CN219716711U - Button structure, interventional operation robot and main end control console thereof - Google Patents

Abstract

The disclosure relates to a button structure, an interventional operation robot and a main end control console thereof, and relates to the technical field of medical instruments. The button structure comprises a sleeve, a bushing, a button body and a pressing piece, wherein the sleeve can be connected to a base of a main end console; the bushing is matched and arranged in the sleeve; the button body is provided with a pressing end and a connecting end, the pressing end is positioned in the sleeve, and the connecting end extends out of the sleeve; the pressing piece is arranged in the bushing and can reciprocate along the bushing; the pressing piece is abutted with the pressing end of the button body. The button life can be extended.

Description

Button structure, interventional operation robot and main end control console thereof

Technical Field

The disclosure relates to the technical field of medical instruments, in particular to a button structure, an interventional operation robot and a main end control console thereof.

Background

At present, an interventional operation robot is applied to surgical operations such as vascular interventional operations, and generally comprises a slave end and a master end for controlling the slave end, wherein a master end control console is generally positioned outside an operating room, and a control mechanism for medical care operation can be arranged on the master end control console so as to control the slave end such as a mechanical arm positioned in the operating room. A plurality of buttons are usually arranged on the existing main end control console, but the service life of the buttons needs to be prolonged.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The purpose of the present disclosure is to overcome the shortcomings of the prior art, and provide a button structure, an interventional operation robot and a main end console thereof, which can prolong the service life of the button.

According to one aspect of the present disclosure, there is provided a button structure including:

the sleeve can be connected to a base of a main end control console of the interventional operation robot;

the bushing is matched and arranged in the sleeve;

the button body is provided with a pressing end and a connecting end, the pressing end is positioned in the sleeve, and the connecting end extends out of the sleeve;

a pressing member provided in the bush and capable of reciprocating along the bush; the pressing piece is abutted with the pressing end of the button body.

In an exemplary embodiment of the present disclosure, the inner wall of the bushing is provided with a blocking table; the outer peripheral surface of the pressing piece is provided with a limiting protrusion, and the limiting protrusion is blocked at one side of the blocking table, which is close to the button body.

In an exemplary embodiment of the present disclosure, an elastic member is provided between the blocking table and the limiting protrusion, and the elastic member is used to apply a force to the limiting protrusion toward the blocking table.

In an exemplary embodiment of the present disclosure, the limit projection and the blocking table are both annular structures.

In an exemplary embodiment of the present disclosure, a limiting groove is formed on an outer circumferential surface of the button body; a limiting block is arranged on the inner wall of the sleeve; the limiting block is slidably arranged in the limiting groove.

In an exemplary embodiment of the present disclosure, the limit groove is an annular groove, and the limit block is an annular structure extending along a circumferential direction of the sleeve; and/or

And a sealing ring is arranged between the limiting block and the side wall of the limiting groove.

In an exemplary embodiment of the disclosure, a rib is provided on an outer circumferential surface of the button body and a limit ring is sleeved on the rib, and the limit groove is defined by the rib and the limit ring.

In one exemplary embodiment of the present disclosure, the pressing piece and the button body are bonded by an adhesive layer.

According to one aspect of the present disclosure, there is provided a main end console of an interventional surgical robot, comprising:

a base having opposite bottom and top plates;

the button structure of any one of the above, wherein the sleeve is disposed through the top plate.

According to one aspect of the present disclosure, there is provided an interventional procedure robot system comprising a master end console as described above and a slave end of an interventional procedure robot.

The button structure, the intervention surgical robot and the main end control table thereof can enable the sleeve of the button structure to be arranged on the base of the main end control table, and the user can press the pressing piece through fingers, so that the button body is controlled, the fingers do not need to be in direct contact with the button body, damage to the button body due to abrasion, oxidization and other reasons is prevented, and the service life is prolonged. Meanwhile, the pressing piece can slide along the axial direction of the bushing, can play a role in guiding through the bushing, and plays a role in sealing to a certain extent.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

Fig. 1 is a schematic view of an embodiment of a main end console of an interventional surgical robot of the present disclosure.

Fig. 2 is a cross-sectional view of an embodiment of a button structure of the present disclosure.

