WO2022088536A1 - 一种介入机器人通用型防水消毒盒 - Google Patents

一种介入机器人通用型防水消毒盒 Download PDF

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Publication number
WO2022088536A1
WO2022088536A1 PCT/CN2021/073710 CN2021073710W WO2022088536A1 WO 2022088536 A1 WO2022088536 A1 WO 2022088536A1 CN 2021073710 W CN2021073710 W CN 2021073710W WO 2022088536 A1 WO2022088536 A1 WO 2022088536A1
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Prior art keywords
valve
hole
box body
block
interventional
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PCT/CN2021/073710
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English (en)
French (fr)
Inventor
黄韬
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北京唯迈医疗设备有限公司
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Application filed by 北京唯迈医疗设备有限公司 filed Critical 北京唯迈医疗设备有限公司
Priority to DE112021000007.1T priority Critical patent/DE112021000007T5/de
Priority to RU2021110061A priority patent/RU2762486C1/ru
Priority to US17/210,728 priority patent/US20220133425A1/en
Publication of WO2022088536A1 publication Critical patent/WO2022088536A1/zh

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/0097Catheters; Hollow probes characterised by the hub
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0111Aseptic insertion devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113Mechanical advancing means, e.g. catheter dispensers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127Magnetic means; Magnetic markers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09Guide wires
    • A61M25/09041Mechanisms for insertion of guide wires
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/301Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M2025/0177Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2210/00Anatomical parts of the body
    • A61M2210/12Blood circulatory system

Definitions

  • the invention relates to the technical field of minimally invasive vascular interventional surgery, relates to a control technology for a robot in interventional surgery to ensure a sterile environment in the surgery from end-to-end, and more particularly relates to a sterile disinfection box for one-time use of a matching robot. It is suitable for angiographic surgery and therapeutic surgery.
  • Cardiovascular minimally invasive interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages such as smaller incision and shorter postoperative recovery time. Cardiovascular interventional surgery is a process in which a doctor manually inserts catheters, guide wires, stents, and other instruments into a patient's body to complete the treatment.
  • Interventional angiography has the following two problems.
  • Second, accumulated damage from long-term ionizing radiation can dramatically increase doctors' chances of developing leukemia, cancer, and acute cataracts. The phenomenon that doctors continue to accumulate rays because of interventional surgery has become a problem that cannot be ignored that damages the professional life of doctors and restricts the development of interventional surgery.
  • Interventional angiography is the basis for the diagnosis of cardiovascular and cerebrovascular diseases, and it is also a necessary step for further treatment.
  • robotic technology By using robotic technology to effectively deal with this problem, it can also greatly improve the accuracy and stability of surgical operations, and at the same time, it can effectively reduce radiation damage to interventional doctors and reduce the probability of intraoperative accidents. Therefore, cardiovascular and cerebrovascular interventional surgery assistant robots have attracted more and more attention, and have gradually become the key research and development objects in the field of medical robots in today's scientific and technological powers.
  • Interventional surgery needs to be performed in a sterile environment.
  • Patent document CN 211355867 U discloses a disposable sterile box for an interventional surgery robot.
  • the present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.
  • Interventional angiography is the basis for the diagnosis of cardiovascular and cerebrovascular diseases, and it is also the premise for further treatment.
  • the treatment and operation process is a necessary step to relieve the pain.
  • the realization process is different.
  • the interventional operation sterilization box disclosed in the prior art cannot be used for interventional angiography, because angiography needs to be rotated to control the angiography catheter, so as to smoothly enter the coronary ostium and achieve the purpose of angiography.
  • the existing interventional operation sterilization box cannot realize the rotation of the contrast catheter.
  • an object of the present invention is to propose a universal waterproof sterilization box for interventional robots, which solves the technical problem that the sterilization box for interventional imaging and therapeutic surgery cannot be used universally.
  • the invention provides a universal waterproof disinfection box for interventional robots, comprising a sterile box body, a sterile box cover hinged on one side of the sterile box body, and a catheter driving component and a guide wire driving component are fixed on the sterile box body; the sterile box One end of the body is provided with a Y valve assembly,
  • Y valve assembly includes: Y valve fixing part, Y valve clamping part, Y valve body and Y valve driving gear;
  • One end of the Y valve fixing piece rotates on one end of the sterile box body along the advancing direction of the catheter and the guide wire, and the other end is magnetically connected with the sterile box body; the middle part of the Y valve fixing piece is provided with a meshing through hole, and the sterile box body is correspondingly engaged.
  • a shaft hole is provided at the position of the through hole; the axle at the bottom of the Y valve drive gear rotates in the axle hole, and the bottom of the axle has an axle gear matched with the motor output gear in the propulsion mechanism, the Y valve drive gear is located in the meshing through hole, and the Y valve clamp
  • the holder is more than two sets of arc-shaped pieces that can be connected as a ring, and the ring has a gear ring that meshes with the drive gear of the Y valve; one end of the Y valve body is fixed in the Y valve holder through an elastic filler, and the other end is fixed on the Y valve mount.
  • the present disclosure provides a universal waterproof disinfection box for interventional robots.
