WO2023142293A1 - 一种介入手术机器人的从端驱动座 - Google Patents

一种介入手术机器人的从端驱动座 Download PDF

Info

Publication number
WO2023142293A1
WO2023142293A1 PCT/CN2022/090320 CN2022090320W WO2023142293A1 WO 2023142293 A1 WO2023142293 A1 WO 2023142293A1 CN 2022090320 W CN2022090320 W CN 2022090320W WO 2023142293 A1 WO2023142293 A1 WO 2023142293A1
Authority
WO
WIPO (PCT)
Prior art keywords
slave
cavity
power
accommodation
seat
Prior art date
Application number
PCT/CN2022/090320
Other languages
English (en)
French (fr)
Inventor
邓海云
Original Assignee
深圳市爱博医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市爱博医疗机器人有限公司 filed Critical 深圳市爱博医疗机器人有限公司
Publication of WO2023142293A1 publication Critical patent/WO2023142293A1/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present 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 driving seat of an interventional surgery robot.
  • the motion control mechanism mainly includes a driving seat and a power seat.
  • the driving seat drives medical devices such as guide wires and catheters to move and/or rotate, and the power seat provides power for the driving seat.
  • the driving seat is in direct contact with medical devices such as guide wires and catheters. In order to avoid contamination, a new driving seat needs to be replaced during each operation.
  • the existing driving seat has a relatively large volume, which is unfavorable for users to replace.
  • the existing driving seat has high production cost and is discarded as a consumable, which increases medical costs and increases the financial burden on patients.
  • the purpose of this application is to provide a driving seat from the end of an interventional surgery robot, which aims to solve the problem that the driving seat in the prior art is large in size, which is not conducive to user replacement, and the cost is relatively high, which increases the economic burden on patients. question.
  • a slave-end driving base of an interventional surgical robot which transmits power from the slave-end power base and drives medical instruments and/or their connectors to rotate, including: a drive mechanism, the The driving mechanism includes a power input end and a power output end connected to the power input end, the power input end is connected to the power seat at the slave end, and the power output end drives the medical device and/or its connector to rotate; the shell assembly, the The housing assembly includes a main housing, the main housing has an accommodating cavity and an installation cavity, the accommodating cavity is used for accommodating the driving mechanism and the power seat at the slave end, and the installation cavity is used for installing medical equipment and/or its Connector.
  • the installation cavity is formed by a depression of the main casing.
  • the main housing includes a top plate and a side plate, the outer part of the top plate is recessed along the direction of gravity so that the outer surface of the top plate and the inner wall of the side plate are enclosed to form the installation cavity.
  • the housing assembly further includes a partition assembly, and the top plate is provided with a partition assembly in the installation cavity for fixed connection to the medical device and/or its connector.
  • the partition assembly includes a plurality of partition units, and the plurality of partition units are arranged at intervals to form card slots that are mated and connected to the medical device and/or its connector.
  • the installation cavity has an opening
  • the housing assembly also includes a first cover plate, the first cover plate covers the opening of the installation cavity to isolate the medical device and/or its connector from the installation cavity.
  • the inner side of the top plate and the inner wall of the side plate are enclosed to form the accommodation cavity, and the accommodation cavity and the installation cavity are arranged opposite to each other.
  • the power input end of the driving mechanism is arranged in the accommodation chamber of the main casing, and the power output end of the driving mechanism is arranged in the installation chamber of the main casing.
  • the top plate includes a first plate body, a second plate body and a third plate body, and the first plate body is arranged in a staggered manner relative to the second plate body along the direction of gravity, and the first plate body and the third plate body A third plate is formed between the two plates.
  • first plate body, the second plate body, the third plate body and the side plate surround to form the accommodating cavity, the first plate body, the third plate body and the The side plate surrounds and forms the installation cavity.
  • the accommodating chamber has an opening
  • the housing assembly further includes a second cover plate, the second cover plate is provided to cover the opening of the accommodating chamber, so as to isolate the power base at the slave end from the accommodating chamber.
  • the drive mechanism includes multiple power output ends.
  • the drive mechanism includes a plurality of power input ends, and the plurality of power input ends are arranged correspondingly to the plurality of power output ends.
  • the main casing has a plurality of accommodation cavities, and the plurality of accommodation cavities are arranged corresponding to the plurality of power output ends.
  • the multiple accommodation cavities are located on the same side, and the multiple accommodation cavities are arranged opposite to the installation cavity.
  • the multiple accommodation cavities communicate with each other, so that the multiple power input ends are located in the same accommodation cavity.
  • the main housing is provided with a through hole communicating with the accommodating cavity and the installation cavity, and the power output end is passed through the through hole.
  • the drive mechanism also includes a fixing seat, the power input end is fixed in the accommodation cavity through the fixing seat, and the power output end is placed in the space formed by the fixing seat and the through hole And communicate with the installation cavity.
  • an accommodating cavity and an installation cavity are provided on the main housing, and the driving mechanism, medical instruments and/or their connectors are all installed in the corresponding cavities.
  • the drive mechanism, the medical device and/or its connectors can be more compactly installed on the housing assembly.
  • the volume of the driving seat at the slave end is reduced, which is convenient for the owner to replace.
  • the processing material of the driving seat at the secondary end is reduced, the production cost of the driving seat at the secondary end is reduced, and when used as consumables, the economic burden on patients is reduced.
