WO2023142292A1

WO2023142292A1 - Slave-end power base of interventional surgical robot

Info

Publication number: WO2023142292A1
Application number: PCT/CN2022/090314
Authority: WO
Inventors: 邓海云
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2022-01-29
Filing date: 2022-04-29
Publication date: 2023-08-03
Also published as: CN115517777A

Abstract

A slave-end power base (100) of an interventional surgical robot. The slave-end power base is assembled on a sliding mechanism (200) and comprises: power mechanisms (1), each power mechanism (1) comprising a power output end (11); a housing (2), the housing (2) having an accommodating cavity (21), and the housing (2) being provided with through first relief holes (22); and a connecting member (3), the connecting member (3) being connected to the sliding mechanism (200) and the housing (2). The power mechanisms (1) are provided in the accommodating cavity (21), the power output ends (11) pass through the first relief holes (22) and are exposed out of the housing (2), and the power output ends (11) are provided below a connection position of the connecting member (3) and the sliding mechanism (200). According to the slave-end power base (100), a mounting height of the power output end (11) is reduced, a distance between a medical instrument mounted on a slave-end driving base and a person to be treated is reduced, and the medical instrument can be inserted into the body of the person to be treated at a small angle, thereby reducing a difficulty of an interventional operation and facilitating smooth implementation of the interventional operation.

Description

A slave power base of an interventional surgery robot

This application claims the priority of the Chinese patent application with the application number 202210111676.2 filed on January 29, 2022, and the title of the invention is "A Slave Power Base for Interventional Surgery Robot", the entire content of which is incorporated by reference In this application.

technical field

The application belongs to the field of medical robots, and is applied to a master-slave vascular interventional surgery robot, in particular to a slave end power seat of an interventional surgery robot.

Background technique

For existing interventional surgical robots, by establishing the master-slave mapping relationship between the master device and the slave robot, the doctor can directly operate the master device to realize the motion control of the slave robot. The slave robot drives the corresponding components to perform related operations through the motion control mechanism. The motion control mechanism mainly includes a slave power seat and a slave drive seat. The slave end power seat provides power for the slave end drive seat, and the slave end drive seat drives medical devices such as guide wires and catheters to move and/or rotate. In order to facilitate the overall movement of the motion control mechanism, the slave robot also includes a sliding mechanism on which the slave power base is assembled, and the sliding mechanism drives the slave power base to move along the slide rail. After the existing slave-end power seat is assembled with the sliding mechanism, the medical instruments installed on the slave-end drive seat are far away from the body of the person being treated. During the operation, the medical device needs to be inserted into the body of the person being treated at a relatively large angle. , increasing the difficulty of interventional surgery.

technical problem

The purpose of this application is to provide a slave end power base of an interventional surgery robot, aiming to solve the problem of the distance between the guide wire and catheter installed on the slave end drive base after the assembly of the slave end power base and the sliding mechanism in the prior art. The body of the patient is far away. During the operation, the medical device needs to be inserted into the patient's body at a relatively large angle, which increases the difficulty of the interventional operation.

technical solution

This application is achieved in the following way: a slave end power base of an interventional surgery robot is assembled on a sliding mechanism, comprising: a power mechanism, the power mechanism includes a power output end; a housing, the housing has an accommodating cavity, the The housing is provided with a through first avoidance hole; a connecting piece, the connecting piece is connected to the sliding mechanism and the housing; the power mechanism is arranged in the accommodation chamber, and the power output end passes through It is provided in the first avoidance hole and exposed outside the casing, and the power output end is arranged below the joint between the connecting piece and the sliding mechanism.

Further, the housing includes a main body and a protruding part, the protruding part extends along the surface of the main body in a direction close to the sliding mechanism, the main body has the accommodating cavity, and the connection The piece is fixed on the raised part.

Further, the connecting piece is arranged on a side of the protrusion facing the sliding mechanism.

Further, the main body part includes an upper casing and a lower casing, the upper casing and the lower casing enclose to form the accommodating cavity, and the first avoidance hole is opened on the upper casing.

Further, the lower case includes a bottom plate and a transition plate connected to the bottom plate, the transition plate and the bottom plate are arranged at an angle, and the power mechanism is arranged between the bottom plate and the upper case .