  • the deformation of the elastic filler can use different specifications of the Y valve body, and then can install different specifications of catheters or imaging catheters;
  • the Y valve drive gear is driven by the motor output gear in the propulsion mechanism, and then Drive the gear ring on the Y-valve clamping piece to further drive the angiography catheter to rotate, realizing the universal use of a sterile box for interventional angiography and therapeutic operations;
  • one end of the Y-valve fixing piece rotates on one end of the sterile box body along the advancing direction of the catheter and guide wire The other end is magnetically connected with the sterile box body; it is convenient for doctors to replace the guide wire and catheter, and to fix the Y valve body.
  • the Y valve fixing part includes a fixing plate, an engaging ring body, a hinge part and a clamping claw;
  • the fixing plate is a long strip, and the bottom of one end is magnetically connected with the aseptic box body; the other end is integrally connected to one end of the engaging ring body, engaging The through hole is formed in the middle of the engaging ring body; the other end of the engaging ring body is connected with a hinge part, and the hinge part is hinged with a hinge block arranged on the sterile box body close to the outer side of the shaft hole; there are more than two sets of claws, sequentially along the length of the fixed plate Direction setting; the other end of the Y valve body is clamped on the claw.
  • the clamping claw has a certain elasticity, and an opening is formed at the top, which is convenient for installation and disassembly.
  • the aseptic box body is provided with a Y-valve electromagnet 1 near the inner side of the shaft hole, and the Y-valve electromagnet 1 is magnetically connected with the Y-valve electromagnet 2 arranged at the bottom position of the fixing plate corresponding to the position. Therefore, it is convenient to fix the Y valve body.
  • the waterproof film can easily block the fixed iron sheet behind the movable block, thus affecting the electromagnet and the movable block. connect.
  • the second object of the present invention is to provide a sterilization box that does not interfere with the movement of the movable block.
  • the back of the corresponding active block in the guide wire drive assembly extends backward to form an active block seat, and the area of the active block base is smaller than the area of the active block iron sheet.
  • the through groove of the moving block is in contact with the isolation diaphragm of the driven block.
  • the movable block of the sterilization box changes the shape of the movable block, so that the iron part of the movable block is embedded in the through groove of the sterilization box, so that the isolation film will not interfere with the iron and electromagnetic on the movable block. Iron coordination action.
  • the waterproof membrane is adhered to the body of the sterilization box, which makes it difficult to install the waterproof membrane, and easily falls off after installation, so the waterproofness is unreliable.
  • the third object of the present invention is to provide a sterilizing box with good water resistance.
  • first active clip frame and the second active clip frame are fixed on the active block through slot to clamp and fix the active block isolation film;
  • the driven block through slot is fixed on the first driven clip frame and the second active clip frame.
  • the two driven clamp frames are clamped to fix the isolation film of the driven block. Therefore, two clamping frames are used to fix the isolation membrane tightly by screws, which is not only easy to install, but also has more reliable waterproof and anti-fouling effects.
  • the aseptic box body is provided with a long hole for the driven friction wheel axle in the sliding conduit drive assembly on one side near the driven block through groove, and the top of the long hole is provided with a driven friction wheel bracket, and the driven friction wheel axle It is arranged in the driven friction wheel bracket; the aseptic box body is provided with an installation groove corresponding to the bottom of the elongated hole, and a bottom fixing sheet is embedded in the installation groove. In the driving hole at the bottom of the wheel axle, and then downward through the elongated hole, the cover is installed and fixed on the bottom fixing plate.
  • the fork of the robot, the driving hole at the bottom of the driven friction wheel axle, and the elongated hole are isolated by a conduit isolation film, which further improves the waterproof and antifouling properties of the sterilization box.
  • the bottom of the catheter isolation film is fixed in the installation groove through the bottom fixing sheet, and the fixing is reliable.
  • a detection rod through hole of the robot detection rod is opened on the other side of the sterile box body near the through groove of the driven block, and the first detection rod clamping frame and the second detection rod clamping frame are respectively located on both sides of the detection rod through hole.
  • the frame is fixed with a probe rod isolation film, and the top of the probe rod isolation film is raised upward through the probe rod through hole to form a space for the robot probe rod to move up and down.
  • an upwardly raised isolation film is arranged at the detection through holes of the robot detection handle and the disinfection box body, so far all the holes on the disinfection box body are completely closed, and the waterproof and antifouling properties are increased.
  • FIG. 1 accompanying drawing is the structural representation of a kind of interventional robot universal waterproof disinfection box provided by the present invention
  • Figure 2 and Figure 3 are exploded views of the Y-valve assembly of a universal waterproof disinfection box for an interventional robot provided by the present invention
  • Figure 4 shows an enlarged view of the Y-valve assembly
  • FIG. 5 accompanying drawing shows the structural schematic diagram of the Y valve fixing member
  • FIGS. 6 and 7 are schematic diagrams showing the structure of the active block and the passive block in the guide wire drive assembly
  • FIG. 8 accompanying drawing shows the partial schematic diagram of the sterilization box
  • FIG. 9 shows an exploded view of the driven friction wheel axle, the driven friction wheel bracket, the conduit isolation diaphragm and the bottom fixed plate, wherein the sterilization box is not shown;
  • Figure 10 shows an exploded view of the robot detection handle, the first probe rod clamp frame, the second probe rod clamp frame and the probe rod isolation membrane;
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • “plurality” means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature is directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.
