate gear shaft 203 is arranged in parallel with the balloon catheter power input shaft 201 and is supported on the wall of the casing through a bearing, and the intermediate transmission gear 204 is respectively meshed with the first transmission gear 202 and the second transmission gear 206.

The power output of the first intermediate drive shaft 205 is provided with a third drive gear 207 in the form of a bevel gear. The second intermediate transmission shaft 209 is perpendicular to the power input shaft and the first intermediate transmission shaft 205, is arranged along the up-and-down direction, and is supported on the horizontal structure wall of the instrument operation box through a bearing, the power input end of the second intermediate transmission shaft 209 is provided with a fourth transmission gear 208 in the form of a bevel gear, and the fourth transmission gear 208 is meshed with the third transmission gear 207.

The power output end of the second intermediate transmission shaft 209 is provided with a fifth transmission gear 210 in the form of a straight gear, the number of the power output shafts 2011 is two, and the two power output shafts are arranged in parallel with the second intermediate transmission shaft 209 and supported on the horizontal structure wall of the instrument operation box through a bearing. The two power output shafts 2011 are respectively provided with spur gears 212 (only one of which is shown in the figures) which are meshed with the fifth transmission gear 210, so that when the fifth transmission gear 210 rotates, the two spur gears 212 are driven to synchronously rotate in the same direction.

The balloon catheter delivery assembly 290 includes two pairs of delivery rollers arranged sequentially in the delivery direction of the balloon catheter. Each of the output shafts is mounted with one of the delivery rollers provided in pairs, respectively, and the delivery rollers 213 mounted on the output shafts rotate together with the output shafts. In the embodiment shown, the delivery roller may be a friction wheel, and a delivery roller 213 mounted on the output shaft is adapted to engage with a further delivery roller 214 provided on the instrument cassette for co-operation therewith.

In operation, the balloon catheter is placed between each pair of two pairs of delivery rollers, the power input shaft of the balloon catheter receives the power of the power source, the power is transmitted to the two spur gears 2012 rotating synchronously through the transmission assembly, the two spur gears rotating synchronously drive the delivery rollers 213 mounted on the output shaft to rotate, and the delivery rollers 213 and the delivery rollers 214 cooperate to drive the balloon catheter to move back and forth.

Reference is now made to fig. 9, which illustrates a second embodiment of the balloon catheter drive device of the instrument operation cassette assembly of the present invention.

The balloon catheter driving device of the second embodiment is substantially the same in overall structure as the balloon catheter driving device of the first embodiment, except that:

in the balloon catheter driving device of the second embodiment, the intermediate gear shaft and the intermediate transmission gear are omitted, and the first transmission gear 222 on the power input shaft 221 is directly meshed with the second transmission gear 226 on the intermediate transmission shaft 225, thereby simplifying the structure of the transmission assembly.

Reference is now made to fig. 10, which illustrates a third embodiment of the balloon catheter drive device of the instrument control box assembly of the present invention.

The balloon catheter driving device of the third embodiment is substantially the same in overall structure as the balloon catheter driving device of the first embodiment, except that:

in the balloon catheter driving device of the third embodiment, the first transmission gear, the intermediate gear shaft, and the second transmission gear are omitted, and the power output end 2312 of the balloon catheter power input shaft 231 is provided with the third transmission gear 237 and directly drives the third transmission gear, thereby simplifying the structure of the transmission assembly.

Reference is now made to fig. 11, which illustrates a fourth embodiment of the balloon catheter drive device of the instrument operation cassette assembly of the present invention.

The balloon catheter driving device of the fourth embodiment is substantially the same in overall structure as the balloon catheter driving device of the first embodiment, except that:

in the first embodiment, a gear set composed of the first transmission gear, the intermediate transmission gear, and the second transmission gear serves as a transmission mechanism between the power input shaft and the intermediate transmission shaft. In the balloon catheter driving device according to the fourth embodiment, the power input end of the power input shaft 241 is provided with the first pulley 242, the power input end of the intermediate transmission shaft 245 is provided with the second pulley 246, and the transmission belt 243 is wound around the first pulley and the second pulley, respectively, so that power is transmitted from the power input shaft to the intermediate transmission shaft by a pulley-belt transmission mechanism.

