CN220735492U - Vascular intervention operation robot - Google Patents

Abstract

The utility model discloses a vascular intervention operation robot, which comprises: the robot comprises a robot body and a consumable box, wherein the robot body comprises a mounting member and a first driving device arranged on the mounting member, an assembling part is arranged on the consumable box, and the assembling part is detachably connected with the mounting member; the consumable box is internally provided with a transmission mechanism which is detachably connected with the first driving device in a transmission way. The utility model realizes the technical effect that the consumable box and the transmission mechanism are integrally removed from the robot body, so that the whole consumable box and the transmission mechanism are used as medical consumables, and further solves the problem that the transmission structure and the driving structure in the related art are integrated, and the transmission structure cannot be separated out independently to be used as consumables, so that pollution is easy to cause.

Description

Vascular intervention operation robot

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a vascular intervention surgical robot.

Background

The vascular intervention surgical robot is used for vascular intervention surgical treatment, and intervention treatment is realized through robot control of actions of guide wires, catheters and other intervention consumable materials. To achieve this objective, the robot has a driving structure and a transmission structure, the driving structure is used for providing power to the transmission structure, and the transmission structure drives the intervention type consumable material to act.

The driving structure and the transmission structure in the related art are often integrally formed as a part of the robot, and the transmission structure cannot be independently removed from the robot. However, the transmission structure is in direct contact with the intervention consumable material, so that the transmission structure can only be sterilized, and the use is troublesome.

Disclosure of Invention

The utility model mainly aims to provide a vascular interventional operation robot, which aims to solve the problem that a transmission structure and a driving structure in the related art are integrated, and the transmission structure cannot be separated out singly to be used as consumable materials, so that pollution is easy to cause.

In order to achieve the above object, the present utility model provides a vascular intervention robot including: the robot body and the consumable box are arranged on the robot body,

the robot body includes a mounting member and a first driving device provided on the mounting member,

the consumable box is provided with an assembling part which is detachably connected with the mounting member;

the consumable box is internally provided with a transmission mechanism, and the transmission mechanism is detachably connected with the first driving device in a transmission way.

Further, the fitting portion is provided so as to be detachably connected to the mounting member in a snap-fit manner and/or a magnetic attraction manner.

Further, the assembly part comprises a buckle extending out of the assembly surface of the assembly part, and the mounting component is provided with a clamping hole matched with the buckle; or alternatively

The assembly part comprises a clamping hole which is concave in the assembly surface of the assembly part, and the mounting component is provided with a buckle matched with the clamping hole.

Further, the mounting portion includes a first magnetic attraction element provided on a mounting surface of the mounting portion, the mounting member includes a second magnetic attraction element provided on a mounting surface of the mounting member, and the first magnetic attraction element and the second magnetic attraction element are capable of attracting each other.

Furthermore, the transmission means is arranged so as to be capable of being detachably connected in a driving manner to the first drive means.

Further, the transmission mechanism comprises an executing part and a transmission connecting part,

the execution part is arranged to be capable of the long straight intervention consumable material is driven to act,

the first end of the transmission connecting part is connected with the executing part so that the transmission connecting part can drive the executing part to act in a driven way;

the second end of the transmission connection part is arranged to be detachably connected with the first driving device in a transmission manner in an inserting manner.

Further, the second end of the transmission connecting part extends out of the assembling surface of the assembling part to realize the plug-in connection.

Further, the second end of the transmission connecting portion is provided with a spline structure, a driving shaft of the first driving device is in transmission connection with the transmission shaft, and spline grooves matched with the spline structure are formed in the driving shaft.

Further, the robot body can be covered with a sterile film, and a part of the sterile film can be clamped between the consumable cartridge and the mounting member.

Further, the robot body further comprises a second driving means arranged to be able to drive the mounting member to move relative to the housing part of the robot body.

In the embodiment of the utility model, the robot body comprises a mounting member and a first driving device arranged on the mounting member, and a consumable box is provided with an assembling part which is detachably connected with the mounting member; the consumable box is internally provided with a transmission mechanism which is arranged to be detachably connected with the first driving device in a transmission way, so that the purpose that the transmission mechanism is integrated into an independent consumable box and is detachably connected with a mounting component on the robot body is achieved, after the consumable box is mounted, the transmission mechanism is simultaneously detachably connected with the first driving device on the robot in a transmission way, thereby realized demolish consumable box and drive mechanism wholly from the robot body, made its wholly as the medical consumable technical effect who uses, and then solved the transmission structure among the correlation technique and drive structure as an organic whole structure, can't separate the transmission structure come out as the consumable use and lead to the problem of pollution easily alone.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the utility model and are not to be construed as unduly limiting the utility model. In the drawings:

FIG. 1 is a schematic diagram of a structure according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an exploded structure according to an embodiment of the present utility model;

the device comprises a mounting component 1, a clamping hole 101, a first driving device 2, a power box 21, a motor component 22, a consumable box 3, an assembling part 31, an assembling surface 32, a clamping buckle 311, a first connecting piece 3111, a pressing part 3112, a transition connecting piece 3113, a second connecting piece 3114 and a transmission connecting part 41.