  • Fig. 1 is a schematic structural diagram of the closed state of the slave drive base of the interventional surgery robot provided in Embodiment 1 of the present application;
  • Fig. 2 is a schematic structural view of the unfolded state of the slave-end drive base of the interventional surgical robot provided in Embodiment 1 of the present application;
  • Fig. 3 is a schematic diagram of the assembly of the main housing and the driving mechanism of the slave drive base of the interventional surgical robot provided in Embodiment 1 of the present application;
  • Fig. 4 is a structural schematic diagram of the main housing and the driving mechanism of the slave drive base of the interventional surgical robot provided in Embodiment 1 of the present application;
  • Fig. 5 is a diagram of the use state of the slave-side driving seat of the interventional surgery robot provided in Embodiment 1 of the present application;
  • Fig. 6 is a first schematic structural view of the slave-side driving seat of the interventional surgery robot provided in Embodiment 2 of the present application;
  • FIG. 7 is a second structural schematic diagram of the slave-end driving seat of the interventional surgery robot provided in Embodiment 2 of the present application.
  • Fig. 8 is the assembly diagram of Fig. 7;
  • Fig. 9 is a view of the use state of the slave end driving seat of the interventional surgery robot provided in the second embodiment of the present application.
  • 11-power output end 111-first power output end, 112-second power output end, 12-power input end, 121-first power input end, 122-second power input end, 13-fixed seat,
  • connection 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.
  • connection 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.
  • the direction “distal” is a direction toward the patient
  • 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
  • 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.
  • 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.
  • a feature defined as “first”, “second”, etc. may expressly or implicitly include one or more of that feature.
  • “many” or “plurality” means two or more.
  • the guide wires here include but not limited to guide wires, micro guide wires and holders and other guiding and supporting interventional medical devices
  • 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 dilation fixation catheters and other therapeutic interventional medical devices.
  • a slave-end driving base 100 of an interventional surgical robot provided in Embodiment 1 of the present application includes: a driving mechanism 1 and a housing assembly 2 .
  • the drive mechanism 1 of the slave drive base 100 is fixedly installed in the housing assembly 2 .
  • the slave-end driving base 100 transmits the power of the slave-end power base (not shown in the figure) and drives the medical instrument 200 (shown in FIG. 5 ) and/or its connector to rotate.
  • the medical device 200 driven from the end driving base 100 may be a guide wire, a catheter, or an element connected to the guide wire or catheter.
  • the housing assembly 2 of this embodiment includes a main housing 21 .
  • the main housing 21 is a frame structure as a whole.
  • the main housing 21 has an accommodating cavity 211 and an installation cavity 212 .
  • the accommodating chamber 211 is used for accommodating the driving mechanism 1 and the power base at the slave end, and the installation chamber 212 is used for installing the medical device 200 and/or its connector.
  • the accommodating chamber 211 and the installation chamber 212 of this embodiment are provided independently of each other.
  • the main housing 21 is provided with a via hole 213 connecting the receiving cavity 211 and the mounting cavity 212 .
  • the accommodating cavity 211 and the installation cavity 212 may also be combined into one cavity.
  • the installation cavity 212 is recessed by the main housing 21 form.
  • the main housing 21 includes a top plate 214 and a side plate 215 , and the side plate 215 is connected to a side of the top plate 214 .
  • the outer portion of the top plate 214 is recessed along the gravity direction so that the outer surface of the top plate 214 and the inner wall of the side plate 215 are enclosed to form the installation cavity 212 .
  • the installation cavity 212 should have enough accommodation space to meet the installation requirements of the medical device 200 and/or its connector.
  • a spacer assembly 24 for fixing the connector connected to the medical device 200 is disposed on the outside of the top plate 214 in the installation cavity 212 .
  • the baffle assembly 24 includes a plurality of baffle units.
  • a plurality of partition units extend upward along the outer surface of the top plate 214 .
  • a plurality of spacer units are arranged at intervals to form card slots that are mated and connected to the medical device 200 and/or its connector.
  • the dimension of the inner wall of the slot corresponds to the dimension of the outer contour of the medical device 200 and/or its connector.
  • the partition assembly 24 can be integrally formed with the top plate 214 , and the partition assembly 24 can also be fixed on the top plate 214 by means of bonding, welding, clamping and the like.
  • the installation cavity 212 has an opening.
  • the opening of the installation cavity 212 is disposed directly above the top plate 214 .
  • the opening of the installation cavity 212 may also be provided on the side plate 215 .
  • the instrument 200 and/or its connectors are isolated within the mounting cavity 212 .
  • the size of the first cover plate 22 corresponds to the opening size of the installation cavity 212 .
  • the first cover 22 is movably connected to the main casing 21 .
  • the first cover plate 22 is rotatably connected with the main casing 21 .
  • one end of the first cover plate 22 is connected to the shaft hole of the main housing 21 , and the other end of the first cover plate 22 is fixed to the main housing 21 by clamping, magnetic attraction and other means.
  • the opening of the installation cavity 212 is opened or closed.
  • the first cover plate 22 may also be connected to the main housing 21 in a detachable manner, such as clamping, threaded connection and the like.
  • the partition assembly 24 may also be provided at a corresponding position on the inner wall of the first cover 22 . When the first cover plate 22 is snapped together, the upper and lower partition assemblies 24 can better fix the medical device 200 and/or its connector.
  • the relative positions of the accommodating cavity 211 and the installation cavity 212 can be adjusted according to design requirements. As shown in FIGS. 2-4 , in an embodiment, the inner side of the top plate 214 and the inner wall of the side plate 215 are enclosed to form a receiving chamber 211 .
  • the accommodation chamber 211 and the installation chamber 212 are arranged opposite to each other, that is, the accommodation chamber 211 and the installation chamber 212 are respectively located on the upper and lower sides of the main housing 21, for example, the accommodation chamber 211 is located below the main housing 21, and the installation chamber 212 is located on the main housing. body 21 above.