Reference is now made to fig. 12, which illustrates a fifth embodiment of the balloon catheter drive device of the instrument control box assembly of the present invention.

The main differences between the balloon catheter drive device of the fifth embodiment and the balloon catheter drive device of the first embodiment are as follows.

As shown in fig. 12, the balloon catheter driving device includes a balloon catheter power input shaft 251 and a transmission assembly including an intermediate transmission shaft 255 and an output shaft 259, the intermediate transmission shaft 255 being disposed in parallel with the balloon catheter power input shaft 201, and the transmission mechanism therebetween is the same as that of the first embodiment, and the description thereof is omitted. The power output end of the intermediate drive shaft 255 is provided with a third drive gear 257 in the form of a bevel gear. The output shaft 259 is perpendicular to the balloon catheter power input shaft 251 and the intermediate transmission shaft 255 and is arranged in the up-down direction, and a fourth transmission gear 258 in the form of a bevel gear is arranged at the power input end of the output shaft 259 and is meshed with the third transmission gear 257.

In the fifth embodiment, the balloon catheter delivery assembly 252 has only one pair of delivery rollers. One delivery roller 253 of the pair of delivery rollers is mounted on the output shaft 259 and rotates with the output shaft. A delivery roller 253 mounted on the output shaft is for engagement with another delivery roller 254 provided on the instrument operation box in cooperation therewith.

In operation, the balloon catheter is placed between the pair of delivery rollers, the power input shaft 251 receives power from the power source and transmits the power to the delivery rollers 253 in the delivery assembly of the balloon catheter via the transmission assembly, and the delivery rollers 253 drive the delivery rollers 254 to rotate together, thereby driving the balloon catheter to move back and forth.

Further, as a modification of the balloon catheter driving device of the fifth embodiment, as for the transmission mechanism between the power input shaft and the intermediate transmission shaft, it is possible to adopt a manner in which the first transmission gear on the power input shaft is directly meshed with the second transmission gear on the intermediate transmission shaft, similarly to the balloon catheter driving device of the second embodiment, thereby omitting the intermediate transmission gear.

Furthermore, as another modification of the balloon catheter driving device according to the fifth embodiment, a transmission mechanism between the power input shaft and the intermediate transmission shaft may be similar to the balloon catheter driving device according to the third embodiment, such that the first transmission gear, the intermediate gear shaft, and the second transmission gear are omitted, and the power output end of the power input shaft is provided with the third transmission gear and directly drives the third transmission gear, thereby simplifying the structure of the transmission assembly.

Further, as still another modification of the balloon catheter driving device of the fifth embodiment, it is possible to provide a transmission mechanism between the balloon catheter power input shaft and the intermediate transmission shaft with a first pulley at the power output end of the balloon catheter power input shaft, a second pulley at the power input end of the intermediate transmission shaft, and a belt around the first pulley and the second pulley, respectively, similarly to the balloon catheter driving device of the fourth embodiment, thereby transmitting power from the balloon catheter power input shaft to the intermediate transmission shaft using a pulley-belt transmission mechanism.

Due to the variety of sizes of the balloon catheters, two cooperating delivery rollers must be tightly attached to the balloon catheter to achieve delivery of the balloon catheter. Preferably, therefore, the balloon catheter delivery assembly comprises a biased adjustment portion which on the one hand facilitates the placement and removal of the balloon catheter and on the other hand accommodates different sized balloon catheters.

Referring now to FIG. 13, one embodiment of a bias adjustment portion is schematically illustrated.

As shown in fig. 13, the bias adjusting part includes a fixed plate 261, a movable plate 262, a biasing member 263, a guide rod 264, and a knob 265. The fixing plate 261 is fixedly mounted on the instrument operation box or integrally formed with the instrument operation box, and includes circular arc-shaped enclosing plates 2611, two ends of the enclosing plates are symmetrically provided with lugs 2612 extending away from each other, the bottom of the enclosing plates is provided with a bottom plate 2613 extending outwards away from the enclosing plates so as to form a large enough supporting surface to support the movable plate. The bottom plate is provided with a mounting hole 2614 for mounting and positioning the lower end of the knob rod part; the two protrusions 2612 are formed with guide bar mounting holes on one end thereof facing the movable plate after assembly, for fixedly mounting the guide bars 264.