  • an embodiment of the present invention discloses a universal waterproof sterilization box for an interventional robot, comprising a sterile box body 101, a sterile box cover 102 hinged on one side thereof, and the sterile box body 101 A catheter drive assembly 103 and a guide wire drive assembly 104 are fixed thereon; a Y valve assembly 105 is provided at one end of the sterile box 101,
  • the Y valve assembly 105 includes: a Y valve fixing member 1051, a Y valve clamping member 1052, a Y valve body 1053 and a Y valve driving gear 1054;
  • One end of the Y valve fixing member 1051 rotates on one end of the sterile box body 101 along the advancing direction of the catheter and the guide wire, and the other end is magnetically connected to the sterile box body 101; the middle of the Y valve fixing member 1051 is provided with a meshing through hole 10511, and no The bacteria box body 101 is provided with a shaft hole 1011 corresponding to the position of the meshing through hole 10511; the axle at the bottom of the Y valve driving gear 1054 rotates in the axle hole 1011, and the bottom of the axle has an axle gear that cooperates with the motor output gear 107 in the propulsion mechanism, and the Y valve
  • the driving gear 1054 is located in the meshing through hole 10511, and the Y valve clamping piece 1052 is two or more arc-shaped pieces that can be connected as a ring. ; One end of the Y valve body 1053 is fixed in the Y valve holder 1052 through the elastic filler, and the other end is fixed on the Y valve fixing member 10
  • the invention discloses and provides a universal waterproof disinfection box for interventional robots.
  • one end of the Y-valve body is fixed in the Y-valve clamping part through an elastic filler, and the deformation of the elastic filler can
  • the Y valve body of different specifications can be used to install catheters or imaging catheters of different specifications;
  • the Y valve driving gear is driven by the motor output gear in the propulsion mechanism, and then the gear ring on the Y valve clamping part is driven to further drive the imaging
  • the rotation of the catheter realizes the universal use of the sterile box for interventional angiography and therapeutic operations;
  • one end of the Y-valve fixing member rotates on one end of the sterile box body along the advancing direction of the catheter and the guide wire, and the other end is magnetically connected to the sterile box body; convenient
  • the doctor replaces the guide wire and catheter, and fixes the Y valve body.
  • the lid of the sterile box can be rotated 150 degrees, an electromagnet is installed at the bottom, which can be sucked by the sterile box body, and there is an open handle on the top.
  • the elastic filler can be sponge, silicone or the like.
  • the output gear of the motor drives the Y valve driving gear, which in turn drives the gear ring on the Y valve clamping piece, which further drives the imaging catheter to rotate.
  • the forward and reverse rotations of the motor correspond to the clockwise and counterclockwise rotation of the catheter, respectively.
  • a semi-closed hose is arranged on the sterile box body, the inner diameter of which is larger than the diameter of the catheter, and can be sheathed on the outside of the contrast catheter, and the head of the hose is fixed on the outer sheath. When the advancing mechanism is moved as a whole, the contrast catheter can enter or leave the body along the flexible tube.
  • the Y valve fixing member 1051 includes a fixing plate 10512, an engaging ring body 10513, a hinge portion 10515 and a clamping claw 10514;
  • the fixing plate 10512 is a long strip, and the bottom of one end thereof is magnetically connected with the sterile box body 101;
  • One end is integrally connected to one end of the engaging ring body 10513, and the engaging through hole 10511 is formed in the middle of the engaging ring body 10513;
  • the hinge block 1012 is hinged; there are more than two groups of claws 10514, which are arranged in sequence along the length of the fixing plate 10512; the other end of the Y valve body 1053 is clamped to the claws 10514.
  • the clamping claw has a certain elasticity, and an opening is formed at the top, which is convenient for installation and disassembly.
  • the sterile box 101 is provided with a Y valve electromagnet 1 1013 near the inner side of the shaft hole 1011 , and the Y valve electromagnet 1 1013 is magnetically connected to the Y valve electromagnet 2 disposed at the bottom position of the fixing plate 10512 correspondingly.
  • the back of the corresponding active block 1041 in the guide wire drive assembly 104 extends backward to form an active block seat 10411, and the area of the active block base 10411 is smaller than the area of the active block iron piece 10412, and the active block iron piece 10412 is embedded in the sterile box body 101 Active block through groove 1014 is in contact with the active block isolation membrane; the corresponding driven block 1042 in the guide wire drive assembly 104 extends downward to form a driven block base 10421, and the area of the driven block base 10421 is smaller than the bottom area of the driven block iron piece 10422 , the iron piece 10422 of the driven block is embedded in the through groove 1015 of the driven block of the sterile box body 101 in contact with the isolation membrane of the driven block.
  • the movable block of the sterilization box changes the shape of the movable block, so that the iron part of the movable block is embedded in the through groove of the sterilization box, so that the isolation film will not interfere with the iron and electromagnetic on the movable block. Iron coordination action.
  • the first active clip frame and the second active clip frame 1016 are fixed on the active block through groove 1014 to sandwich and fix the active block isolation film;
  • the first driven clip frame and the second driven clip frame 1017 fixed on the groove 1015 are sandwiched with a fixed driven block isolation film. Therefore, two clamping frames are used to fix the isolation membrane tightly by screws, which is not only easy to install, but also has more reliable waterproof and anti-fouling effects.