  • the accommodating cavity 211 and the installation cavity 212 may also be arranged in the same direction, that is, the accommodating cavity 211 and the installation cavity 212 are located on the same side of the main housing 21 .
  • the opening end of the receiving cavity 211 and the installation cavity 212 are arranged at an angle with each other.
  • the through hole 213 of the main housing 21 is opened on the top plate 214 to facilitate communication between the receiving cavity 211 and the installation cavity 212 .
  • the accommodating chamber 211 has an opening.
  • the opening positions of the opening of the receiving chamber 211 and the opening of the installation chamber 212 can be adjusted according to design requirements.
  • the opening of the receiving chamber 211 and the opening of the installation chamber 212 are set opposite to each other, that is, the opening of the receiving chamber 211 faces below the main housing 21 , and the opening of the installation chamber 212 faces above the main housing 21 .
  • the opening of the accommodation cavity 211 and the opening of the installation cavity 212 may also be arranged vertically, that is, the opening of the accommodation cavity 211 faces the bottom of the main casing 21, and the opening of the installation cavity 212 faces the side of the main casing 21. .
  • the housing assembly 2 further includes a second cover plate 23, and the second cover plate 23 covers the opening of the accommodating cavity 211, The power seat at the slave end is isolated in the accommodation cavity 211 .
  • the size of the second cover plate 23 corresponds to the size of the opening of the accommodating chamber 211 .
  • the second cover 23 is movably connected to the main casing 21 .
  • the second cover plate 23 is rotatably connected with the main casing 21 . Specifically, one end of the second cover plate 23 is connected to the shaft hole of the main housing 21 , and the other end of the second cover plate 23 is fixed to the main housing 21 by clamping, magnetic attraction and other means.
  • the opening of the accommodating cavity 211 is opened or closed.
  • the second cover plate 23 may also be connected to the main housing 21 in a detachable manner, such as clamping, threaded connection and the like.
  • a limiting plate 25 is provided on the inner wall of the accommodation chamber 211 . The installation position of the power seat at the slave end is limited by the limit plate 25 to ensure that the second cover plate 23 can rotate freely and can seal the opening of the accommodating cavity 211 .
  • the accommodation cavity 211 and the installation cavity 212 can have different accommodation spaces according to the usage requirements.
  • the accommodation cavity 211 not only accommodates the drive mechanism 1, but when the slave end drive base 100 is assembled with the slave end power base, the accommodation cavity 211 also needs to accommodate the power seat of the slave end, therefore, the accommodation cavity 211 should have a large enough accommodation space.
  • the installation cavity 212 is used to fix the medical device 200 and/or its connector, and the required accommodation space is small.
  • the top plate 214 has a stepped structure.
  • the top board 214 includes a first board body 2141 , a second board body 2142 and a third board body 2143 .
  • the first boards 2141 are staggered relative to the second boards 2142 along the direction of gravity to form a third board 2143 between the first boards 2141 and the second boards 2142 .
  • the first plate body 2141 and the second plate body 2142 are disposed parallel to each other.
  • the first plate body 2141 and the second plate body 2142 may also be arranged at an angle.
  • the third board 2143 is connected between the first board 2141 and the second board 2142 .
  • the third plate 2143 is arranged vertically to the first plate 2141 , of course, in other embodiments, the third plate 2143 can also be arranged at an angle with the first plate 2141 .
  • the first plate body 2141, the second plate body 2142 and the third plate body 2143 are integrally formed.
  • the first plate body 2141, the second plate body 2142 and the third plate body The body 2143 can also be fixedly connected by means of bonding, clamping and the like.
  • the first plate body 2141 , the second plate body 2142 , the third plate body 2143 and the side plate 215 enclose the receiving chamber 211 .
  • the first board body 2141 , the third board body 2143 and the side board 215 enclose the installation cavity 212 .
  • the accommodation space of the installation cavity 212 is reduced, the accommodation space of the accommodation cavity 211 is increased, and the space utilization of the slave drive seat 100 is more efficient.
  • the volume of the slave drive base 100 is reduced as a whole, which is not only convenient for the owner to replace, but also saves materials and reduces the production cost of the slave drive base 100 .
  • the top plate 14 can also be a flat plate structure.
  • the drive mechanism 1 of the slave drive base 100 in this embodiment cooperates with the slave power base to drive the medical device 200 and/or its connector to rotate.
  • the driving mechanism 1 includes a power input end 12 and a power output end 11 connected to the power input end 12 .
  • the power input end 12 of the driving mechanism 1 is disposed in the housing cavity 211 of the main housing 21 , and the power input end 12 is connected to the power base of the slave end;
  • the power output end 11 is provided in the installation cavity 212 of the main housing 21, the power output end 11 is connected to the medical device 200 and/or its connector, and the power output end 11 drives the medical device 200 and/or its connector to rotate.
  • the driving base 100 of the slave end is assembled on the power base of the slave end, and the power input end 12 of the driving mechanism 1 is connected with the power output part of the power base of the slave end.
  • the power base at the slave end provides power for the drive mechanism 1 of the drive base 100 at the slave end.
  • the power input end 12 of the driving mechanism 1 transmits the power transmitted from the end power seat to the power output end 11, and the power output end 11 then transmits the power to the medical device 200 and/or its connector, and drives the medical device 200 and/or Its connector turns.
  • the number of power output ends 11 can be adjusted according to the medical device 200 to be driven.
  • the driving mechanism 1 of this embodiment includes a power output end 11 .
  • the driving mechanism 1 is fixed on the main casing 21 .
  • the driving mechanism 1 further includes a fixing seat 13 through which the power input end 12 is fixed in the accommodating cavity 211 .
  • the power output end 11 is placed in the space formed by the fixing seat 13 and the through hole 213 and communicates with the installation cavity 212 .