The movable plate 262 is movably disposed on the fixed plate, and has a generally plate shape, including a main body 2621 and protrusions 2622 protruding from both sides of the main body; the shape of the main body is matched with that of the bottom plate of the fixed plate, two holes 2623 are formed on the movable plate for installing the rotating shafts of the delivery rollers, respectively, guide rod insertion holes facing the fixed plate are formed on the two protrusions 2622, and one end of the guide rod 264 is assembled in the insertion holes in a movable fit manner, so that the movable plate 262 can move axially along the guide rods relative to the fixed plate. An operation hole 2624 through which the knob shaft portion 2651 extends is formed at a middle position of the movable plate main body.

The knob 265 includes a handle 2652 to be held by hand to rotate the knob, and a rod portion 2651 having a lower end mounted in a mounting hole 2614 formed on the bottom plate and having a protrusion 266 formed at a position corresponding to an operation hole 2624 formed at a middle position of the movable plate main body.

The biasing member 263 is in the form of a coil spring that is fitted over the guide rod 264 when assembled.

In an assembled state, one end of the guide rod 264 is fixed in the guide rod mounting hole of the fixed plate, the other end is axially movably mounted in the guide rod insertion hole of the movable plate, and the helical spring is sleeved on the guide rod and positioned between the projection 2612 of the fixed plate and the projection 2622 of the movable plate. The shaft of the knob 265 extends through an operation hole 2624 on the movable plate, and the end thereof is rotatably installed in the installation hole 2614 on the bottom plate. Under the action of the helical spring, the movable plate is biased in a direction away from the fixed plate, so that the delivery roller mounted on the movable plate abuts against the other delivery roller operating in cooperation.

In practical use, when a balloon catheter needs to be placed, the knob is rotated to enable the protrusions on the knob to abut against the hole wall of the operation hole and drive the movable plate to move towards the fixed plate, so that the delivery rollers are far away from each other, the balloon catheter can be placed in a gap between the pair of delivery rollers at the moment, then the knob is rotated in the reverse direction to enable the protrusions on the knob to be far away from the hole wall of the operation hole, the movable plate deviates from the fixed plate under the action of the coil spring to move, the delivery rollers mounted on the movable plate are driven to be close to the other delivery roller, and the balloon catheter is clamped between the two delivery rollers.

Fig. 14A and 14B schematically illustrate another embodiment of the bias adjustment portion, wherein fig. 14A isbase:Sub>A perspective view of the bias adjustment portion and fig. 14B isbase:Sub>A partial sectional view taken alongbase:Sub>A-base:Sub>A line in fig. 14A.

As shown in fig. 14A and 14B, the bias adjusting portion includes a fixed plate 271, a movable plate 272, a biasing member 273, and a knob, which is the same as the embodiment shown in fig. 13 and is not shown in fig. 14A and 14B for clearly illustrating other constituent elements. The fixing plate 271 is fixedly installed on the instrument operation box or integrally formed with the instrument operation box, and includes a U-shaped enclosure plate 2712, a bottom plate 2713 is provided at the bottom of the enclosure plate, the enclosure plate 2712 includes two baffles 2715 oppositely arranged in a direction perpendicular to the moving direction of the movable plate, and guide grooves 2716 are formed on the surfaces of the two baffles opposite to each other. A knob mounting hole 2717 is formed on the bottom plate 2713 to mount the lower end of the knob rod portion.

The movable plate 272 is in the form of a rectangular plate movably disposed on the fixed plate; two holes 2721 are formed on the movable plate, and are respectively used for mounting a rotating shaft of the delivery roller; guide protrusions 2722 are formed on both side walls of the movable plate 272 in a direction perpendicular to the moving direction of the movable plate, and the guide protrusions 2722 are fitted into guide grooves 2716 of both blocking plates of the fixed plate. When assembled, the guide projection of the movable plate is inserted into the guide groove, so that the movable plate can move in a fixed direction relative to the fixed plate, and the guide groove and the guide projection which are engaged with each other constitute a guide member. An operation hole 2723, through which the knob shaft portion extends, is formed at a middle position of the movable plate body, such as a rectangular hole shown in the drawing.