  • a long hole for the driven friction wheel axle 1031 in the sliding catheter drive assembly 103 is provided on the side of the sterile box body 101 near the driven block through groove 1015, and the top of the long hole is provided
  • a driven friction wheel bracket 1032 and the driven friction wheel axle 1031 is arranged in the driven friction wheel bracket 1032;
  • the aseptic box 101 is provided with an installation groove corresponding to the bottom position of the elongated hole, and a bottom fixing piece 1033 is embedded in the installation groove, and the conduit is isolated
  • the middle of the membrane 1034 bulges upward through the bottom hole of the driven friction wheel bracket 1032 and enters the driving hole at the bottom of the driven friction wheel axle 1031 , and then passes downward through the elongated hole and is covered and fixed on the bottom fixing plate 1033 .
  • the fork of the robot, the driving hole at the bottom of the driven friction wheel axle, and the elongated hole are isolated by a conduit isolation film, which further improves the waterproof and antifouling properties of the sterilization box.
  • the bottom of the catheter isolation film is fixed in the installation groove through the bottom fixing sheet, and the fixing is reliable.
  • the detection rod through hole 1061 of the robot detection rod 106 is opened on the other side of the sterile box body 101 near the through groove 1015 of the driven block, and the detection rod through hole 1061 is located on both sides of the detection rod through hole 1061 respectively.
  • the first probe rod clamp frame 1062 and the second probe rod clamp frame 1063 are fixed with a probe rod isolation film 1064, and the top of the probe rod isolation film 1064 is raised upward through the probe rod through hole 1061 to form a space for the robot probe rod 106 to move up and down.
  • an upwardly raised isolation film is arranged at the detection through holes of the robot detection handle and the disinfection box body, so far all the holes on the disinfection box body are completely closed, and the waterproof and antifouling properties are increased.
  • each isolation film can be made of latex, and the thickness of about 0.1 mm can meet the needs of use.
  • the present invention can be used as a consumable for an interventional operation robot, and can be used in conjunction with the propulsion mechanism of the interventional operation robot to create a sterile environment for the robot, and can realize the forward, backward and rotation control of the catheter and the guide wire in the interventional operation robot.