Reference numerals illustrate:

1. a base; 11. a bottom plate; 12. a top plate; 13. a side plate;

2. a button structure;

10. a sleeve; 101. a limiting block; 20. a bushing; 201. a first section; 202. a second section; 210. a blocking table; 30. a button body; 310. a limit groove; 301. a rib; 302. a limiting ring; 40. a pressing member; 401. a limit protrusion; 50. a seal ring;

3. a control handle;

4. a display stand;

5. a display.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted. Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale.

Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification for convenience only, such as in terms of the orientation of the examples described in the figures. It will be appreciated that if the device of the icon is flipped upside down, the recited "up" component will become the "down" component. When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

The terms "a," "an," "the," "said" and "at least one" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. in addition to the listed elements/components/etc.; the terms "first" and "second" are used merely as labels, and do not limit the number of their objects.

The embodiment of the disclosure provides a main end control table of an interventional operation robot, which can be used for controlling a slave end of the interventional operation robot to realize vascular interventional operation and the like. The interventional operation robot slave may include a robot arm, a robot body, and a consumable device disposed on the robot body, and the like, and is not particularly limited herein.

The main end console of the interventional surgical robot may include a base 1, the base 1 may have opposite bottom plates 11 and top plates 12, the bottom plates 11 may be placed on a carrying surface, and the top plates 12 are located above the bottom plates 11. Meanwhile, the base 1 may further include a side plate 13, where the side plate 13 is connected between the top plate 12 and the bottom plate 11, and the side plate 13 may extend along edges of the top plate 12 and the bottom plate 11, so as to enclose a closed cavity with the bottom plate 11 and the top plate 12, and a circuit board and other structures may be disposed in the cavity, where the circuit board may be used to control the slave end.

For convenience of operation by the user, the button structure 2 may be provided on the base 1, for example, the button structure 2 may be provided on the top plate 12. The number of the button structures 2 may be one or more, and the specific number is not particularly limited herein, and the specific arrangement position is not particularly limited herein. The button structure 2 can be connected with the circuit board, and a user can realize various functions through the button structure 2, for example, the button structure 2 can be used for realizing power-on and power-on; the device can be used for emergency power-off shutdown; the injector of the slave end of the interventional operation robot can be controlled by the button structure 2 to realize injection function and the like.

As shown in fig. 1, the button structure 2 of the embodiment of the present disclosure may include a sleeve 10, a bushing 20, a button body 30, and a pressing piece 40, wherein:

the sleeve 10 can be connected to the base 1 of the main console. The bushing 20 is fitted in the sleeve 10. The button body 30 has a pressing end located in the sleeve 10 and a connection end extending out of the sleeve 10. The pressing member 40 is provided in the bush 20 and can reciprocate along the bush 20; the pressing piece 40 abuts against the pressing end of the button body 30.

The button structure 2 of the embodiment of the disclosure can locate the sleeve 10 of the button structure 2 on the base 1, and the user can press the pressing piece 40 by fingers, so as to control the button body 30, and the fingers do not need to directly contact with the button body 30, thereby being beneficial to preventing the button body 30 from being damaged due to abrasion, oxidation and other reasons, and prolonging the service life. Meanwhile, the pressing piece 40 may slide along the axial direction of the bush 20, may play a guiding role through the bush 20, and may play a sealing role to some extent.

The button structure 2 is described in detail below:

the sleeve 10 may have a tubular structure with two through ends, and the cross-section thereof may have a circular or polygonal or elliptical shape, and is not particularly limited herein. Meanwhile, in order to install the sleeve 10 on the base 1, an installation hole may be provided on the top plate 12 of the base 1, the installation hole is a through hole penetrating through the top plate 12, and the sleeve 10 may be fixed in the installation hole by interference fit, threaded connection, or the like, so as to connect the sleeve 10 to the base 1. Of course, the connection between the sleeve 10 and the base 1 may be achieved in other manners, for example, the sleeve 10 and the top plate 12 may be an integral structure, the sleeve 10 may be regarded as a cylindrical structure formed by protruding the top plate 12 near the bottom plate 11 and/or away from the bottom plate 11, and two ends of the sleeve 10 may be penetrated to communicate the cavity in the base 1 with the outside of the base 1.

In some embodiments of the present disclosure, one end of the sleeve 10 is located at a side of the top plate 12 away from the bottom plate 11, i.e., protrudes from the top plate 12, and the other end is located in the cavity of the base 1, and in order to avoid that the height of the sleeve 10 protruding on the top plate 12 is too large, a majority of the sleeve 10 may be located in the cavity, i.e., a length of a portion of the sleeve 10 located at a side of the top plate 12 away from the bottom plate 11 in an axial direction of the sleeve 10 is smaller than a length of a portion located in the cavity.