The biasing member 273 is in the form of a coil spring which is mounted in assembled condition between the bottom wall of the U-shaped shroud 2712 of the fixed plate and the movable plate so that the movable plate is biased in a direction away from the fixed plate so that the delivery rollers mounted on the movable plate abut the same operating delivery rollers.

Fig. 15 schematically illustrates another embodiment of the bias-adjusting portion, which is substantially the same in structure as the embodiment shown in fig. 14A and 14B except that the operation hole 2725 has an elliptical shape.

Fig. 16 schematically illustrates yet another embodiment of the bias adjustment portion. As shown in fig. 16, the bias adjusting part includes a fixed plate 281, a movable plate 282, a biasing member 283 and an operating lever 284.

The fixing plate 281 is fixedly installed on or integrally formed with the instrument operation box, and includes a U-shaped enclosure 2812, the enclosure 2812 includes two baffles 2815 oppositely arranged in a direction perpendicular to the moving direction of the movable plate, and guide grooves 2816 are formed on the two baffles. In the illustrated embodiment, the guide groove 2816 is a through groove in a direction perpendicular to the moving direction of the movable plate, but it is obvious to those skilled in the art that a non-through groove may be employed, as in the embodiments illustrated in fig. 14A, 14B, and 15.

The movable plate 282 is in the form of a rectangular plate movably disposed on the fixed plate; two holes 2821 are formed on the movable plate, and are respectively used for installing the rotating shaft of the delivery roller; guide protrusions 2822 are formed on both side walls of the movable plate in a direction perpendicular to the moving direction of the movable plate, and the guide protrusions 2822 are fitted to the guide grooves 2816 of the two baffles of the fixed plate. When assembled, the guide projection of the movable plate is inserted into the guide groove, so that the movable plate can move relative to the fixed plate along the fixed direction, and the guide groove and the guide projection which are jointed with each other form a guide piece.

The biasing member 283 is in the form of a coil spring which in an assembled state is mounted between the bottom wall of the U-shaped enclosure 2812 of the fixed plate and the movable plate such that the movable plate is biased in a direction away from the fixed plate such that the delivery rollers mounted on the movable plate abut the cooperating delivery rollers.

The lever 284 is connected at one end to the movable plate, extends away from the movable plate, and passes through a hole 2819 formed in a bottom wall 2818 of the U-shaped enclosure 2812.

In actual use, when a balloon catheter needs to be placed, the movable plate can be moved away from the power output shaft by pulling the operating rod, and the balloon catheter can be placed in the gap between the delivery rollers. After the operating rod is loosened, the movable plate moves away from the fixed plate under the action of the spiral spring, so that the delivery rollers mounted on the movable plate are driven to approach the other delivery roller, and the balloon catheter is clamped between the two delivery rollers.

In the embodiment shown in fig. 14A and 14B and fig. 15 and 16, the guide projection is formed on the movable plate and the guide groove is formed on the fixed plate, but it may be reversed, that is, the guide projection is formed on the fixed plate and the guide groove is formed on the movable plate.

Lateral connecting structure of instrument operation box

According to the utility model discloses an apparatus operation box subassembly for blood vessel intervention operation robot, the pipe rotation driving device and the respective power input shaft of sacculus pipe drive arrangement that set up on apparatus operation box extend along apparatus operation box's horizontal, and the power input end of each power input shaft stretches out from apparatus operation box's side, can deliver the driveshaft with the sacculus pipe through the pipe rotation driving shaft of the power pack of side connected mode and robot one side for the apparatus operation box of blood vessel intervention operation robot can be through side connected mode and this body coupling of robot.

According to the utility model discloses, removable connection is realized with robot one side adoption plug mode to horizontal one side of apparatus operation box. By adopting a plug installation mode, on one hand, the quick installation and disassembly of the instrument operation box are realized, and on the other hand, the sterile isolation of the instrument operation box is convenient to realize.

The utility model discloses an apparatus operation box side direction is installed in robot one side, and adopts the plug mode to realize removable installation, and the concrete mode that apparatus operation box and robot one side carried out the plug installation is not the utility model discloses the point is in, and it is multiple various among the concrete mode prior art of plug installation to realize, all can be used to realize the utility model discloses a plug installation. Therefore, the following only illustrates the insertion and extraction mounting of the instrument console box to the robot body by way of specific example, and the specific manner described is by no means intended to limit the specific structure of the insertion and extraction mounting.