  • the power output end 11 passes through the through hole 213 and is connected to the medical device 200 and/or its connector in the installation cavity 212 .
  • the power output end 11, the medical device 200 and/or its connector can also be connected in the through hole 213, or the medical device 200 and/or its The instrument 200 and/or its connector are connected to the power output end 11 in the accommodation cavity 211 .
  • the slave drive base 100 When the slave drive base 100 is assembled with the slave power base, first, turn the second cover plate 23 to open the opening of the accommodation chamber 211; then, cover the main housing 21 on the slave power base, and the slave power base accommodates In the accommodating chamber 211, the power output part of the power base at the slave end is connected to the power input end 12 of the drive mechanism 1; finally, the second cover plate 23 is reversely rotated to close the opening of the accommodating chamber 211, and the outer casing of the driving base 100 at the slave end Component 2 is wrapped around the outside of the power seat at the slave end.
  • the first cover plate 22 When installing the medical device 200 and/or its connector on the drive base 100 from the end, at first, turn the first cover plate 22 to open the opening of the installation cavity 212; then, put the medical device 200 and/or its connector into the compartment In the gap formed by the board assembly 24, the medical device 200 and/or its connector is connected to the power output end 11 of the drive mechanism 1; finally, the first cover plate 22 is reversely rotated to close the opening of the installation cavity 212, and the medical device 200 and / or its connector is installed in the shell assembly 2 of the slave drive base 100, receives the power of the slave power base, and allows the slave power base to achieve aseptic isolation.
  • FIG. 6 it is a slave-end driving base 100 of an interventional surgery robot provided in Embodiment 2 of the present application.
  • the structure of the second embodiment is similar to that of the first embodiment, the main difference lies in the number of power output ends 11 of the driving mechanism 1 and the corresponding structural adjustments.
  • the driving mechanism 1 of the second embodiment includes a plurality of power output ends 11 .
  • Multiple power output ends 11 are respectively connected to multiple medical instruments 200 and/or their connectors in the installation cavity 212 .
  • the first cover plate 22 of the shell assembly 2 is located above the plurality of power output ends 11 and covers the opening of the installation cavity 212 .
  • the plurality of power output ends 11 include a first power output end 111 and a second power output end 112 .
  • the first power output end 111 and the second power output end 112 are arranged at intervals.
  • the first power output end 111 and the second power output end 112 are respectively connected or contacted with two medical devices 200 and/or their connectors, so as to drive different catheters or guide wires to move.
  • more power output terminals 11 can also be provided according to the driving requirements of the medical device 200 and/or its connector.
  • the driving mechanism 1 includes multiple power input ends 12 .
  • a plurality of power input ends 12 are set corresponding to a plurality of power output ends 11 .
  • the plurality of power input ends 12 include a first power input end 121 and a second power input end 122 .
  • the first power input end 121 is connected to the first power output end 111
  • the second power input end 122 is connected to the second power output end 112 .
  • the first power input end 121 and the second power input end 122 are respectively connected to the power output portion of the power seat at the slave end.
  • only one power input end 12 may be provided, and one power input end 12 is connected to multiple power output ends 11 .
  • the main housing 21 has a plurality of accommodating cavities 211 .
  • Multiple accommodation cavities 211 are provided corresponding to multiple power output ends 11 .
  • the multiple accommodation chambers 211 include a first accommodation chamber 2111 and a second accommodation chamber 2112, wherein the first power output end 111 is installed in the first accommodation chamber 2111 and exposed to the installation chamber 212, and the second cover plate 23 covers The opening of the first receiving cavity 2111 is arranged; the second power output end 112 is installed in the second receiving cavity 2112 and exposed in the installing cavity 212 , and the third cover plate 26 is arranged on the opening of the second receiving cavity 2112 .
  • the multiple accommodating cavities 211 in this embodiment are provided in one-to-one correspondence with the multiple power output ends 11 , of course, in other embodiments, multiple power output ends 11 may also be installed in one accommodating cavity 211 .
  • multiple accommodating cavities 211 communicate with each other so that multiple power input ends 12 are located at the same Inside the chamber 211.
  • the first accommodating cavity 2111 and the second accommodating cavity 2112 are located on two sides of the side plate 215 respectively, and the side plate 215 is provided with a through hole 2151 .
  • One end of the second power output end 112 is inserted into the first receiving cavity 2111 through the through hole 2151 .
  • the third cover plate 26 abuts against the side plate 215 to enclose the opening of the through hole 2151 in a closed space.
  • the setting positions of the multiple accommodation cavities 211 can be adjusted according to design requirements.
  • the multiple receiving cavities 211 are located on the same side, and the multiple receiving cavities 211 are disposed opposite to the installation cavity 212 .
  • the first accommodating cavity 2111 and the second accommodating cavity 2112 are located below the main housing 21 , and the installation cavity 212 is located above the main housing 21 .
  • the first accommodating chamber 2111 and the second accommodating chamber 2112 can be provided with different accommodating spaces according to usage requirements.
  • the slave end power base is also accommodated in the first accommodation chamber 2111, correspondingly, the first power
  • the input end 121 and the second power input end 122 are also accommodated in the first receiving cavity 2111 .
  • the first accommodating chamber 2111 should have a larger accommodating space.