Further, the slave end power seat of the interventional surgery robot includes two power mechanisms.

Further, two first escape holes are opened on the upper housing, and the two first escape holes correspond to the two power output ends one by one.

Further, the upper casing includes a first plate body and a second plate body, the first plate body and the second plate body are respectively provided with the first escape hole, and the first plate body The surface and the surface of the second plate body are alternately arranged.

Further, the slave end power seat of the interventional surgery robot further includes a bracket, the bracket is arranged in the accommodation cavity, and the power mechanism is fixed to the bracket.

Further, the bracket is provided with a through second avoidance hole, the power mechanism is arranged between the lower housing and the bracket, and the power output end is penetrated through the second avoidance hole.

Further, the first avoidance hole and the second escape hole are coaxially arranged.

Further, the surface of the housing is provided with a retaining ring, the retaining ring cover is set at the opening of the first avoidance hole, and the power output end passes through the retaining ring to expose the retaining ring outside.

Beneficial effect

The power output end of the present application is arranged below the connection between the connecting piece and the sliding mechanism, which reduces the installation height of the power output end, and correspondingly reduces the installation height of the driving seat at the slave end, and reduces the installation height of the driving seat at the slave end. The distance between the medical device and the treated person, the medical device can be inserted into the treated person's body at a small angle, which reduces the difficulty of interventional surgery and facilitates the smooth implementation of interventional surgery.

Description of drawings

Fig. 1 is a diagram of the use state of the slave end power seat of the interventional surgery robot provided by the embodiment of the present application;

Fig. 2 is a schematic structural view of the slave end power seat of the interventional surgery robot provided by the embodiment of the present application;

Fig. 3 is a longitudinal sectional view of Fig. 2;

Fig. 4 is the assembly diagram of Fig. 2;

Fig. 5 is an assembly schematic diagram of the housing of the slave end power base of the interventional surgery robot provided by the embodiment of the present application.

100-slave power seat,

1-power mechanism, 11-power output end, 12-motor,

2-shell,

2a-Main part,

2b-raised portion,

21-Accommodating cavity,

22-the first avoidance hole,

23-upper shell, 23a-top plate, 231-first plate body, 232-second plate body, 233-side plate, 2331-notch,

24-lower shell, 241-bottom plate, 242-transition plate, 243-baffle plate, 244-contact portion,

25-stop ring,

3- connectors,

4-bracket, 41-second escape hole, 42-support plate, 43-connecting plate,

200 - Sliding mechanism.

BEST MODE FOR CARRYING OUT THE INVENTION

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In this application, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and so on should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or into one, or even a connection that can move relative to each other; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the mutual connection of two components role relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the description of this application, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the It should not be construed as limiting the application to indicate that a device or element must have a particular orientation, be constructed, and operate in a particular orientation.

As used herein, the direction "distal" is a direction toward the patient, and the direction "proximal" is a direction away from the patient. The terms "upper" and "upper" refer to the general direction of the direction away from the force of gravity, and the terms "bottom", "lower" and "lower" refer to the general direction of the force of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "advance" refers to the direction in which the guidewire or catheter is displaced into the surgical patient's body. The term "posterior" refers to the side of the interventional surgical robot that faces away from the user from the end device, and "backward" refers to the direction in which the guidewire or catheter is displaced out of the surgical patient's body. The term "inwardly" refers to the interior portion of a feature. The term "outwardly" refers to the outer portion of a feature. The term "rotation" includes "forward rotation" and "reverse rotation", where "forward rotation" refers to the direction that the guidewire or catheter is rotated into the body of the surgical patient, and "reverse rotation" refers to the direction that the guidewire or catheter is rotated Exit the orientation of the surgical patient's body.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of this application, "many" or "plurality" means two or more.

Finally, it should be noted that, if there is no conflict, the embodiments of the present application and various features in the embodiments can be combined with each other, and all are within the protection scope of the present application.

The guide wires here include but not limited to guide wires, micro guide wires and stents to guide and support interventional medical devices, and catheters include but not limited to guide catheters, micro catheters, contrast catheters, multifunctional tubes (also known as intermediate catheters) , thrombolytic catheters, balloon dilatation catheters and ball expansion stent catheters and other therapeutic interventional medical devices.