Of course, in other embodiments of the present disclosure, the end face of one end of the sleeve 10 may also be flush with the top plate 12, even recessed relative to the surface of the top plate 12 remote from the bottom plate 11, with the end face of the other end being located within the cavity of the base 1.

The bush 20 is also a tubular structure with both ends penetrating, the external shape of the bush 20 matches the internal shape of the sleeve 10, and the bush 20 can be fitted in the sleeve 10. The length of the bush 20 in the axial direction is smaller than the length of the sleeve 10 in the axial direction. The sleeve 20 may be fitted in the sleeve 10, and the end of the sleeve 20 does not exceed the end of the sleeve 10, for example, the end of the sleeve 20 remote from the base plate 11 of the base 1 is flush with the end of the sleeve 10 remote from the base plate 11, and the other end of the sleeve 20 is located between the two ends of the sleeve 10.

The cross-sectional profile of the sleeve 20 may be circular, polygonal, oval, etc., as long as it conforms to the cross-sectional profile of the sleeve 10. For example, the cross-sectional profiles of the sleeve 20 and the sleeve 10 are circular, while the outer diameter of the sleeve 20 is no greater than the inner diameter of the sleeve 10, so that the sleeve 20 may be disposed within the sleeve 10.

In some embodiments of the present disclosure, the liner 20 and the sleeve 10 may be secured by an interference fit, a threaded connection, or the like.

In one embodiment, the sleeve 20 and the sleeve 10 may be connected by an interference fit, and the outer circumferential surface of the sleeve 20 may be entirely in contact with the inner wall of the sleeve 10. Alternatively, the outer circumferential surface of the bush 20 may be in contact with the inner wall of the sleeve 10 only locally, as long as an interference fit is achieved; in an embodiment, the bushing 20 may include a first section 201 and a second section 202 connected along an axial direction, an outer peripheral surface of the first section 201 protrudes from an outer peripheral surface of the second section 202, the outer peripheral surface of the first section 201 is in interference fit with an inner wall of the sleeve 10, and the second section 202 has a gap with the inner wall of the sleeve 10; the end surface of the bushing 20 remote from the bottom plate 11 of the base 1 is located at the end of the first section 201 remote from the second section 202, and the end surface of the bushing 20 near the bottom plate 11 is located at the end of the second section 202 near the bottom plate 11.

In some embodiments of the present disclosure, the sleeve 20 and the sleeve 10 may be in a clearance fit, that is, a clearance is formed between the sleeve 20 and the sleeve 10, and in order to prevent the sleeve 20 from sliding in the sleeve 10 in the axial direction, a filling structure such as an anti-slip washer made of elastic material may be disposed between the sleeve 20 and the sleeve 10 to prevent the sleeve 20 from sliding by friction force; alternatively, the sleeve 20 may be supported by a support structure provided on the inner wall of the sleeve 10 to prevent sliding.

In an embodiment, the inner wall of the sleeve 10 may be provided with a stopper 101, and the stopper 101 and the sleeve 10 may be integrally formed, or may be an independent structure fixed by a fastening, a threaded connection, or the like. The limiting block 101 may extend inward along the radial direction of the sleeve 10 to protrude from the inner wall of the sleeve 10, and the limiting block 101 is located at one side of the liner 20 close to the bottom plate 11 of the base 1, and one end of the liner 20 may abut against the limiting block 101, so that the liner 20 may be supported by the limiting block 101 to prevent the liner 20 from sliding toward the inside of the base 1.

Further, the stopper 101 may be a closed ring structure extending along the circumferential direction of the inner wall of the sleeve 10, and the end surface of the liner 20 near the bottom plate 11 may be supported. Of course, the stopper 101 may also include a plurality of stopper units spaced apart along the circumference of the inner wall of the sleeve 10, each of which may be used to provide support for the liner 20.

In other embodiments of the present disclosure, the stopper 101 of the above embodiment may coexist with one of the interference fit and the anti-slip washer, playing a role of multiple stoppers.

The button body 30 has a pressing end and a connecting end distributed along the axial direction of the sleeve 10, and the pressing end may be located in the sleeve 10 and may be further located in the bush 20; the connection end can extend out of the sleeve 10 in a direction approaching the bottom plate 11, extend into the cavity of the base 1, and can be connected with a circuit board so as to trigger signals.