  • the second accommodating cavity 2112 is used for accommodating the second power output end 112 , and the required accommodating space is relatively small.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

一种介入手术机器人的从端驱动座（100），适用于医疗机器人领域。该从端驱动座（100）传递从端动力座的动力并驱动医疗器械（200）和/或其连接器转动，包括：驱动机构（1），驱动机构（1）包括动力输入端（12,121,122）和连接于动力输入端（12,121,122）的动力输出端（11,111,112），动力输入端（12,121,122）连接于从端动力座，动力输出端（11,111,112）驱动医疗器械（200）和/或其连接器转动；外壳组件（2），外壳组件（2）包括主壳体（21），主壳体（21）具有容纳腔（211）和安装腔（212），容纳腔（211）用于收容驱动机构（1）和从端动力座，安装腔（212）用于安装医疗器械（200）和/或其连接器。该从端驱动座（100）从整体上减小了体积，方便所有者更换；此外，还降低了从端驱动座（100）的生产成本，减轻了患者的经济负担。

Description

一种介入手术机器人的从端驱动座
本申请要求于2022年1月29日提交中国专利局、申请号为202210111645.7，发明名称为“一种介入手术机器人的从端驱动座”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于医疗机器人领域，应用于主从式血管介入手术机器人，尤其涉及一种介入手术机器人的从端驱动座。
 背景技术
现有的介入手术机器人，通过建立主端装置与从端机器人的主从映射关系，医生可直接操作主端装置，实现对从端机器人的运动控制。从端机器人通过运动控制机构带动相应元件执行相关操作。运动控制机构主要包括驱动座和动力座。驱动座带动导丝、导管等医疗器械移动和/或转动，动力座为驱动座提供动力。驱动座直接与导丝、导管等医疗器械接触，为避免污染，在每次手术时，需更换新的驱动座。现有的驱动座体积较大，不利于使用者更换。此外，现有的驱动座生产成本较高，作为耗材被丢弃，增加了医疗成本，加重了患者的经济负担。
 技术问题
本申请的目的在于提供一种介入手术机器人的从端驱动座，旨在解决现有技术的驱动座体积较大，不利于使用者更换，以及造价成本较高，加重了患者的经济负担的技术问题。
 技术解决方案
本申请是这样实现的：一种介入手术机器人的从端驱动座，所述从端驱动座传递从端动力座的动力并驱动医疗器械和/或其连接器转动，包括：驱动机构，所述驱动机构包括动力输入端和连接于所述动力输入端的动力输出端，所述动力输入端连接于从端动力座，所述动力输出端驱动医疗器械和/或其连接器转动；外壳组件，所述外壳组件包括主壳体，所述主壳体具有容纳腔和安装腔，所述容纳腔用于收容所述驱动机构和从端动力座，所述安装腔用于安装医疗器械和/或其连接器。
进一步的，所述安装腔由所述主壳体凹陷形成。
进一步的，所述主壳体包括顶板和侧板，所述顶板的外面部分沿重力方向凹陷而让所述顶板的外面与所述侧板的内壁围合形成所述安装腔。
进一步的，所述外壳组件还包括隔板组件，所述顶板的外面于所述安装腔内设有用于固定连接于医疗器械和/或其连接器的隔板组件。
进一步的，所述隔板组件包括多个隔板单元，所述多个隔板单元间隔设置形成配合连接于医疗器械和/或其连接器的卡槽。
进一步的，所述安装腔具有开口，所述外壳组件还包括第一盖板，所述第一盖板盖设于所述安装腔的开口而让医疗器械和/或其连接器隔离于所述安装腔内。
进一步的，所述顶板的里面与所述侧板的内壁围合形成所述容纳腔，所述容纳腔和所述安装腔相互背向设置。
进一步的，所述驱动机构的动力输入端设于所述主壳体的容纳腔，所述驱动机构的动力输出端设于所述主壳体的安装腔。
进一步的，所述顶板包括第一板体、第二板体和第三板体，所述第一板体相对所述第二板体沿重力方向错落设置而在所述第一板体和第二板体之间形成第三板体。
进一步的，所述第一板体、所述第二板体、所述第三板体和所述侧板围合形成所述容纳腔，所述第一板体、所述第三板体和所述侧板围合形成所述安装腔。
进一步的，所述容纳腔具有开口，所述外壳组件还包括第二盖板，所述第二盖板盖设于所述容纳腔的开口，让从端动力座隔离于所述容纳腔内。
进一步的，所述驱动机构包括多个动力输出端。
进一步的，所述驱动机构包括多个动力输入端，所述多个动力输入端与所述多个动力输出端对应设置。
进一步的，所述主壳体具有多个容纳腔，所述多个容纳腔与所述多个动力输出端对应设置。
进一步的，所述多个容纳腔位于同侧，且所述多个容纳腔与所述安装腔相背设置。
进一步的，所述多个容纳腔相互连通，以让所述多个动力输入端位于同一容纳腔内。
进一步的，所述主壳体上开设有连通所述容纳腔和所述安装腔的过孔，所述动力输出端穿设于所述过孔。
进一步的，所述驱动机构还包括固定座，所述动力输入端通过所述固定座固定在所述容纳腔内，所述动力输出端置于所述固定座和所述过孔形成的空间内并连通所述安装腔。
 有益效果
本申请在主壳体上开设容纳腔和安装腔，驱动机构、医疗器械和/或其连接器均安装在相应的腔体中。采用这种结构，驱动机构、医疗器械和/或其连接器可以更紧凑的安装在外壳组件上。从整体上减小了从端驱动座的体积，方便所有者更换。此外，还减少了从端驱动座的加工材料，降低了从端驱动座的生产成本，作为耗材使用时，减轻了患者的经济负担。
 附图说明
图1是本申请实施例一提供的介入手术机器人的从端驱动座的闭合状态的结构示意图；