Detailed Description

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the utility model herein.

In the present utility model, the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", and the like are based on the azimuth or positional relationship shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, the "connected" may be a fixed connection, detachably connected, or of unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

The driving structure and the transmission structure in the related art are often integrally used as a part of the robot, and the transmission structure cannot be independently removed from the robot, so that the pollution problem is easily caused. However, the transmission structure needs to be in direct contact with the intervention consumable, so that the transmission structure can only be sterilized, and the use is troublesome.

In order to solve the above technical problems, as shown in fig. 1 to 2, an embodiment of the present utility model provides a vascular intervention robot, including: a robot body (not shown in the drawings) including a mounting member 1 and a first driving device 2 provided on the mounting member 1, and a consumable cartridge 3 provided with an assembling portion 31 on the consumable cartridge 3, the assembling portion 31 being provided so as to be detachably connectable with the mounting member 1; a transmission mechanism is arranged in the consumable box 3, and the transmission mechanism is detachably connected with the first driving device 2 in a transmission way.

It should be noted that, the specific structure and connection manner of the mounting member 1 and the fitting portion 31 are not limited in this application, as long as the mounting member 1 and the fitting portion 31 can be detachably connected; furthermore, the present application does not impose any limitation on the specific structure of the driving structure either, as long as it is provided on the consumable cartridge 3 and is capable of being detachably connected to the first driving means 2 in a driving manner.

In this embodiment, the robot body is the main structure of the vascular intervention surgical robot, and before surgery, the robot body is mounted on the operating table through the mechanical arm, and the robot body provides the power for the actions of the consumable materials for guide wire and catheter intervention. The robot body includes mounting member 1 and first drive arrangement 2, and first drive arrangement 2 is the power supply that provides power, and it can comprise a plurality of motors and corresponding transmission part, and first drive arrangement 2 can be on the robot body rectilinear movement, can be for the drive mechanism output power in the consumable box 3 simultaneously.

In one embodiment, the first drive 2 may comprise a power box 21 and a motor assembly 22 integrally arranged within the power box 21. The mounting member 1 is arranged on the first drive 2, of course the mounting member 1 may be a mounting plate arranged separately on the first drive 2 or may be a part of the first drive 2.

In order to facilitate the use of the transmission mechanism as a consumable, in this embodiment, the transmission mechanism is integrally installed in the consumable box 3, the consumable box 3 may be directly installed on the installation member 1, and meanwhile, the transmission mechanism located in the consumable box 3 is in transmission connection with the first driving device 2. The consumable cartridge 3 has an assembling portion 31 detachably attachable to the mounting member 1, and the assembling portion 31 may be a part of the consumable cartridge 3 or may be an additional mounting structure fixed to the consumable cartridge 3. The fitting portion 31 and the mounting member 1 are detachably connected, and the specific connection manner may be a clamping connection, a plugging connection, an adsorption connection, or the like. When the clamping or inserting connection is adopted, the mounting member 1 and the assembling part 31 are provided with the mutually matched clamping or inserting connection structure, and when the adsorption connection is adopted, the mounting member 1 and the assembling part 31 are provided with the adsorption structure in adsorption connection. When the adsorption connection is adopted, the adsorption connection can be magnetic adsorption or vacuum adsorption.

The transmission mechanism is integrated in the consumable box 3, and when the consumable box 3 is connected with the mounting member 1, the transmission mechanism is required to be in transmission connection with the first driving device 2, so that the consumable box 3 can be extended from the part responsible for transmission connection on the transmission mechanism and detachably connected with the first driving device 2 in a plugging manner, or the part responsible for transmission connection on the first driving device 2 extends out and detachably connected with the transmission mechanism in a plugging manner. Alternatively, the first driving device 2 and the transmission mechanism can be magnetically connected, and in this way, the first driving device 2 and the transmission mechanism are in a contactless connection, so that the bacteria isolation effect can be better realized.