Fig. 17A, 17B and 17C illustrate a connecting structure provided at one side of the instrument console box to enable lateral insertion and removal mounting with the robot body. FIG. 17A is a perspective view of the instrument cassette illustrating the attachment structure disposed on one side of the instrument cassette; fig. 17B isbase:Sub>A partial perspective view illustrating the plug of the coupling structure, and fig. 17C isbase:Sub>A sectional view of the plug taken along linebase:Sub>A-base:Sub>A in fig. 17B. As shown in fig. 17A, 17B, and 17C, the connecting structure provided on one side of the instrument console box includes a plug member 320 that protrudes from a side surface on one lateral side of the instrument console box. As shown in fig. 17C, the plug member has an outer contour with a substantially rectangular cross section, and a trapezoidal groove 321 is formed on one longitudinal side, and the trapezoidal grooves of the two plug members are opposite to each other.

Correspondingly, as shown in fig. 18, a plug-in opening 322 corresponding to the plug-in piece is arranged on one side adjacent to the power unit of the robot body, and the cross-sectional shape of the plug-in opening is matched with the outer contour of the plug-in piece. When the robot is installed, the instrument operation box is arranged on one side of the robot body, and then the plug-pull piece is inserted into the plug-pull opening along the lateral direction, so that the instrument operation box is inserted into the robot body.

As a modification of the above embodiment, the positions of the plug member and the plug port may be interchanged, the plug member is provided on the power unit of the robot body, and the plug port is provided on the instrument operation box.

As mentioned above, the specific way of plug installation is various in the prior art, for example, the plug member may be a cylinder, and the plug opening may be a circular hole, so that the plug installation is performed just like a happy and gay splicing toy. The structures of the plug piece and the plug opening can be selected optionally, the number of the plug piece and the plug opening can also be selected, and the stable connection of the instrument operation box and the robot body can be realized.

The plug-in type detachable installation can also adopt plug-in interfaces, and therefore the plug-in interfaces which are matched with each other are respectively installed on the instrument operation box and the power unit of the robot body. During assembly, the instrument operation box is pushed towards the power unit, so that the plugging interface on the instrument operation box is butted with the plugging interface on the power unit, and the instrument operation box is connected with the power unit so as to connect the robot body; when the robot is disassembled, the instrument operation box is pulled away from the robot body, so that the plugging interface on the instrument operation box is separated from the plugging interface on the power unit. Once again, any plug interface of the prior art can be adopted by the plug interface of this embodiment, and the present invention is not limited thereto.

In order to improve the stability of the connection between the instrument operation box and the robot body, as an optimal scheme, a self-locking assembly can be arranged, and a clamping piece and a plugging piece of the self-locking assembly are arranged on the same side of the instrument operation box 300.

As shown in fig. 19, as a preferred embodiment of the self-locking assembly, the self-locking assembly includes a locking lever mechanism 325 provided on the instrument box and a catch 326 (see fig. 18) provided on the robot body power unit side in cooperation with the locking lever mechanism, the locking lever mechanism projecting from the side of the lateral side of the instrument box.

As shown in fig. 19, the locking lever mechanism 325 includes a first link 327, a second link 328 and a third link 329, the first link 327 is hinged to the first support seat 330, the third link 329 is hinged to the second support seat 331, the second link 328 is disposed between the first link 327 and the third link 329, and one end thereof is hinged to the first link and the other end thereof is hinged to the third link. A buckle 332 is arranged at one end of the third connecting rod 329 far away from the second connecting rod, and the buckle 332 is used for clamping the clamping groove 326 arranged at one side of the power unit.

The locking lever mechanism is further provided with a button 333, which is provided on an end of the first link 327 facing away from the catch 332; the instrument operation box is provided with a fixed seat 334, and the button 333 is arranged on the fixed seat 334.

To achieve the automatic reset of the button 333 and, thus, of the catch, the latch mechanism further includes a first reset member 335, the first reset member 335 being disposed between the button 333 and the anchor 334. Preferably, the first restoring member 335 may be a spring, and the spring is disposed between the button 333 and the fixing base 334. When pressing the button, the button is to the direction removal that is close to the fixing base, leads to the spring to be in compression state, and when loosening the button, the spring resets and drives the button and reset to thereby drive third connecting rod buckle 332 and reset.