As shown in FIG. 1 , a slave end power base 100 of an interventional surgical robot provided in the embodiment of the present application is assembled on a sliding mechanism 200 (ie, a screw-motor, guide rail-slider integration mechanism). In this embodiment, the sliding mechanism 200 includes both the screw-motor power part and the guide rail-slider guide part. The power base 100 at the slave end includes: a power mechanism 1 , a casing 2 and a connecting piece 3 . The power mechanism 1 is installed in the housing 2 . The connecting piece 3 is connected to the sliding mechanism 200 and the housing 2 . When the slave drive base (not shown in the figure) is docked with the slave power base 100, the power mechanism 1 can provide power for the slave drive base.

As shown in FIGS. 1-3 , the power mechanism 1 of this embodiment includes a power output terminal 11 and a motor 12 . The power output end 11 is used to be connected with the power input end of the drive base of the slave end. The power output end 11 is disposed below the connection between the connecting member 3 and the sliding mechanism 200 , ie along the direction of gravity. The power mechanism 1 transmits power to the driving base of the slave end through the power output end 11 . The power output end 11 of this embodiment includes a gear, and the gear is directly installed on the output shaft of the motor 12 . Certainly, in other embodiments, a transmission mechanism may also be provided between the motor 12 and the gear, and the motor 12 is connected to the gear through the transmission mechanism. Appropriate gears can be selected according to design requirements. The gears in this embodiment are bevel gears. Of course, other types of gears can also be used in other embodiments. One or more power mechanisms 1 can be set in the power base 100 at the slave end based on the power demand of the drive base at the slave end. The slave power base 100 of this embodiment includes two power mechanisms 1 . The relative positions of the two power mechanisms 1 can be adjusted according to design requirements. For example, the two power mechanisms 1 can be arranged in the same direction, opposite directions, vertically, or at a certain angle. In this embodiment, the two power mechanisms 1 are arranged in the same direction, that is, the power output ends 11 of the two power mechanisms 1 are located on the same side.

As shown in FIG. 3 , the housing 2 of this embodiment has an accommodating cavity 21 , which should have enough space, and the power mechanism 1 is disposed in the accommodating cavity 21 . In order to facilitate the power output end 11 of the power mechanism 1 to be exposed outside the casing 2 , the casing 2 is provided with a first avoidance hole 22 passing therethrough. The aperture size of the first avoidance hole 22 should meet the penetration requirements of the power output end 11 . The power output end 11 passes through the first escape hole 22 and is exposed outside the casing 2 . The height of the power output end 11 exposed outside the housing 2 can be set according to the design requirements, but at least the part where the power output end 11 is connected to the driving base of the slave end should be exposed outside the housing 2, so that the power input end of the driving base of the slave end can be connected to the outside of the housing 2. The power output end 11 of the power mechanism 1 is connected.

In order to better protect the power output end 11 exposed outside the casing 2 , in one embodiment, a retaining ring 25 is provided on the surface of the casing 2 . The retaining ring 25 is arranged corresponding to the first escape hole 22 . The retaining ring 25 is located on the periphery of the first avoidance hole 22 , and the retaining ring 25 covers the opening of the first avoidance hole 22 . The retaining ring 25 is arranged coaxially with the first escape hole 22 . The inner diameter of the retaining ring 25 in this embodiment is the same as the inner diameter of the first avoidance hole 22 , of course, in other embodiments, the inner diameter of the retaining ring 25 may also be larger than the inner diameter of the first avoidance hole 22 . The power output end 11 passes through the retaining ring 25 and is exposed outside the retaining ring 25 . The height of the stop ring 25 can be adjusted based on the height of the power output end 11 protruding from the housing 2 , so that the part of the power output end 11 connected to the driving seat of the slave end is exposed outside the stop ring 25 . The retaining ring 25 can be integrally formed with the housing 2 , or the retaining ring 25 can be installed on the housing 2 by a fixed method.