This embodiment has reached in integrating the transmission structure to solitary consumptive material box 3 to make the consumptive material box 3 wholly be connected with the installation component 1 detachably on the robot body, after the installation of consumptive material box 3, transmission structure simultaneously with the purpose that first drive arrangement 2 detachably transmission on the robot was connected, thereby realized demolising consumptive material box 3 and transmission mechanism wholly from the robot body, make its wholly use technical effect as disposable consumptive material, and then solved transmission structure and drive structure among the correlation technique as an organic whole structure, can't separate the transmission structure split out as the consumptive material use and lead to the problem of pollution easily.

When the fitting portion 31 is detachably connected with the mounting member 1 in a clamping manner, as shown in fig. 1 and 2, the fitting portion 31 includes a clamp 311 extending out of the fitting surface 32 of the fitting portion 31, the mounting member 1 is provided with a clamping hole 101 matching the clamp 311, and the clamp 311 can be clamped and fixed in the clamping hole 101; or the mounting portion 31 includes a clamping hole 101 recessed in the mounting surface 32 of the mounting portion 31, and the mounting member 1 is provided with a clamp 311 matching the clamping hole 101.

In particular, it should be noted that the catch 311 may alternatively be arranged on the fitting part 31 or on the mounting member 1, or on both the fitting part 31 and the mounting member 1, the corresponding snap-fit holes 101, which are snap-fitted with the snap-fits 311, can then be arranged on the mounting member 1 or on the fitting part 31 or on both the fitting part 31 and the mounting member 1. The assembly part 31 and the mounting member 1 are connected through the clamping fit between the clamping buckle 311 and the clamping hole 101, the clamping buckle 311 can improve the stability of connection through a certain amount of elastic deformation during connection, and external force needs to be applied to the clamping buckle 311 during disassembly so that the clamping buckle can generate elastic deformation to be separated from the clamping hole 101.

When the clip 311 is disposed on the fitting portion 31, the clip 311 may extend out of the fitting surface 32 of the fitting portion 31 (the fitting surface 32 may be a surface of the fitting portion 31 proximate to the mounting member 1), so that the clip 311 on the fitting portion 31 is in contact with the clip hole 101 on the mounting member 1 first when the consumable cartridge 3 is mounted, and the consumable cartridge 3 can be positioned. As the mounting proceeds further, the buckle 311 is gradually inserted into the card hole 101, and at this time, the buckle 311 and the card hole 101 cooperate to guide the mounting of the consumable cartridge 3.

In the present embodiment, as shown in fig. 1, the buckle 311 includes a first connection piece 3111, a second connection piece 3114, and a transition connection piece 3113; wherein the first connection piece 3111 and the second connection piece 3114 are disposed opposite to each other, the transition connection piece 3113 is used for connecting the first connection piece 3111 and the second connection piece 3114, and the second connection piece 3114 is connected to the box body of the consumable cartridge 3; the first connection piece 3111 and the second connection piece 3114 have an elastic deformation distance therebetween, and the first connection piece 3111 is elastically deformable toward the second connection piece 3114 under pressure and compresses the elastic deformation distance.

Specifically, it should be noted that the first connecting piece 3111, the second connecting piece 3114 and the transition connecting piece 3113 may be integrally formed, the buckle 311 formed by the three pieces is generally formed into a U shape, one end of the buckle is connected to the bottom edge of the box body of the consumable cartridge 3, and of course, the buckle may be connected to other positions, and the opening of the buckle is towards the upper end of the box body of the consumable cartridge 3. Since the first connection piece 3111 and the second connection piece 3114 have an elastic deformation interval therebetween, when the first connection piece 3111 is subjected to inward pressing force, the first connection piece 3111 is displaced and pressed by the elastic deformation interval, and the transition connection piece 3113 is elastically deformed. During installation, the first connecting sheet 3111, the second connecting sheet 3114 and the transition connecting sheet 3113 are all clamped into the clamping holes 101 of the driving assembly, and during continuous clamping, the first connecting sheet 3111 is abutted against the clamping holes 101 under the elastic action of the transition connecting sheet 3113 due to the limitation of the size of the clamping holes 101, so that the consumable box 3 is installed on the driving assembly. When the first connection piece 3111 is manually pressed against the case of the consumable cartridge 3 during detachment, it is required to be deformed so as to be able to be separated from the card hole 101.