In consideration of the fact that the first restoring member 335 is failed to affect the restoration of the latch 332, it is preferable that the locking lever mechanism further includes a second restoring member 336, and the second restoring member 336 is disposed between the third link 329 and the second support base 331. As a preferable scheme, the second reset member 336 may be an extension spring, one end of the spring is connected to the other end of the third link 329 opposite to the latch, and the other end of the spring is connected to the second support seat, so that the latch 332 may be driven to reset by the extension spring, and even if the first reset member 335 fails, the automatic reset of the latch 332 and the button 333 may still be ensured, thereby achieving a double safety.

When the instrument operation box is installed, the plug-pull piece on one side of the instrument operation box is inserted into the socket on one side of the robot body, and meanwhile, the buckle 332 is clamped in the clamping groove 326 on one side of the robot body, so that the instrument operation box is locked on the robot body; when the instrument operation box needs to be detached, after the button 333 is pressed down, the first connecting rod 327 is driven to rotate, the first connecting rod drives the second connecting rod 328 to rotate, and the second connecting rod drives the third connecting rod 329 to rotate, so that the buckle 332 is separated from the clamping groove 326 on the robot body, and therefore unlocking of the instrument operation box is achieved.

Turning now to fig. 20, another embodiment of the self-locking assembly is illustrated. The self-locking assembly of this embodiment includes a locking lever mechanism 420 provided on the instrument operation box, and a card slot (not shown) provided on the power unit side of the robot body in cooperation with the locking lever mechanism, which protrudes from the lateral side of the instrument operation box.

The locking rod mechanism 420 comprises a connecting rod 421 which is hinged on the supporting seat 422, and one side of the connecting rod, which is positioned on the power unit, is provided with a buckle 423 which extends out from the lateral side of the transverse side of the instrument operation box; the locking lever mechanism is further provided with a button 424, which is arranged on an end of the link 421 facing away from the catch; the instrument operation box is provided with a fixed seat 425, and the button 424 is arranged on the fixed seat 425.

To achieve automatic reset of the button and thus of the catch, the locking lever mechanism 420 further includes a reset member 428, the reset member 428 being disposed between the button 424 and the anchor block 425. Preferably, the reset member 428 may be a spring disposed between the button 424 and the anchor 425. When the button 424 is pressed, the button 424 moves towards the direction close to the fixed seat, so that the spring is in a compressed state, and when the button 424 is released, the spring resets to drive the button to reset, so that the connecting rod 421 and the buckle 423 arranged on the connecting rod are driven to reset.

Reference is now made to fig. 21A, 21B, 21C and fig. 22A and 22B, which illustrate another embodiment of the self-locking assembly. In this embodiment, two catching portions 350 are provided on the instrument operation box, and a catching groove 351 cooperating with the catching portions is provided on the robot body power unit side, the catching portions protruding from the side of the lateral side of the instrument operation box.

Each clamping portion 350 comprises two lead bars 352 oppositely arranged up and down, protrusions 353 used for clamping with clamping grooves 351 on one side of the power unit are arranged on the surfaces of the two lead bars, the protrusions are provided with slope surfaces 354 extending from the tops of the protrusions towards the ends of the lead bars and inclining towards the other lead bar, and slope surfaces 355 extending from the tops of the protrusions towards the roots of the lead bars and inclining towards the other lead bar are formed.

When the instrument operation box is installed, the clamping part 350 on the instrument operation box is inserted into the clamping groove on one side of the power unit in an aligning way, the two lead bars are compressed and deflect oppositely, the protrusion is guided to enter the clamping groove, and the protrusion entering the clamping groove is clamped on the edge of the clamping groove, so that the instrument operation box is locked; when the device operation box is detached, the device operation box is pulled away from the power unit, so that the clamping portion on the device operation box is separated from the clamping groove on the power unit. The clamping portion and the clamping groove of the embodiment also have the functions of the plug piece and the socket, so that the plug piece and the socket can be omitted by adopting the self-locking assembly with the structure, and the clamping portion and the clamping groove have the functions of the self-locking assembly and the plug piece and the socket.