  • the doctor can control the robot to control the catheter guide wire holder in the sterilization box through the interventional surgery robot control equipment outside the operating room, so as to push the catheter and guide wire into the patient's body to achieve the purpose of interventional surgery.
  • the sterilization box is a one-time use. After use, it is aseptically processed to ensure a sterile environment for surgery. It can be used for both interventional angiography and interventional therapy.
  • the utility model has the advantages of simple structure, small volume, light weight, convenient loading and unloading, and low cost.
  • connection method between the aseptic box and the robot propulsion mechanism is plug-in type, that is, the aseptic box is directly buckled on the propulsion mechanism to complete the installation process without tools, and the whole process only takes 3s to complete.
  • the operation process is as follows: after placing the guide wire or catheter, close the sterile box cover, trigger the detection handle, the robot will automatically clamp the catheter or guide wire, and then operate and control the movement of the robot to control the movement of the catheter or guide wire to complete the operation. .
  • the sterilization box is fully waterproof, so there is no need to worry about blood falling inside the robot.

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Abstract

本发明涉及一种介入机器人通用型防水消毒盒,包括无菌盒体、无菌盒盖,导管驱动组件和导丝驱动组件;无菌盒体一端设置有Y阀组件,Y阀固定件一端转动于无菌盒体一端上,其另一端与无菌盒体磁性连接;Y阀固定件中部设置有啮合通孔,Y阀驱动齿轮底部轮轴转动于轴孔内、其轮轴底部具有与推进机构中的电机输出齿轮配合的轮轴齿轮,Y阀驱动齿轮位于啮合通孔内,Y阀夹持件为两组以上可连接为圆环的弧形件,圆环上具有与Y阀驱动齿轮啮合的齿环;Y阀本体一端通过弹性填充物固定于Y阀夹持件内,另一端固定于Y阀固定件上。由此可使用不同规格的Y阀本体,进而能够安装不同规格的导管,使导管可旋转,实现了介入造影和治疗手术消毒盒通用。

Description

一种介入机器人通用型防水消毒盒 技术领域
本发明涉及微创血管介入手术技术领域,涉及对于介入手术中机器人从端对保证手术中无菌环境的控制技术,更具体的说是涉及一种配套机器人一次性使用的无菌消毒盒,同时适用于造影手术和治疗手术。
背景技术
心脑血管微创介入疗法是针对心脑血管疾病的主要治疗手段。和传统外科手术相比,有着切口小、术后恢复时间短等明显优势。心脑血管介入手术是由医生手动将导管、导丝以及支架等器械送入病患体内来完成治疗的过程。
介入造影手术存在以下两点问题,第一,在手术过程中,由于DSA会发出X射线,医生体力下降较快,注意力及稳定性也会下降,将导致操作精度下降,易发生因推送力不当引起的血管内膜损伤、血管穿孔破裂等事故,导致病人生命危险。第二,长期电离辐射的积累伤害会大幅地增加医生患白血病、癌症以及急性白内障的几率。医生因为做介入手术而不断积累射线的现象,已经成为损害医生职业生命、制约介入手术发展不可忽视的问题。
介入造影手术是诊断心脑血管病变的基础,也是做进一步治疗的必要步骤。通过借助机器人技术能够有效应对这一问题,还可以大幅提高手术操作的精度与稳定性,同时能够有效降低放射线对介入医生的伤害,降低术中事故的发生几率。因此,心脑血管介入手术辅助机器人越来越多的被人们所关注,逐渐成为当今各科技强国在医疗机器人领域的重点研发对象。
而介入手术需要在无菌环境下进行,国内对于介入手术机器人无菌环境存在如下几个方面的问题:(1)对机器人的消毒较为繁琐,不符合实际手术需求;(2)结构相对比较臃肿复杂,体积大,安装不便,不够灵活方便;(3)使用机器人在手术中,对导管导丝的安装不方便,不易于手术中更换导管导丝;(4)无法做到同时推进和旋转导丝;(5)手术过程中容易有血液滴入到机器人;(6)装置对导丝的推进中容易出现打滑现象,影响手术效果;(7) 手术中的耗材成本高,不利于普及推广;(8)没有同时适用介入造影和治疗手术的通用型消毒盒。
专利文献CN 211355867 U公开了一种介入手术机器人一次性用无菌盒,虽然解决了上述问题中的部分问题,但是在实践中防水性,及与介入造影手术通用性还存在一定的问题。
因此,如何提供一种介入机器人通用型防水消毒盒是本领域技术人员亟需解决的问题。
发明内容
本发明旨在至少在一定程度上解决现有技术中的上述技术问题之一。
介入造影手术是诊断心脑血管病变的基础,也是做进一步治疗的前提,治疗手术过程是解除病痛的必要步骤。与介入手术操作手法不同,实现过程有所差异。现有技术中公开的介入手术消毒盒不能用于介入造影手术,因为造影手术需要对造影导管进行旋转控制,以便于能顺利进入冠脉口,达到造影的目的。而现有的介入手术消毒盒无法实现对造影导管的旋转。