To facilitate insertion of the clip 311 into the clip hole 101 and to avoid stress concentration at the junction of the first connecting piece 3111 and the transition connecting piece 3113 during deformation, the transition connecting piece 3113 in this embodiment is curved as a whole, so that the first connecting piece 3111 and the second connecting piece 3114 are connected in a curved transition.

To further improve the connection stability between the buckle 311 and the card hole 101, in this embodiment, as shown in fig. 1, a clamping protrusion is disposed on a side of the first connecting piece 3111 facing away from the second connecting piece 3114, where the clamping protrusion is used to abut against an end surface of the card hole 101 to limit the separation of the box body along a third direction, and the third direction is opposite to the first direction.

Referring to the orientation in fig. 1, the first direction is a downward direction, the second direction is a left-right direction, and the third direction is an upward direction.

Specifically, it should be noted that, the outer side of the clamping protrusion has an inclined plane, so that the buckle 311 is conveniently clamped into the clamping hole 101, and the upper end surface of the clamping protrusion is a plane, so that the upper end surface can be abutted against the lower end surface of the clamping hole 101 after the clamping protrusion passes through the clamping hole 101, so as to limit the box body of the consumable box 3 from being separated from the driving assembly along the third direction. The first connecting piece 3111 needs to be pressed at the time of detachment to move the engaging projection to a position capable of disengaging from the engaging hole 101.

Since the first connecting piece 3111 needs to be manually pressed when detached, in order to facilitate pressing, in this embodiment, a pressing portion 3112 is provided at one end of the first connecting piece 3111 away from the transition connecting piece 3113, the pressing portion 3112 is gradually away from the box body in the third direction, so that a sufficient pressing space is provided between the pressing portion 3112 and the box body, so that the first connecting piece 3111 has sufficient deformation space to facilitate the disengagement of the clip 311 from the clip hole 101. The edge of the pressing portion 3112 is provided with a circular arc chamfer for convenience.

When the fitting portion 31 is detachably connected to the mounting member 1 in a magnetically attractive manner, the fitting portion 31 includes the first magnetically attractive element 5 provided on the fitting surface 32 of the fitting portion 31, the mounting member 1 includes the second magnetically attractive element 6 provided on the fitting surface 32 of the mounting member 1, and the first magnetically attractive element 5 and the second magnetically attractive element 6 are capable of attracting each other.

Specifically, at least one of the first magnetic attraction element 5 and the second magnetic attraction element 6 is a magnet, and preferably both magnets are used. The first magnetic element 5 may be embedded in the mounting surface 32 of the mounting portion 31, and the second magnetic element 6 may be embedded in the mounting surface 32 of the mounting member 1, with the two magnetic elements being in a corresponding arrangement. It will be appreciated that in order to make the connection between the fitting portion 31 and the mounting member 1 more stable, the first magnetic attraction pieces 5 and the second magnetic attraction pieces 6 may be provided in a plurality and in an array, and the greater the number of the magnetic attraction pieces, the greater the attraction force provided and the more difficult the detachment, so that the number of the magnetic attraction pieces can be selected according to the actual product.

It can be appreciated that on the basis of realizing the clamping by matching the buckle 311 and the clamping hole 101, the magnetic connection can be additionally adopted, and the connection stability of the clamping can be improved by the magnetic connection.

As shown in fig. 2, the transmission mechanism includes an execution portion and a transmission connection portion 41, the execution portion is configured to be capable of driving the long and straight insertion consumable to act, and the action that the execution portion can implement includes, but is not limited to, controlling the long and straight insertion consumable to advance, withdraw and rotate, and the specific structure thereof may adopt a structure capable of implementing the function in the related art, which is not described herein in detail.

The first end of the transmission connection part 41 is connected with the executing part, so that the transmission connection part 41 can drive the executing part to act in a driven way. The transmission connection portion 41 may be a transmission shaft connected to the actuator portion, and is capable of transmitting power output from the first driving device 2 to the actuator portion after being connected to the first driving device 2. According to different transmission modes, different transmission structures, such as splines, gears and the like, can be arranged on the transmission shaft.

When the transmission is arranged so as to be capable of a releasable transmission connection with the first drive 2 in a plug-in manner, the second end of the transmission connection 41 can be arranged so as to be capable of a releasable transmission connection with the first drive 2 in a plug-in manner. Depending on the manner of insertion, the drive connection 41 can be inserted into the first drive 2, or the first drive 2 can be inserted into the drive connection 41. To further facilitate the connection of the drive connection 41 to the first drive device 2, the second end of the drive connection 41 extends beyond the mounting surface 32 of the mounting portion 31 for plugging.