It should be understood here that the core of the self-locking assembly of the present invention is to improve the stability of the connection of the instrument console box and the power unit by using the locking function of the self-locking assembly. The above preferred embodiments are only some exemplary specific structures that may be adopted by the self-locking assembly, and of course, other structures may also be adopted, and the present invention is not limited thereto.

It should be noted that the catheter, the balloon catheter and the Y valve are not components of the instrument operation box assembly, and are only components that need to be mentioned for the sake of more clearly explaining the composition structure of the present invention, and the catheter, the balloon catheter and the Y valve are all purchased by a user and assembled on the instrument operation box.

The working principle of the instrument operation box assembly of the utility model is as follows:

firstly, an instrument operation box assembly is installed on a robot body through a plug-pull assembly on the side face and is locked on the robot body through a self-locking assembly, meanwhile, a catheter rotating power input shaft and a balloon catheter power input shaft are respectively connected to a corresponding catheter rotating driving shaft and a balloon catheter delivery driving shaft, a catheter is delivered to a blood vessel focus position through the robot body, and the catheter is rotated to adapt to operations such as bifurcation and turning in a blood vessel in the delivery process; the balloon catheter is placed between the delivery rollers arranged in pairs by operating the bias adjusting part, and the balloon catheter is driven to pass through the Y valve and move in the catheter by operating the delivery rollers so as to be delivered to the vascular lesion position.

According to the technical scheme of the utility model, instrument operation box subassembly includes the pipe rotary drive device and the sacculus pipe drive device that set up along instrument operation box's fore-and-aft direction order. A catheter rotation power input shaft of the catheter rotation driving device extends along the transverse direction of the instrument operation box, a power input end of the catheter rotation driving device extends out from one transverse side of the instrument operation box, and a transmission assembly is adopted to adapt to a transmission structure between a rotation driving piece and the catheter rotation power input shaft; the balloon catheter power input shaft of the balloon catheter driving device extends along the transverse direction of the instrument operation box, the power input end of the balloon catheter driving device extends out of one transverse side of the instrument operation box, and a transmission assembly is adopted to be matched with a transmission structure between the balloon catheter delivery assembly and the balloon catheter power input shaft. Therefore, the catheter rotation power input shaft and the balloon catheter power input shaft can be connected with respective driving sources in the power unit arranged on one side of the robot body in a side connection mode, and further an instrument operation box can be laterally installed on one side of the robot body through a connector, so that the problem that structural member corrosion or electrical short circuit occurs due to the fact that liquid permeates into the power unit body due to the fact that the instrument operation box is installed above the power unit in the prior art is solved, the whole thickness of the robot is reduced due to the side connection mode, instruments such as a catheter and a balloon catheter which are loaded on the instrument operation box can be completely close to a blood vessel inlet of a patient, and the effective use distance of the instruments such as the balloon catheter is remarkably increased. Therefore, the utility model discloses for prior art has obtained apparent technological effect.

The present invention has been described above with reference to the accompanying drawings in conjunction with specific embodiments, but this is for illustrative purposes only and the present invention is not limited thereto. Therefore, it will be apparent to those skilled in the art that various changes and modifications can be made within the technical spirit and scope of the present invention, and these changes and modifications should also be construed to fall within the scope of the present invention, which is defined by the claims and their equivalents.

Claims (12)

1. An instrument operation box assembly for a vascular intervention surgical robot, which is characterized by comprising an instrument operation box, a catheter rotation driving device and a balloon catheter driving device;

the catheter rotation driving device and the balloon catheter driving device are arranged on the instrument operation box, are positioned below the instrument operation box and are sequentially arranged along the front-back direction of the instrument operation box, and the catheter rotation driving device is arranged in front of the balloon catheter driving device;

the catheter rotation driving device comprises a catheter rotation power input shaft and a first transmission assembly, the catheter rotation power input shaft extends along the transverse direction of the instrument operation box, the power output end of the catheter rotation power input shaft is connected with the first transmission assembly, and the power input end of the catheter rotation power input shaft extends out of one transverse side of the instrument operation box and is used for being connected with a catheter rotation driving shaft of a power unit arranged on one side of the robot body;

the balloon catheter driving device comprises a balloon catheter power input shaft and a second transmission assembly, the balloon catheter power input shaft extends along the transverse direction of the instrument operation box, the power output end of the balloon catheter power input shaft is connected with the second transmission assembly, the power input end of the balloon catheter power input shaft extends out of one transverse side of the instrument operation box and is used for being connected with a balloon catheter delivery driving shaft of a power unit arranged on one side of the robot body;

wherein the lateral side of the instrument operation box is detachably connected with the adjacent side of the power unit by using a plug connection mode.