图2是本申请实施例一提供的介入手术机器人的从端驱动座的展开状态的结构示意图；
图3是本申请实施例一提供的介入手术机器人的从端驱动座的主壳体与驱动机构的装配示意图；
图4是本申请实施例一提供的介入手术机器人的从端驱动座的主壳体与驱动机构的结构示意图；
图5是本申请实施例一提供的介入手术机器人的从端驱动座的使用状态图；
图6是本申请实施例二提供的介入手术机器人的从端驱动座的结构示意图一；
图7是本申请实施例二提供的介入手术机器人的从端驱动座的结构示意图二；
图8是图7的装配示意图；
图9是本申请实施例二提供的介入手术机器人的从端驱动座的使用状态图。
100-从端驱动座、
1-驱动机构、
11-动力输出端、111-第一动力输出端、112-第二动力输出端、12-动力输入端、121-第一动力输入端、122-第二动力输入端、13-固定座、
2-外壳组件、
21-主壳体、
211-容纳腔、2111-第一容纳腔、2112-第二容纳腔、
212-安装腔、
213-过孔、
214-顶板、2141-第一板体、2142-第二板体、2143-第三板体、
215-侧板、2151-通孔、
22-第一盖板、
23-第二盖板、
24-隔板组件、
25-限位板、
26-第三盖板、
200-医疗器械。
 本发明的最佳实施方式
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体，甚至是可相对运动的连接；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申请中的具体含义。
在本申请的描述中，术语“长度”、“直径”、“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申请和简化描述，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申请的限制。
本申请所使用的方向“远”为朝向患者的方向，方向“近”是远离患者的方向。术语“上”和“上部”指的是背离重力的方向的一般方向，术语“底部”、“下”和“下部”指的是重力的一般方向。术语“前”指的是介入手术机器人从端装置面向使用者的一侧、“前进”指的是让导丝或导管位移进入手术病人身体的方向。术语“后”指的是介入手术机器人从端装置背向使用者的一侧、“后退”指的是让导丝或导管位移退出手术病人身体的方向。术语“向内地”指的是特征的内部部分。术语“向外地”指的是特征的外面的部分。术语“转动”包括“正转”和“反转”，其中，“正转”指的是让导丝或导管旋转进入手术病人身体的方向、“反转”指的是让导丝或导管旋转退出手术病人身体的方向。
此外，术语“第一”、“第二”等仅用于描述目的，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”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多”或“多个”的含义是两个或两个以上。
最后需要说明的是，如果不冲突，本申请实施例以及实施例中的各个特征可以相互结合，均在本申请的保护范围之内。
这里的导丝包括但不限于导引导丝、微导丝和固定座等引导、支撑类介入医疗器械、导管包括但不限于导引导管、微导管、造影导管、多功能管（亦称中间导管）、溶栓导管、球囊扩张导管和球扩固定座导管等治疗类介入医疗器械。
如附图1所示，为本申请实施例一提供的一种介入手术机器人的从端驱动座100，包括：驱动机构1和外壳组件2。从端驱动座100的驱动机构1固定安装于外壳组件2中。手术过程中，从端驱动座100传递从端动力座（图未示）的动力并驱动医疗器械200（图5示）和/或其连接器转动。可以理解的是，从端驱动座100驱动的医疗器械200可以是导丝、导管，也可以是连接于导丝、导管的元件。
如附图2所示，本实施例的外壳组件2包括主壳体21。主壳体21整体为框型结构。如附图3、4所示，主壳体21具有容纳腔211和安装腔212。容纳腔211用于收容驱动机构1和从端动力座，安装腔212用于安装医疗器械200和/或其连接器。本实施例的容纳腔211和安装腔212相互独立设置。为方便位于容纳腔211的驱动机构1和位于安装腔212的医疗器械200和/或其连接器建立联动关系，主壳体21上开设有连通容纳腔211和安装腔212的过孔213。当然，在其他实施例中，容纳腔211和安装腔212也可合并为一个腔体。
结合附图2-4所示，为了进一步地缩小主壳体21占用的空间，从整体上减小了从端驱动座100的体积，在一实施例中，安装腔212由主壳体21凹陷形成。具体地，主壳体21包括顶板214和侧板215，侧板215连接于顶板214的侧边。顶板214的外面部分沿重力方向凹陷而让顶板214的外面与侧板215的内壁围合形成安装腔212。安装腔212应具有足够的容纳空间，以满足医疗器械200和/或其连接器的安装需求。
为了更好的将医疗器械200和/或其连接器，如Y阀、T阀等固定在安装腔212中，结合附图3、5所示，在一实施例中，外壳组件2还包括隔板组件24。顶板214的外面于安装腔212内设有用于固定连接于医疗器械200的连接器的隔板组件24。具体地，隔板组件24包括多个隔板单元。多个隔板单元沿顶板214的外面向上延伸。多个隔板单元间隔设置形成配合连接于医疗器械200和/或其连接器的卡槽。卡槽的内壁尺寸与医疗器械200和/或其连接器的外轮廓尺寸相对应。隔板组件24可与顶板214一体成型，也可通过粘接、熔接、卡接等方式将隔板组件24固定在顶板214上。
为方便安装医疗器械200和/或其连接器，在一实施例中，安装腔212具有开口。在本实施例中，安装腔212的开口设置于顶板214的正上方。当然，在其他实施例中，安装腔212的开口也可设置在侧板215上。