In some embodiments of the present disclosure, in order to achieve the limiting of the button body 30, a limiting groove 310 may be disposed on the outer peripheral surface of the button body 30, the limiting block 101 on the inner wall of the sleeve 10 may be disposed in the limiting groove 310, and the width of the limiting groove 310 (i.e. the distance between two side walls for limiting the movement of the limiting block 101) may be greater than the width of the limiting block 101 in the axial direction of the sleeve 10, so that the limiting block 101 may slide relative to the limiting groove 310, for example, slide along the axial direction of the sleeve 10 or rotate along the circumferential direction. The button body 30 is prevented from sliding from the sleeve 10 into the cavity of the base 1 by the cooperation of the limiting groove 310 and the limiting block 101. The limiting groove 310 may be an annular groove, and the limiting block 101 may be an annular protrusion extending along the circumferential direction of the sleeve 10, and the annular protrusion is cooperatively disposed in the annular groove.

In some embodiments of the present disclosure, the height of the two sidewalls of the limiting groove 310, which is the length of the sidewalls in the radial direction of the sleeve 10, may be different. For example, the height of the side wall of the limit groove 310 close to the bottom plate 11 of the base 1 is greater than that of the side wall far away from the bottom plate 11, so that the side wall of the limit groove 310 far away from the bottom plate 11 is shorter, and the side wall close to the bottom plate 11 is longer, which is beneficial for extending the end of the button body 30 into the sleeve 10 and the bushing 20, and also beneficial for the limit block 101 to enter the limit groove 310.

In an embodiment, the outer peripheral surface of the button body 30 may be provided with a protruding rib 301 and a limiting ring 302, and referring to the orientation of fig. 2, the rib 301 is located at the top edge of the button body 30, the limiting ring 302 is located below the rib 301, and the limiting groove 310 is a space between the rib 301 and the limiting ring 302, so that the limiting groove 310 may be defined by the rib 301 and the limiting ring 302. If the limiting groove 310 is an annular groove, the rib 301 is a closed annular rib extending in the circumferential direction. Further, the outer peripheral surface of the rib 301 may be gradually contracted toward the outside of the base 1 in a direction away from the bottom plate 11, so that the height of the rib 301 is smaller than that of the stopper ring 302.

The limiting ring 302 has an internal thread, and the outer circumferential surface of the button body 30 is provided with an external thread, so that the limiting ring 302 can be sleeved outside the button body 30, and the internal thread and the external thread are engaged in a matching manner to realize threaded connection, and the limiting ring 302 can be regarded as a nut. The limiting ring 302 can be detached from the button body 30, and when the button is installed, the button body 30 can be penetrated through the limiting block 101 and then screwed into the limiting ring 302, so that the limiting ring is matched with the convex rib 301 for limiting. Of course, the stop collar 302 may also be coupled to the button body 30 by a snap fit or other removable means, which will not be described in detail herein.

In an embodiment, the outer peripheral surface of the button body 30 may not be provided with the above-mentioned flange structure, and the limit groove 310 may be formed by radially recessing the outer peripheral surface of the button body 30.

Further, in some embodiments of the present disclosure, a sealing ring 50 may be disposed between the stopper 101 and the sidewall of the stopper groove 310, and sealing between the button body 30 and the sleeve 10 may be achieved by the sealing ring 50. For example, the seal ring 50 may be disposed between the rib 301 and the stopper 101, or may be disposed between the stopper ring 302 and the stopper 101, or, of course, two seal rings 50 may be disposed between the rib 301 and the stopper 101, and between the stopper ring 302 and the stopper 101, respectively. The seal ring 50 may be made of rubber or other elastic materials, and may also play a role of buffering.

In some embodiments of the present disclosure, the button body 30 may include a stationary sleeve and a movable assembly, wherein:

the fixing sleeve is a cylindrical structure with two through ends, the fixing sleeve can penetrate into the sleeve 10 from the cavity of the base 1 and penetrates into the bushing 20, and one end of the fixing sleeve in the sleeve 10 is a part of the pressing end of the button body 30. The above mentioned limit groove 310 may be disposed on the fixing sleeve, and the connection manner between the button body 30 and the sleeve 10 is the connection manner between the fixing sleeve and the sleeve 10, which will not be described in detail herein.