为此,本发明的一个目的在于提出一种介入机器人通用型防水消毒盒,解决介入造影和治疗手术消毒盒不能通用的技术问题。
本发明提供了一种介入机器人通用型防水消毒盒,包括无菌盒体、与其一侧铰接的无菌盒盖,且无菌盒体上固定有导管驱动组件和导丝驱动组件;无菌盒体一端设置有Y阀组件,
Y阀组件包括:Y阀固定件、Y阀夹持件、Y阀本体及Y阀驱动齿轮;
Y阀固定件一端沿导管和导丝推进方向转动于无菌盒体一端上,其另一端与无菌盒体磁性连接;Y阀固定件中部设置有啮合通孔,且无菌盒体对应啮合通孔位置设置有轴孔;Y阀驱动齿轮底部轮轴转动于轴孔内、其轮轴底部具有与推进机构中的电机输出齿轮配合的轮轴齿轮,Y阀驱动齿轮位于啮合通孔内,Y阀夹持件为两组以上可连接为圆环的弧形件,圆环上具有与Y阀驱动齿轮啮合的齿环;Y阀本体一端通过弹性填充物固定于Y阀夹持件内,另一端固定于Y阀固定件上。
经由上述的技术方案可知,与现有技术相比,本发明公开提供了一种介入机器人通用型防水消毒盒,通过Y阀组件结构的改变,第一,Y阀本体一端通过弹性填充物固定于Y阀夹持件内,弹性填充物的变形,可以使用不同规格的Y阀本体,进而能够安装不同规格的导管或造影导管;第二通过推进机构中的电机输出齿轮带动Y阀驱动齿轮,进而带动Y阀夹持件上的齿环,进一步带动造影导管转动,实现了介入造影和治疗手术消毒盒通用;第三,Y阀固定件一端沿导管和导丝推进方向转动于无菌盒体一端上,其另一端与无菌盒体磁性连接;方便医生更换导丝和导管,和固定Y阀本体。
进一步地,Y阀固定件包括固定板、啮合环体、铰接部及卡爪;固定板为长条状,其一端底部与无菌盒体磁性连接;其另一端一体连接啮合环体一端,啮合通孔形成于啮合环体中部;啮合环体另一端连接有铰接部,铰接部与靠近轴孔外侧设置在无菌盒体上的铰接块铰接;卡爪为两组以上、依次沿固定板长度方向设置;Y阀本体另一端卡接与卡爪上。其中卡爪具有一定的弹性,且其顶部形成开口,方便安装和拆卸。
进一步地,无菌盒体靠近轴孔内侧设置有Y阀电磁铁一,Y阀电磁铁一与设置于固定板底部位置对应的Y阀电磁铁二磁性连接。由此方便固定Y阀本体。
由于现有的消毒盒中活动块采用了方块的设计,这样的设计在实际操作中,防水薄膜(隔离膜)很容易把活动块后面固定的铁片挡住,从而影响到电磁铁和活动块的连接。
因此,本发明的第二个目的在于,提供一种不干扰活动块运动的消毒盒。
其中导丝驱动组件中对应的主动块背部向后延伸形成主动块座、且主动块底座面积小于主动块铁片面积,主动块铁片嵌入无菌盒体主动块通槽内与主动块隔离膜接触;导丝驱动组件中对应的从动块,其底部向下延伸形成从动块底座、且从动块底座面积小于从动块铁片底部面积,从动块铁片嵌入无菌盒体从动块通槽内与从动块隔离膜接触。由此,本次消毒盒的活动块改变了活动块的形状,使得活动块的铁片部分嵌入到消毒盒的通槽中,由此隔离膜就不会干扰到活动块上的铁片和电磁铁的配合动作。
现有技术中,防水膜黏贴于消毒盒本体上,导致防水膜难以安装,安装后易脱落等,因此防水性不可靠。
为此,本发明的第三个目的在于提供一种防水性好的消毒盒。
其中,主动块通槽上通过固定其上的第一主动夹框和第二主动夹框夹设固定主动块隔离膜;从动块通槽上通过固定其上的第一从动夹框和第二从动夹框夹设固定从动块隔离膜。由此采用了两块夹框通过螺丝固定的方式,把隔离膜紧密的固定好,这样不仅便于安装,防水、防污效果更可靠。
进一步地,无菌盒体上靠近从动块通槽处一侧开设有用于滑动导管驱动组件中的从动摩擦轮轮轴的长条孔,长条孔顶部设置有从动摩擦轮支架,从动摩擦轮轮轴设置于从动摩擦轮支架内;无菌盒体对应长条孔底部位置设置有安装槽,安装槽内嵌设有底部固定片,导管隔离膜中部向上隆起经从动摩擦轮支架底部插孔进入从动摩擦轮轮轴底部的驱动孔内,然后向下经长条孔后罩设固定于底部固定片上。由此在机器人拨叉件和从动摩擦轮轮轴底部的驱动孔,及长条孔之间通过导管隔离膜隔离,进一步提高了消毒盒的防水、防污性。并通过底部固定片将导管隔离膜底部固定在安装槽内,固定可靠。
进一步地,无菌盒体上靠近从动块通槽处另一侧开设有机器人探测杆的探测杆通孔,位于探测杆通孔两侧分别通过第一探杆夹框和第二探杆夹框固定有探杆隔离膜,且探杆隔离膜顶部经探测杆通孔向上隆起形成机器人探测杆上下运动的空间。由此在机器人探测扞和消毒盒体的探测通孔处设置向上隆起的隔离膜,至此将消毒盒体上所有的孔全部封闭,增加了防水防污性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据提供的附图获得其他的附图。
图1附图为本发明提供的一种介入机器人通用型防水消毒盒的结构示意图;
图2和图3附图为本发明提供的一种介入机器人通用型防水消毒盒Y阀组件的爆炸图;
图4附图示出了Y阀组件的放大图;
图5附图示出了Y阀固定件的结构示意图;
图6和7附图示出了导丝驱动组件中的主动块和被动块的结构示意图;
图8附图示出了消毒盒体局部示意图;
图9附图示出了从动摩擦轮轮轴、从动摩擦轮支架、导管隔离膜及底部固定片爆炸图,其中未示出消毒盒体;
图10附图示出了机器人探测扞、第一探杆夹框、第二探杆夹框和探杆隔离膜的爆炸图;
图中:101-无菌盒体,1011-轴孔,1012-铰接块,1013-Y阀电磁铁一,1014-主动块通槽,1015-从动块通槽,1016-第二主动夹框,1017-第二从动夹框,102-无菌盒盖,103-导管驱动组件,1031-从动摩擦轮轮轴,1032-从动摩擦轮支架,1033-底部固定片,1034-导管隔离膜,104-导丝驱动组件,1041-主动块,10411-主动块底座,10412-主动块铁片,1042-从动块,10421-从动块底座,10422-从动块铁片,105-Y阀组件,1051-Y阀固定件,10511-啮合通孔,10512-固定板,10513-啮合环体,10514-卡爪,10515-铰接部,1052-Y阀夹持件,10521-齿环,1053-Y阀本体,1054-Y阀驱动齿轮,106-机器人探测杆,1061-探测杆通孔,1062-第一探杆夹框,1063-第二探杆夹框,1064-探杆隔离膜,107-电机输出齿轮。
具体实施方式
下面详细描述本发明的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,旨在用于解释本发明,而不能理解为对本发明的限制。