为了防止在手术过程中污染相关元件，如附图2所示，在一实施例中，外壳组件2还包括第一盖板22，第一盖板22盖设于安装腔212的开口而让医疗器械200和/或其连接器隔离于安装腔212内。第一盖板22的尺寸与安装腔212的开口尺寸相对应。第一盖板22活动连接于主壳体21。在本实施例中，第一盖板22与主壳体21转动连接。具体的，第一盖板22的一端与主壳体21轴孔连接，第一盖板22的另一端通过卡接、磁吸等方式与主壳体21固定。第一盖板22相对于主壳体21转动过程中，安装腔212的开口被打开或关闭。当然，在其他实施例中，第一盖板22也可通过可拆卸的方式，例如卡接、螺纹连接等方式与主壳体21连接。为了更好的固定医疗器械200和/或其连接器，除了在顶板214上设置隔板组件24，还可在第一盖板22内壁的相应位置设置隔板组件24。第一盖板22扣合时，上下设置的隔板组件24可以更好的固定医疗器械200和/或其连接器。
容纳腔211和安装腔212的相对位置可根据设计需要调整。结合附图2-4所示，在一实施例中，顶板214的里面与侧板215的内壁围合形成容纳腔211。容纳腔211和安装腔212相互背向设置，即容纳腔211和安装腔212分别位于主壳体21的上下两侧，例如，容纳腔211位于主壳体21的下方，安装腔212位于主壳体21的上方。当然，在其他实施例中，容纳腔211和安装腔212也可同向设置，即容纳腔211和安装腔212位于主壳体21的同侧。或者，容纳腔211的开口端和安装腔212相互呈夹角设置。主壳体21的过孔213开设于顶板214，方便容纳腔211和安装腔212连通。
如附图2-4所示，为方便安装驱动机构1，在一实施例中，容纳腔211具有开口。容纳腔211的开口和安装腔212的开口的开设位置可根据设计需要调整。在本实施例中，容纳腔211的开口和安装腔212的开口相背设置，即容纳腔211的开口朝向主壳体21的下方，安装腔212的开口朝向主壳体21的上方。当然，在其他实施例中，容纳腔211的开口和安装腔212的开口也可垂直设置，即容纳腔211的开口朝向主壳体21的下方，安装腔212的开口朝向主壳体21的侧面。
为了防止在手术过程中污染相关元件，结合附图2、4所示，在一实施例中，外壳组件2还包括第二盖板23，第二盖板23盖设于容纳腔211的开口，让从端动力座隔离于容纳腔211内。第二盖板23的尺寸与容纳腔211的开口尺寸相对应。第二盖板23活动连接于主壳体21。在本实施例中，第二盖板23与主壳体21转动连接。具体的，第二盖板23的一端与主壳体21轴孔连接，第二盖板23的另一端通过卡接、磁吸等方式与主壳体21固定。第二盖板23相对于主壳体21转动过程中，容纳腔211的开口被打开或关闭。当然，在其他实施例中，第二盖板23也可通过可拆卸的方式，例如卡接、螺纹连接等方式与主壳体21连接。为了避免第二盖板23在转动过程中与位于容纳腔211中的从端动力座发生干涉，如附图4所示，容纳腔211的内壁中设置有限位板25。通过限位板25限制从端动力座的安装位置，确保第二盖板23可自由转动并能密封容纳腔211的开口。
容纳腔211和安装腔212可根据使用需求具有不同的容纳空间，例如，在本实施例中，容纳腔211除了收容驱动机构1，从端驱动座100与从端动力座进行组装时，容纳腔211还需收容从端动力座，因此，容纳腔211应具有足够大的容纳空间。安装腔212用于固定医疗器械200和/或其连接器，所需的容纳空间较小。为了合理的利用空间，使从端驱动座100的结构更加紧凑，如附图3所示，在一实施例中，顶板214为阶梯状结构。顶板214包括第一板体2141、第二板体2142和第三板体2143。第一板体2141相对第二板体2142沿重力方向错落设置而在第一板体2141和第二板体2142之间形成第三板体2143。本实施例的第一板体2141与第二板体2142错位平行设置，当然，在其他实施例中，第一板体2141与第二板体2142也可呈夹角设置。第三板体2143连接于第一板体2141和第二板体2142之间。本实施例的第三板体2143与第一板体2141垂直设置，当然，在其他实施例中，第三板体2143也可与第一板体2141呈夹角设置。本实施例的第一板体2141、第二板体2142和第三板体2143为一体成型的结构，当然，在其他实施例中，第一板体2141、第二板体2142和第三板体2143也可通过粘接、卡接等方式固定连接。
如附图4所示，第一板体2141、第二板体2142、第三板体2143和侧板215围合形成容纳腔211。如附图3所示，第一板体2141、第三板体2143和侧板215围合形成安装腔212。采用这种结构，在满足医疗器械200和/或其连接器的安装需求的情况下，缩小安装腔212的容纳空间，增大容纳腔211的容纳空间，使从端驱动座100的空间利用更加合理，从整体上减小了从端驱动座100的体积，不仅方便所有者更换，还节省了材料，降低了从端驱动座100的生产成本。当然，在其他实施例中，顶板14也可为平板结构。
结合附图3-5所示，本实施例的从端驱动座100的驱动机构1与从端动力座配合，用于带动医疗器械200和/或其连接器转动。驱动机构1包括动力输入端12和连接于动力输入端12的动力输出端11。其中，驱动机构1的动力输入端12设于主壳体21的容纳腔211，动力输入端12连接于从端动力座；驱动机构1的动力输出端11穿设于过孔213。动力输出端11设于1主壳体21的安装腔212，动力输出端11连接于医疗器械200和/或其连接器，动力输出端11驱动医疗器械200和/或其连接器转动。具体地，从端驱动座100装配在从端动力座上，驱动机构1的动力输入端12与从端动力座的动力输出部连接。从端动力座为从端驱动座100的驱动机构1提供动力。驱动机构1的动力输入端12将从端动力座传递的动力传递至动力输出端11，动力输出端11再将动力传递至医疗器械200和/或其连接器，并带动医疗器械200和/或其连接器转动。动力输出端11的设置数量可根据所驱动的医疗器械200进行调整。本实施例的驱动机构1包括一个动力输出端11。