The movable assembly may be disposed in the fixed sleeve along an axial direction of the fixed sleeve, and one end is disposed in the sleeve 10 and the bushing 20, and the end is a part of the pressing end of the button body 30, and the other end of the movable assembly may be directly connected to the circuit board or connected to the circuit board through a lead. At least a part of the movable assembly can reciprocate along the axial direction of the fixed sleeve, so that the control function is realized through the circuit board in the cavity of the base 1. Meanwhile, the movable part of the movable assembly can automatically reset under the action of a spring or other structures, so that reciprocating movement is realized. The specific structure of the movable assembly is not particularly limited herein as long as the circuit control can be achieved by pressing.

It should be noted that, the button body 30 in fig. 2 is only an exemplary illustration, and not limited to the actual structure of the button body 30, and the main purpose of the present disclosure is to protect the arrangement of the button body 30, not the specific structure thereof, so that a simplified representation is adopted for the structure of the button body 30.

The button body 30 can be regarded as a button switch capable of independently realizing the control function, the specific structure of the button switch is not particularly limited in the disclosure, and the service life of the button switch is mainly prolonged in the scheme of the disclosure.

The pressing piece 40 may be provided in the bush 20 and slidably engaged with the bush 20 so as to be capable of reciprocating in the axial direction of the bush 20. The pressing piece 40 may have a columnar structure, one end of which may be flush with one end of the bushing 20 and one end of the sleeve 10, which is far away from the bottom plate 11 of the base 1, so as to improve flatness and reduce edges, and the other end of the pressing piece 40 may be in contact with the pressing end of the button body 30 in the bushing 20, and by pressing the pressing piece 40, control of the button body 30 may be achieved; for example, the pressing member 40 may abut against the movable component of the button body 30, and by pressing the pressing member, at least part of the movable component is pushed to move axially, so as to trigger the button body 30 to control signals of the circuit board. Since the movable assembly can be automatically reset, the movable assembly can push the pressing member 40 to reset when the user no longer presses the pressing member 40.

The pressing member 40 may be limited in order to prevent the pressing member from being separated from the bush 20 in a direction away from the base 1. In some embodiments of the present disclosure, the blocking table 210 may be disposed on the inner wall of the bushing 20, and the limiting protrusion 401 may be disposed on the outer circumferential surface of the pressing piece 40, the limiting protrusion 401 is located at one side of the blocking table 210 near the button body 30, and there is an overlapping region between the blocking table 210 and the limiting protrusion 401, so that the limiting protrusion 401 may be blocked at one side of the blocking table 210 near the button body 30, preventing the pressing piece 40 from being separated.

The blocking table 210 may extend along an end surface of the bushing 20 remote from the end of the base plate 11, and the end surface of the pressing member 40 remote from the base plate 11 may be flush with the blocking table 210 and the end surface of the bushing 20 remote from the base plate 11.

In some embodiments of the present disclosure, both the stop protrusion 401 and the stop table 210 may be a closed annular structure extending in the circumferential direction of the pressing member 40. Of course, a plurality of independent protruding structures distributed along the circumferential direction may be included as long as the above-mentioned limiting function can be achieved.

In order to assist the pressing member 40 to reset, an elastic member may be disposed between the blocking table 210 and the limiting protrusion 401, and the elastic member may apply a force toward the blocking table 210 to the limiting protrusion 401, that is, apply a tensile force between the blocking table 210 and the limiting protrusion 401, and when the pressing member 40 is pressed by a user, the pressing member 40 needs to be pressed against the tensile force of the elastic member, and when the user does not press any more, the restoring force of the movable component of the button body 30 and the tensile force of the elastic member may act together, so that the pressing member 40 is reset.

The elastic member may be a tension spring, which may be sleeved outside the pressing member 40, located between the limiting protrusion 401 and the blocking table 210, and connected to the limiting protrusion 401 and the blocking table 210. Alternatively, the elastic member may be made of an elastic material such as rubber, so long as the tensile force can be applied. Of course, in some embodiments, the elastic member described above may not be provided.

In some embodiments of the present disclosure, in order to prevent the button body 30 from being worn by the relative movement or impact of the pressing piece 40 and the button body 30, the pressing piece 40 and the button body 30 may be bonded by an adhesive layer, which may be a resin or other material having an adhesive effect, so long as the adhesive effect is achieved.

Furthermore, in some embodiments of the present disclosure, an annular light bar may also be provided around the sleeve 10 or between the sleeve 20 and the sleeve 10.