As shown in Figures 1 and 2, in order to further reduce the installation height of the power output end 11, in one embodiment, the housing 2 is L-shaped as a whole. The housing 2 includes a main body portion 2a and a boss portion 2b. The protruding portion 2b extends along the surface of the main body portion 2a toward the sliding mechanism 200 . The height of the raised portion 2b can be adjusted according to design requirements. The connecting piece 3 is fixed on the raised portion 2b. The connecting piece 3 of this embodiment is fixedly installed on the raised portion 2b, of course, in other embodiments, the connecting piece 3 can also be movably installed on the raised portion 2b, that is, the connecting piece 3 can be moved up and down relative to the raised portion 2b Move to facilitate adjustment of the distance between the connecting part 3 and the sliding mechanism 200 and the power output end 11 . In one embodiment, the connecting member 3 is disposed on the side of the protrusion 2 b facing the sliding mechanism 200 . Of course, in other embodiments, the connecting member 3 may also be disposed on the top of the protrusion 2 b.

As shown in FIGS. 2 and 3 , the main body 2 a is located at the bottom of the housing 2 . The main body 2a has an accommodation chamber 21, and the power mechanism 1 is installed in the main body 2a. To facilitate the installation of the power mechanism 1 , in one embodiment, the main body 2 a includes an upper shell 23 and a lower shell 24 . The upper housing 23 and the lower housing 24 enclose the receiving chamber 21 . The upper casing 23 and the lower casing 24 can be fixedly connected by various methods such as clamping, adhesive bonding, and magnetic attraction. A first avoidance hole 22 is opened on the upper casing 23 . The power output end 11 is exposed outside the upper casing 23 . In this embodiment, the first escape hole 22 is opened on the top of the upper casing 23 , and the power output end 11 is exposed from the top of the upper casing 23 .

As shown in Figures 3 and 4, in one embodiment, the power base 100 at the slave end includes two power mechanisms 1. Correspondingly, two first avoidance holes 22 are opened on the upper housing 23, and two first avoidance holes 22 are provided. The holes 22 correspond to the two power output ends 11 one by one. Of course, in other embodiments, only one first escape hole 22 may be provided, and the two power output ends 11 are both passed through the same first escape hole 22 . The openings of the two first avoidance holes 22 on the upper casing 23 can be on the same plane, or they can be arranged in offset positions. For example, in one embodiment, the upper case 23 includes a first board 231 and a second board 232 . A first avoidance hole 22 is defined on the first plate body 231 and the second plate body 232 respectively. The surface of the first plate body 231 and the surface of the second plate body 232 are alternately arranged.

As shown in FIG. 5 , in this embodiment, the upper case 23 includes a top plate 23a, and the top plate 23a of the upper case 23 has a stepped structure as a whole. Both the first board body 231 and the second board body 232 are part of the top board 23a. The top plate 23a adopts a stepped structure, which enlarges the distance between the two power output ends 11 passing through the upper casing 23, and provides a larger installation space for the drive base at the slave end. When multiple power inputs of the drive base at the slave end When the terminal is connected to a plurality of power output terminals 11 of the slave power base 100, mutual interference can be effectively avoided.

As shown in FIG. 5 , the upper case 23 further includes a side plate 233 connected to the top plate 23 a of the upper case 23 . The top plate 23a and the side plate 233 of the upper casing 23 enclose to form a frame structure. A notch 2331 is defined on the side panel 233 . The notch 2331 is used for inserting with the lower casing 24 . It can be understood that the side plate 233 can also be disposed on the lower casing 24 . In this embodiment, in addition to enclosing the top plate 23 a of the upper casing 23 , the side plate 233 also extends toward the sliding mechanism 200 to form a raised portion 2 b. At least part of the notch 2331 is defined in the raised portion 2b.

As shown in FIGS. 4 and 5 , in one embodiment, the lower housing 24 includes a bottom plate 241 and a transition plate 242 connected to the bottom plate 241 . The bottom plate 241 is located below the first avoidance hole 22 , and the bottom plate 241 and the upper casing 23 enclose the installation cavity of the power mechanism 1 , and the power mechanism 1 is disposed between the bottom plate 241 and the upper casing 23 . The transition plate 242 is set at an angle with the bottom plate 241 . The transition plate 242 is inclined towards the direction of the upper shell 23 , that is, the distance between the transition plate 242 and the upper shell 23 gradually decreases along the direction away from the bottom plate 241 . The slope design of the transition plate 242 not only reduces the volume of the power base 100 at the slave end, reduces the space occupied by the power base 100 at the slave end, but also makes the power base 100 at the slave end closer to the body of the person being treated, which is beneficial to the operation.