2. An instrument cassette assembly for a vascular interventional surgical robot as in claim 1, wherein the instrument cassette is locked to the power unit by a self-locking assembly.

3. The instrument cassette assembly for a vascular interventional surgical robot of claim 2, wherein the self-locking assembly comprises a locking lever mechanism provided on the instrument cassette with one end protruding from the lateral side of the instrument cassette and a catch provided on the end for engagement with a catch on a side of the power unit.

4. The instrument operation box assembly for a vascular interventional surgical robot according to claim 3, wherein the locking lever mechanism includes a first link, a second link, and a third link arranged in order, the third link being located at a side of the instrument operation box connected to the power unit, protruding from the lateral side of the instrument operation box, and having the catch provided on an end thereof; the first connecting rod and the third connecting rod are hinged to the instrument operating box, and two ends of the second connecting rod are respectively hinged to the first connecting rod and the third connecting rod; one end of the first connecting rod, which is far away from the buckle, is provided with a first resetting piece, and the first resetting piece is arranged between the first connecting rod and a fixed seat arranged on the instrument operation box and used for applying bias voltage to the first connecting rod to enable the buckle to be clamped with the clamping groove arranged on one side of the power unit.

5. An instrument cassette assembly for a vascular interventional surgical robot as set forth in claim 4, wherein the locking lever mechanism further includes a second return member being an extension spring having one end connected to the other end of the third link opposite the catch and the other end connected to a structure fixed relative to the instrument cassette for biasing the third link to urge the catch into engagement with the catch disposed on the side of the power unit.

6. The instrument operation box assembly for a vascular interventional surgical robot according to claim 4 or 5, wherein the first restoring member is a coil spring.

7. The instrument operation cassette assembly for a vascular interventional surgical robot as set forth in claim 3, wherein the locking lever mechanism includes a link rod having one end protruding from the lateral side of the instrument operation cassette and the end on which the catch is provided; the connecting rod is hinged on the instrument operating box; the other end of the connecting rod is provided with a resetting piece, the resetting piece is arranged between the connecting rod and a fixed seat arranged on the instrument operation box in a matched mode and used for applying bias voltage to the connecting rod to enable the buckle to be connected with a clamping groove arranged on one side of the power unit in a clamped mode.

8. The instrument cassette assembly for a vascular interventional surgical robot of claim 7, wherein the return member is a coil spring.

9. The instrument operation box assembly for the vascular interventional surgical robot as set forth in claim 2, wherein the self-locking assembly includes a clamping portion for clamping with a clamping groove provided at one side of the power unit; the joint portion is followed horizontal one side of instrument operation box is stretched out to including the relative helical pitch strip that sets up about two, two helical pitch strips deviate from each other be provided with on the surface be used for with the arch of the draw-in groove block of power pack one side, be formed with in the arch from protruding top towards the extension of helical pitch strip tip, to the domatic of another helical pitch strip slope, and be formed with from protruding top towards the extension of helical pitch strip root, to the domatic of another helical pitch strip slope.

10. The device operation box assembly for the vascular intervention surgical robot as claimed in claim 1, wherein the connection structure for realizing the plug connection manner comprises a plug member or a plug port arranged at one side of the device operation box for being in adaptive connection with the plug port or the plug member arranged at one side of the power unit.

11. The instrument operation box assembly for the vascular interventional surgical robot as set forth in claim 1, wherein the connection structure for realizing the plug connection manner includes a plug interface disposed at one side of the instrument operation box for being adapted to be connected with a corresponding plug interface disposed at one side of the power unit.

12. The instrument operation box assembly for a vascular interventional surgical robot as set forth in claim 1, further comprising a cartridge mechanism disposed on a side of the instrument operation box facing away from the power unit for mounting a contrast media injector.

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