Because the consumable box 3 and the mounting member 1 are connected in a similar plugging manner, when the transmission connecting part 41 and the first driving device 2 are also arranged in a plugging connection manner, the mounting of the consumable box 3 and the mounting of the transmission mechanism can be completed simultaneously only by one operation, the operation is more convenient, and the use efficiency is higher.

On the basis that the transmission connection part 41 and the first driving device 2 are detachably connected through plug-in matching, in order to synchronously realize the transmission connection of the two, in the embodiment, the second end of the transmission connection part 41 is provided with a spline structure, a driving shaft of the first driving device 2 is in transmission connection with the transmission shaft, and a spline groove matched with the spline structure is arranged on the driving shaft.

When the drive connection part 41 is in plug-in fit with the drive shaft of the first driving device 2, the spline structure on the drive connection part 41 is meshed with the spline grooves in the drive shaft, so that the rotation of the drive shaft synchronously drives the drive connection part 41 to rotate, the drive connection of the drive connection part 41 and the drive shaft is realized synchronously, and the drive connection part 41 and the first driving device 2 can be separated from each other by being pulled out along the axial direction during disassembly, so that the disassembly is convenient.

According to the aseptic requirement of operation, need cover on the robot body and establish aseptic membrane, a portion of aseptic membrane can be clamped between consumable cartridge 3 and mounting member 1. The sterile robot body, the mounting member 1 and the first driving device 2 are isolated outside through the sterile film, so that the safety of the operation is improved.

The robot body further comprises a second driving device (not shown in the figures) arranged to be able to drive the mounting member 1 to move relative to the housing part of the robot body, i.e. the second driving device is able to drive the consumable cartridge 3 as a whole to move on the robot body, so that more surgical operation demands can be met. In one embodiment, the second driving device is configured to drive the consumable cartridge 3 to move on the robot body in a straight line, and the second driving device may be a linear motor, a screw driving mechanism, a rack and pinion linear driving mechanism, or the like.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A vascular intervention operation robot is characterized by comprising a robot body and a consumable box,

the robot body comprises a mounting member and a first driving device arranged on the mounting member;

the consumable box is provided with an assembling part which is detachably connected with the mounting member;

the consumable box is internally provided with a transmission mechanism, and the transmission mechanism is detachably connected with the first driving device in a transmission way.

2. Vascular interventional procedure robot according to claim 1, characterized in that the fitting is arranged to be detachably connectable with the mounting member in a snap-fit and/or magnetic attraction manner.

3. The vascular interventional procedure robot according to claim 2, wherein the fitting part comprises a catch extending out of a fitting surface of the fitting part, and the mounting member is provided with a catch hole matching the catch; or alternatively

The assembly part comprises a clamping hole which is concave in the assembly surface of the assembly part, and the mounting component is provided with a buckle matched with the clamping hole.

4. The vascular interventional procedure robot of claim 2, wherein the mounting section comprises a first magnetically attractive element disposed on a mounting face of the mounting section, and the mounting member comprises a second magnetically attractive element disposed on a mounting face of the mounting member, the first and second magnetically attractive elements being capable of attracting each other.

5. Vascular interventional procedure robot according to claim 1, characterized in that the transmission is arranged so as to be detachably transmission-connected with the first drive means in a plug-in manner.

6. The vascular interventional procedure robot according to claim 5, wherein the transmission mechanism comprises an actuator and a transmission connection,

the execution part is arranged to drive the long and straight intervention consumable material to act,

the first end of the transmission connecting part is connected with the executing part so that the transmission connecting part can drive the executing part to act in a driven way;

the second end of the transmission connection part is arranged to be detachably connected with the first driving device in a transmission manner in an inserting manner.

7. The vascular interventional procedure robot of claim 6, wherein the second end of the drive connection extends beyond the mounting face of the mounting portion to effect insertion.

8. The vascular interventional procedure robot according to claim 7, wherein the second end of the transmission connection part is provided with a spline structure, the driving shaft of the first driving device is in transmission connection with the transmission shaft, and spline grooves matched with the spline structure are arranged on the driving shaft.

9. The vascular interventional procedure robot according to any one of claims 1 to 8, wherein a sterile membrane can be overlaid on the robot body, a portion of which can be clamped between the consumable cartridge and the mounting member.

10. Vascular interventional procedure robot according to any of the claims 1-8, characterized in that the robot body further comprises a second driving means arranged to be able to drive the mounting member in relation to the housing part of the robot body.