在本发明的描述中,需要理解的是,术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描 述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。
在本发明中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中,除非另有明确的规定和限定,第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触,也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且,第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方,或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方,或仅仅表示第一特征水平高度小于第二特征。
参见附图1-4,在本发明一个实施例中公开了一种介入机器人通用型防水消毒盒,包括无菌盒体101、与其一侧铰接的无菌盒盖102,且无菌盒体101上固定有导管驱动组件103和导丝驱动组件104;无菌盒体101一端设置有Y阀组件105,
Y阀组件105包括:Y阀固定件1051、Y阀夹持件1052、Y阀本体1053及Y阀驱动齿轮1054;
Y阀固定件1051一端沿导管和导丝推进方向转动于无菌盒体101一端上,其另一端与无菌盒体101磁性连接;Y阀固定件1051中部设置有啮合通孔10511,且无菌盒体101对应啮合通孔10511位置设置有轴孔1011;Y阀驱动齿轮1054底部轮轴转动于轴孔1011内、其轮轴底部具有与推进机构中的电 机输出齿轮107配合的轮轴齿轮,Y阀驱动齿轮1054位于啮合通孔10511内,Y阀夹持件1052为两组以上可连接为圆环的弧形件,圆环上具有与Y阀驱动齿轮1054模数相同的齿环10521、并啮合;Y阀本体1053一端通过弹性填充物固定于Y阀夹持件1052内,另一端固定于Y阀固定件1051上。
本发明公开提供了一种介入机器人通用型防水消毒盒,通过Y阀组件结构的改变,第一,Y阀本体一端通过弹性填充物固定于Y阀夹持件内,弹性填充物的变形,可以使用不同规格的Y阀本体,进而能够安装不同规格的导管或造影导管;第二通过推进机构中的电机输出齿轮带动Y阀驱动齿轮,进而带动Y阀夹持件上的齿环,进一步带动造影导管转动,实现了介入造影和治疗手术消毒盒通用;第三,Y阀固定件一端沿导管和导丝推进方向转动于无菌盒体一端上,其另一端与无菌盒体磁性连接;方便医生更换导丝和导管,和固定Y阀本体。
无菌盒盖可以旋转150度,底部安装有电磁铁,可以和无菌盒体吸住,顶部上有打开的把手。弹性填充物可以为海绵、硅胶等。
电机输出齿轮带动Y阀驱动齿轮,进而带动Y阀夹持件上的齿环,进一步带动造影导管转动。电机正转和反转分别对应导管顺时针和逆时针旋转。无菌盒体上设置一个半封闭的软管,其内径较大大于导管直径,可以套在造影导管的外侧,软管的头部固定在外鞘上。当推进机构整体移动时,造影导管可以沿着软管,进入或离开人体。
参见附图5,Y阀固定件1051包括固定板10512、啮合环体10513、铰接部10515及卡爪10514;固定板10512为长条状,其一端底部与无菌盒体101磁性连接;其另一端一体连接啮合环体10513一端,啮合通孔10511形成于啮合环体10513中部;啮合环体10513另一端连接有铰接部10515,铰接部10515与靠近轴孔1011外侧设置在无菌盒体101上的铰接块1012铰接;卡爪10514为两组以上、依次沿固定板10512长度方向设置;Y阀本体1053另一端卡接与卡爪10514上。其中卡爪具有一定的弹性,且其顶部形成开口,方便安装和拆卸。
有利的是,无菌盒体101靠近轴孔1011内侧设置有Y阀电磁铁一1013,Y阀电磁铁一1013与设置于固定板10512底部位置对应的Y阀电磁铁二磁性连接。
参见附图6和7,在本发明的另一个实施例中。导丝驱动组件104中对应的主动块1041背部向后延伸形成主动块座10411、且主动块底座10411面积小于主动块铁片10412面积,主动块铁片10412嵌入无菌盒体101主动块通槽1014内与主动块隔离膜接触;导丝驱动组件104中对应的从动块1042,其底部向下延伸形成从动块底座10421、且从动块底座10421面积小于从动块铁片10422底部面积,从动块铁片10422嵌入无菌盒体101从动块通槽1015内与从动块隔离膜接触。由此,本次消毒盒的活动块改变了活动块的形状,使得活动块的铁片部分嵌入到消毒盒的通槽中,由此隔离膜就不会干扰到活动块上的铁片和电磁铁的配合动作。
参见附图8,在本发明的另一些实施例中,主动块通槽1014上通过固定其上的第一主动夹框和第二主动夹框1016夹设固定主动块隔离膜;从动块通槽1015上通过固定其上的第一从动夹框和第二从动夹框1017夹设固定从动块隔离膜。由此采用了两块夹框通过螺丝固定的方式,把隔离膜紧密的固定好,这样不仅便于安装,防水、防污效果更可靠。
有利的是,参见附图9,无菌盒体101上靠近从动块通槽1015处一侧开设有用于滑动导管驱动组件103中的从动摩擦轮轮轴1031的长条孔,长条孔顶部设置有从动摩擦轮支架1032,从动摩擦轮轮轴1031设置于从动摩擦轮支架1032内;无菌盒体101对应长条孔底部位置设置有安装槽,安装槽内嵌设有底部固定片1033,导管隔离膜1034中部向上隆起经从动摩擦轮支架1032底部插孔进入从动摩擦轮轮轴1031底部的驱动孔内,然后向下经长条孔后罩设固定于底部固定片1033上。由此在机器人拨叉件和从动摩擦轮轮轴底部的驱动孔,及长条孔之间通过导管隔离膜隔离,进一步提高了消毒盒的防水、防污性。并通过底部固定片将导管隔离膜底部固定在安装槽内,固定可靠。
更有利的是,参见附图10,无菌盒体101上靠近从动块通槽1015处另一侧开设有机器人探测杆106的探测杆通孔1061,位于探测杆通孔1061两侧分别通过第一探杆夹框1062和第二探杆夹框1063固定有探杆隔离膜1064,且 探杆隔离膜1064顶部经探测杆通孔1061向上隆起形成机器人探测杆106上下运动的空间。由此在机器人探测扞和消毒盒体的探测通孔处设置向上隆起的隔离膜,至此将消毒盒体上所有的孔全部封闭,增加了防水防污性。