As shown in FIGS. 4 and 5 , to facilitate assembly with the upper case 23 , the lower case 24 further includes a baffle 243 connected to the transition plate 242 and extending toward the upper case 23 . The width of the baffle plate 243 is smaller than the width of the transition plate 242 , and the gap between the baffle plate 243 and the transition plate 242 forms an abutting portion 244 . The width of the baffle 243 matches the width of the notch 2331 of the upper case 23 . The upper case 23 is covered by the lower case 24 . The baffle 243 is inserted into the notch 2331 . During the installation process, the bottom of part of the side plate 233 of the upper case 23 is in contact with the contact portion 244 of the lower case 24 . The abutting portion 244 can not only limit the installation position of the upper case 23 to achieve quick positioning of the upper case 23 , but also provide support for the upper case 23 , which facilitates the fixed connection of the upper case 23 and the lower case 24 . The height of the baffle 243 can be set according to actual needs. The height of the baffle 243 in this embodiment is less than the height of the gap 2331 of the upper casing 23. After the upper casing 23 and the lower casing 24 are fixedly installed, the upper surface of the baffle 243 There is a gap with the lower case 24 . Certainly, in other embodiments, the upper surface of the baffle 243 may also directly abut against the inner wall of the notch 2331 .

As shown in Figures 3 and 4 , in order to better install the power mechanism 1 , in an embodiment, the power base 100 at the slave end further includes a bracket 4 . The bracket 4 is arranged in the receiving cavity 21 , the bracket 4 is fixed on the inner wall of the casing 2 , the power mechanism 1 is fixed on the bracket 4 , and the power mechanism 1 is fixed on the casing 2 through the bracket 4 . In one embodiment, the bracket 4 is arranged on the side of the power mechanism 1 facing the upper casing 23 . The support 4 , the lower case 24 and the side plate 233 of the upper case 23 enclose the installation cavity of the power mechanism 1 , and the power mechanism 1 is arranged between the lower case 24 and the support 4 . In order to facilitate the power output end 11 of the power mechanism 1 to be exposed outside the bracket 4 , the bracket 4 is provided with a through second avoidance hole 41 . The aperture size of the second avoidance hole 41 should meet the penetration requirement of the power output end 11 . The second escape hole 41 is provided corresponding to the first escape hole 22 . The power output end 11 may continue to pass through the first avoidance hole 22 after passing through the second avoidance hole 41 . In order to make the internal structure of the slave power base 100 more compact, in one embodiment, the first escape hole 22 and the second escape hole 41 are coaxially arranged. The shape of the bracket 4 is basically the same as that of the upper case 23 , and its upper surface abuts against the inner wall of the top plate 23 a of the upper case 23 , that is, the part matching the top plate 23 a also has a stepped structure. The upper surface of the motor 12 is in contact with the lower surface of the bracket 4 . The power output end 11 passes through the second avoidance hole 41 and the first avoidance hole 22 sequentially and is exposed outside the casing 2 .

As shown in Figures 3-5, in order to simplify the internal structure, in one embodiment, the connecting member 3 and the bracket 4 are fixedly connected or integrally formed. The bracket 4 includes a supporting plate 42 and a connecting plate 43 . The support plate 42 is located in the accommodation chamber 21 for installing the power mechanism 1 . A second escape hole 41 is defined on the support plate 42 . The connecting plate 43 is located in the raised portion 2 b and is used for connecting the supporting plate 42 and the connecting piece 3 . One end of the connecting piece 3 is connected to the connecting plate 43 , and the other end of the connecting piece 3 extends out of the casing 2 through the notch 2331 at the raised portion 2 b. Of course, in other embodiments, the bracket 4 can also be used only for installing the power mechanism 1 , the connecting piece 3 and the bracket 4 are separately arranged, and the connecting piece 3 is directly arranged on the surface of the casing 2 .