The disclosed embodiments also provide a main end console of an interventional surgical robot, which may include a base 1 and a button structure 2, wherein:

the base 1 is described in detail above and will not be described here. The base 1 has opposed bottom and top panels 11 and 12. The button structure 2 may be the button structure 2 in the above embodiment of the button structure 2, and the sleeve 10 thereof may be disposed through the top plate 12 and may be connected by integrally forming or fixedly connecting, so as to dispose the button structure 2 on the base 1.

The number of button structures 2 may be plural, the functions of different button structures 2 being different. For example, the number of the button structures 2 is three, which are an on/off button, an emergency stop button, and a control button, respectively, which can be used to control a syringe or the like at the slave. At least one of the button structures 2 is the button structure 2 described above, but it is needless to say that all the button structures 2 described above may be used.

In addition, the main end console of the interventional surgical robot of the present disclosure may further include a display stand 4, a display 5, and a control handle 3, wherein:

the control handle 3 may be disposed through the top plate 12 and connected to a circuit board disposed in the cavity of the base 1, and control of the slave end of the interventional surgical robot may be achieved by manipulating (e.g., pushing, rotating, etc.) the control handle 3, for example, the slave end of the interventional surgical robot may have a mechanical arm, and control of the interventional consumable may be achieved by manipulating the control handle 3, for example, advancing, retracting, rotating, etc. Alternatively, for use with a vascular interventional surgical robot, it may also include a wire feeding mechanism coupled to the robotic arm, through which a guidewire may be advanced into the vessel, and through which the wire feeding and retraction may also be controlled by pushing the control handle 3.

The display seat 4 may be disposed on a side of the top plate 12 away from the bottom plate 11, and the display seat 4 and the top plate 12 may be integrally formed, or may be fixed to the top plate 12 by fastening, bonding, or the like. The display 5 may be disposed on the display stand 4, so that the display 5 is supported by the display stand 4 and the display 5 is limited.

The embodiment of the disclosure further provides an interventional operation robot, which includes a master end console and a slave end of the interventional operation robot, wherein the structure of the master end console can refer to the embodiment of the console above, and the description thereof is omitted herein.

The slave end of the interventional operation robot can comprise a mechanical arm, a robot body arranged on the mechanical arm, a wire feeding mechanism and an injector which are arranged on the robot body, and the master end control console can control the wire feeding mechanism through the control handle 3, for example, the position of the wire feeding mechanism is adjusted; and controlling the wire feeding mechanism to feed or withdraw wires into the blood vessel. At the same time, the injector can be controlled by means of at least one button structure 2.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (10)

1. A push button structure comprising:

the sleeve can be connected to a base of a main end control console of the interventional operation robot;

the bushing is matched and arranged in the sleeve;

the button body is provided with a pressing end and a connecting end, the pressing end is positioned in the sleeve, and the connecting end extends out of the sleeve;

a pressing member provided in the bush and capable of reciprocating along the bush; the pressing piece is abutted with the pressing end of the button body.

2. The button structure according to claim 1, wherein an inner wall of the bushing is provided with a blocking table; the outer peripheral surface of the pressing piece is provided with a limiting protrusion, and the limiting protrusion is blocked at one side of the blocking table, which is close to the button body.

3. The button structure according to claim 2, wherein an elastic member is provided between the blocking table and the stopper protrusion, the elastic member being configured to apply a force toward the blocking table to the stopper protrusion.

4. The button structure of claim 2, wherein the limit projection and the blocking table are both annular structures.

5. The button structure according to claim 1, wherein a limit groove is provided on an outer circumferential surface of the button body; a limiting block is arranged on the inner wall of the sleeve; the limiting block is slidably arranged in the limiting groove.

6. The button structure of claim 5, wherein the limit groove is an annular groove, and the limit block is an annular structure extending along a circumferential direction of the sleeve; and/or

And a sealing ring is arranged between the limiting block and the side wall of the limiting groove.

7. The button structure according to claim 5, wherein a rib is provided on an outer circumferential surface of the button body and a limit ring is sleeved on the rib, and the limit groove is defined by the rib and the limit ring.

8. The button structure defined in any one of claims 1-7, wherein the pressing member and the button body are bonded by an adhesive layer.

9. A main end console of an interventional surgical robot, comprising:

a base having opposite bottom and top plates;

the button structure defined in any one of claims 1-8, the sleeve being disposed through the top plate.

10. An interventional procedure robot comprising the master end console of claim 9 and a slave end of the interventional procedure robot.