本发明中各隔离膜可采用乳胶,厚度0.1mm左右即可满足使用需求。
本发明可以作为介入手术机器人的耗材,可以配合介入手术机器人的推进机构来使用,用于给机器人创造无菌环境,可以实现介入手术机器人中对导管和导丝的向前、向后和旋转控制,医生通过在手术室外的介入手术机器人控制设备,可以控制机器人操控消毒盒内的导管导丝夹持件,从而推进导管和导丝进入患者体内,实现介入手术治疗的目的,消毒盒是一次性使用,是无菌处理后的,保证了手术的无菌环境。可以同时用于介入造影手术和介入治疗手术。具有结构简单,体积小、重量轻、装卸方便、造价低廉等优点。
无菌盒和机器人推进机构的连接方式为插拔式,即直接把无菌盒扣在推进机构上即可完成安装过程,无需工具安装,整个过程只需要3s完成。做完手术后,只需把无菌盒拔出即可,快速方便,然后进行统一回收。操作过程为放置好导丝或导管后,关闭无菌盒盖,触发探测扞,机器人会自动夹紧导管或导丝,然后操作控制机器人运动,即可控制导管或导丝的运动,从而完成手术。消毒盒具有完全防水功能,因此不需担心血液落入机器人内部。
在本说明书的描述中,参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。此外,本领域的技术人员可以将本说明书中描述的不同实施例或示例进行接合和组合。
尽管上面已经示出和描述了本发明的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本发明的限制,本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (7)

  1. 一种介入机器人通用型防水消毒盒,包括无菌盒体(101)、与其一侧铰接的无菌盒盖(102),且所述无菌盒体(101)上固定有导管驱动组件(103)和导丝驱动组件(104);所述无菌盒体(101)一端设置有Y阀组件(105),其特征在于,
    所述Y阀组件(105)包括:Y阀固定件(1051)、Y阀夹持件(1052)、Y阀本体(1053)及Y阀驱动齿轮(1054);
    所述Y阀固定件(1051)一端沿导管和导丝推进方向转动于所述无菌盒体(101)一端上,其另一端与所述无菌盒体(101)磁性连接;所述Y阀固定件(1051)中部设置有啮合通孔(10511),且所述无菌盒体(101)对应所述啮合通孔(10511)位置设置有轴孔(1011);所述Y阀驱动齿轮(1054)底部轮轴转动于所述轴孔(1011)内、其所述轮轴底部具有与推进机构中的电机输出齿轮(107)配合的轮轴齿轮,所述Y阀驱动齿轮(1054)位于所述啮合通孔(10511)内,所述Y阀夹持件(1052)为两组以上可连接为圆环的弧形件,所述圆环上具有与所述Y阀驱动齿轮(1054)啮合的齿环(10521);所述Y阀本体(1053)一端通过弹性填充物固定于所述Y阀夹持件(1052)内,另一端固定于所述Y阀固定件(1051)上。
  2. 根据权利要求1所述的一种介入机器人通用型防水消毒盒,其特征在于,所述Y阀固定件(1051)包括固定板(10512)、啮合环体(10513)、铰接部(10515)及卡爪(10514);所述固定板(10512)为长条状,其一端底部与所述无菌盒体(101)磁性连接;其另一端一体连接所述啮合环体(10513)一端,所述啮合通孔(10511)形成于所述啮合环体(10513)中部;所述啮合环体(10513)另一端连接有所述铰接部(10515),所述铰接部(10515)与靠近所述轴孔(1011)外侧设置在所述无菌盒体(101)上的铰接块(1012)铰接;所述卡爪(10514)为两组以上、依次沿所述固定板(10512)长度方向设置;所述Y阀本体(1053)另一端卡接与所述卡爪(10514)上。
  3. 根据权利要求2所述的一种介入机器人通用型防水消毒盒,其特征在于,所述无菌盒体(101)靠近所述轴孔(1011)内侧设置有Y阀电磁铁一(1013),所述Y阀电磁铁一(1013)与设置于所述固定板(10512)底部位置对应的Y阀电磁铁二磁性连接。
  4. 根据权利要求1所述的一种介入机器人通用型防水消毒盒,其特征在于,所述导丝驱动组件(104)中对应的主动块(1041)背部向后延伸形成主动块座(10411)、且所述主动块底座(10411)面积小于主动块铁片(10412)面积,所述主动块铁片(10412)嵌入所述无菌盒体(101)主动块通槽(1014)内与主动块隔离膜接触;所述导丝驱动组件(104)中对应的从动块(1042),其底部向下延伸形成从动块底座(10421)、且所述从动块底座(10421)面积小于从动块铁片(10422)底部面积,所述从动块铁片(10422)嵌入所述无菌盒体(101)从动块通槽(1015)内与从动块隔离膜接触。
  5. 根据权利要求4所述的一种介入机器人通用型防水消毒盒,其特征在于,所述主动块通槽(1014)上通过固定其上的第一主动夹框和第二主动夹框(1016)夹设固定所述主动块隔离膜;所述从动块通槽(1015)上通过固定其上的第一从动夹框和第二从动夹框(1017)夹设固定所述从动块隔离膜。
  6. 根据权利要求4所述的一种介入机器人通用型防水消毒盒,其特征在于,所述无菌盒体(101)上靠近所述从动块通槽(1015)处一侧开设有用于滑动导管驱动组件(103)中的从动摩擦轮轮轴(1031)的长条孔,所述长条孔顶部设置有从动摩擦轮支架(1032),所述从动摩擦轮轮轴(1031)设置于所述从动摩擦轮支架(1032)内;所述无菌盒体(101)对应所述长条孔底部位置设置有安装槽,所述安装槽内嵌设有底部固定片(1033),导管隔离膜(1034)中部向上隆起经所述从动摩擦轮支架(1032)底部插孔进入所述从动摩擦轮轮轴(1031)底部的驱动孔内,然后向下经所述长条孔后罩设固定于所述底部固定片(1033)上。
  7. 根据权利要求4所述的一种介入机器人通用型防水消毒盒,其特征在于,所述无菌盒体(101)上靠近所述从动块通槽(1015)处另一侧开设有机器人探测杆(106)的探测杆通孔(1061),位于所述探测杆通孔(1061)两侧分别通过第一探杆夹框(1062)和第二探杆夹框(1063)固定有探杆隔离膜(1064),且所述探杆隔离膜(1064)顶部经所述探测杆通孔(1061)向上隆起形成所述机器人探测杆(106)上下运动的空间。
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