Of course, the present application can also have other various embodiments, such as the sliding mechanism 200 only includes the screw-motor power part or the guide rail-slider guide part, or the power part can also be realized by the motor driving the slider to slide along the guide rail , without departing from the spirit and essence of the present application, those skilled in the art may make various corresponding changes and modifications according to the present application, but these corresponding changes and modifications shall all belong to the claims of the present application protected range.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims

A slave end power base of an interventional surgery robot is assembled on a sliding mechanism, which includes:

a power mechanism, the power mechanism including a power output;

A casing, the casing has an accommodating cavity, and the casing is provided with a through-through first avoidance hole;

a connecting piece, the connecting piece is connected to the sliding mechanism and the housing;

The power mechanism is arranged in the accommodating chamber, the power output end is passed through the first avoidance hole and exposed outside the casing, and the power output end is arranged at the connection between the connecting piece and the sliding mechanism. below the connection.
The slave end power base of an interventional surgical robot according to claim 1, wherein: the housing includes a main body and a protrusion, and the protrusion is along the surface of the main body in a direction close to the sliding mechanism Extending, the main body part has the accommodating cavity, and the connecting piece is fixed on the protruding part.
The slave end power base of the interventional surgery robot according to claim 2, wherein: the connecting piece is arranged on a side of the protrusion facing the sliding mechanism.
The slave end power seat of an interventional surgery robot according to claim 3, wherein: the connecting piece is movably mounted on the raised portion, so that the connecting piece can move up and down relative to the raised portion .
The slave end power base of an interventional surgical robot according to claim 2, wherein: the main body part includes an upper shell and a lower shell, and the upper shell and the lower shell enclose to form the accommodating cavity, The first escape hole is opened on the upper shell.
The slave end power base of an interventional surgical robot according to claim 5, wherein: the lower housing includes a bottom plate and a transition plate connected to the bottom plate, the transition plate is set at an angle with the bottom plate, the The power mechanism is arranged between the bottom plate and the upper casing.
The slave end power base of the interventional surgical robot according to claim 6, wherein: the transition plate is inclined toward the direction close to the upper shell, so that the distance between the transition plate and the upper shell is along the direction away from the The direction of the bottom plate gradually decreases.
The slave end power base of the interventional surgery robot according to claim 7, wherein: the lower shell further includes a baffle, and the baffle is connected to the transition plate and extends towards the direction close to the upper shell.
The slave end power base of an interventional surgical robot according to claim 8, wherein: the width of the baffle plate is smaller than the width of the transition plate, the baffle plate and the gap of the transition plate form an abutment portion, the The abutting portion is used for supporting the bottom of a part of the side plate of the upper casing.
The slave end power base of the interventional surgery robot according to claim 5, wherein: the slave end power base of the interventional surgery robot comprises two said power mechanisms.
The slave end power base of an interventional surgical robot according to claim 10, wherein: said upper shell is provided with two said first avoidance holes, and two said first avoidance holes are connected with two said power output holes. One-to-one correspondence.
The slave end power base of an interventional surgical robot according to claim 11, wherein: the upper housing includes a first board and a second board, and the first board and the second board are respectively provided with There is a first avoidance hole, and the surface of the first plate body and the surface of the second plate body are alternately arranged.
The slave end power base of an interventional surgical robot as claimed in claim 12, wherein: the upper casing includes a top plate, and the top plate is generally in a stepped structure, wherein the first plate body and the second plate Both bodies are part of the top plate.
The slave end power base of the interventional surgical robot according to claim 5, wherein: the slave end power base of the interventional surgery robot further comprises a bracket, the bracket is arranged in the accommodation cavity, and the power mechanism is fixed on the The above bracket.
The slave end power base of the interventional surgery robot according to claim 14, wherein: the connecting member is fixedly connected or integrally formed with the bracket.
The slave end power base of an interventional surgical robot according to claim 15, wherein: the bracket includes a support plate and a connecting plate, the support plate is located in the accommodation cavity for installing the power mechanism; the connection A plate is located in the raised portion for connecting the support plate and the connecting piece.
The slave end power base of an interventional surgical robot according to claim 14, wherein: the bracket is provided with a through second avoidance hole, and the power mechanism is arranged between the lower housing and the bracket, so that The power output end is passed through the second avoidance hole.
The slave end power base of the interventional surgery robot according to claim 17, wherein: the first avoidance hole and the second avoidance hole are coaxially arranged.
The slave end power base of an interventional surgical robot according to any one of claims 1-18, wherein: the surface of the housing is provided with a retaining ring, and the retaining ring covers the opening of the first avoidance hole , the power output end is passed through the retaining ring and exposed outside the retaining ring.