本实施例中，驱动机构1固定在主壳体21上。具体地，驱动机构1还包括固定座13，动力输入端12通过固定座13固定在容纳腔211内。动力输出端11置于固定座13和过孔213形成的空间内并连通安装腔212。动力输出端11穿出过孔213，在安装腔212中与医疗器械200和/或其连接器连接。当然，在其他实施例中，动力输出端11、医疗器械200和/或其连接器也可在过孔213中连接，或者，医疗器械200和/或其连接器穿设于过孔213，医疗器械200和/或其连接器在容纳腔211中与动力输出端11连接。
从端驱动座100与从端动力座进行组装时，首先，转动第二盖板23，打开容纳腔211的开口；接着，将主壳体21罩设于从端动力座，从端动力座收容在容纳腔211中，从端动力座的动力输出部与驱动机构1的动力输入端12连接；最后，反向转动第二盖板23，关闭容纳腔211的开口，从端驱动座100的外壳组件2包裹在从端动力座的外部。
在从端驱动座100上安装医疗器械200和/或其连接器时，首先，转动第一盖板22，打开安装腔212的开口；接着，将医疗器械200和/或其连接器放入隔板组件24形成的间隙中，医疗器械200和/或其连接器与驱动机构1的动力输出端11连接；最后，反向转动第一盖板22，关闭安装腔212的开口，医疗器械200和/或其连接器安装在从端驱动座100的外壳组件2中, 接收从端动力座的动力，并让从端动力座实现无菌隔离。
如附图6所示，为本申请实施例二提供的一种介入手术机器人的从端驱动座100。实施例二与实施例一的结构相似，主要区别点在于驱动机构1的动力输出端11的设置数量及其相应的结构调整。
结合附图6、9所示，实施例二的驱动机构1包括多个动力输出端11。多个动力输出端11在安装腔212中分别与多个医疗器械200和/或其连接器连接。外壳组件2的第一盖板22位于多个动力输出端11的上方，并盖设于安装腔212的开口。在本实施例中，多个动力输出端11包括第一动力输出端111和第二动力输出端112。第一动力输出端111和第二动力输出端112间隔设置。第一动力输出端111和第二动力输出端112分别与两个医疗器械200和/或其连接器连接或接触，以驱动不同的导管或导丝运动。当然，在其他实施例中，还可根据医疗器械200和/或其连接器的驱动需求，设置更多数量的动力输出端11。
结合附图6-8所示，为方便驱动机构1的动力输入端12与多个动力输出端11连接，在一实施例中，驱动机构1包括多个动力输入端12。多个动力输入端12与多个动力输出端11对应设置。具体地，多个动力输入端12包括第一动力输入端121和第二动力输入端122。其中，第一动力输入端121与第一动力输出端111连接，第二动力输入端122与第二动力输出端112。第一动力输入端121和第二动力输入端122分别与从端动力座的动力输出部连接。当然，在其他实施例中，也可只设置一个动力输入端12，一个动力输入端12与多个动力输出端11连接。
为方便安装不同的动力输出端11，在一实施例中，主壳体21具有多个容纳腔211。多个容纳腔211与多个动力输出端11对应设置。具体地，多个容纳腔211包括第一容纳腔2111和第二容纳腔2112，其中，第一动力输出端111安装在第一容纳腔2111中并露出于安装腔212，第二盖板23盖设于第一容纳腔2111的开口；第二动力输出端112安装在第二容纳腔2112中并露出于安装腔212，第三盖板26盖设于第二容纳腔2112的开口。本实施例的多个容纳腔211与多个动力输出端11一一对应设置，当然，在其他实施例中，也可在一个容纳腔211中安装多个动力输出端11。
如附图8所示，为方便多个动力输入端12与从端动力座的动力输出部连接，在一实施例中，多个容纳腔211相互连通，以让多个动力输入端12位于同一容纳腔211内。具体地，第一容纳腔2111和第二容纳腔2112分别位于侧板215的两侧，侧板215上开设有通孔2151。第二动力输出端112的一端通过通孔2151插入第一容纳腔2111中。为避免通孔2151的开口裸露于外部空间造成污染，第三盖板26与侧板215抵接，将通孔2151的开口包围在密闭空间中。
多个容纳腔211的设置位置，可根据设计需求调整。在一实施例中，多个容纳腔211位于同侧，且多个容纳腔211与安装腔212相背设置。具体地，第一容纳腔2111和第二容纳腔2112位于主壳体21的下方，安装腔212位于主壳体21的上方。第一容纳腔2111和第二容纳腔2112可根据使用需求设置不同的容纳空间。例如，第一容纳腔2111除了收容第一动力输出端111，从端驱动座100与从端动力座进行组装时，从端动力座也收容在第一容纳腔2111中，相应的，第一动力输入端121和第二动力输入端122也收容在第一容纳腔2111中。第一容纳腔2111应具有较大的容纳空间。第二容纳腔2112用于收容第二动力输出端112，所需的容纳空间较小。通过合理分配不同容纳腔211的容纳空间，使从端驱动座100的结构更加紧凑。当然，在其他实施例中，多个容纳腔211也可背向设置。
当然，本申请还可有其他多种实施例，在不背离本申请精神及其实质的情况下，熟悉本领域的技术人员当可根据本申请作出各种相应的改变和变形，但这些相应的改变和变形都应属于本申请的权利要求的保护范围。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种介入手术机器人的从端驱动座，所述从端驱动座传递从端动力座的动力并驱动医疗器械和/或其连接器转动，其中：包括：
    驱动机构，所述驱动机构包括动力输入端和连接于所述动力输入端的动力输出端，所述动力输入端连接于从端动力座，所述动力输出端驱动医疗器械和/或其连接器转动；
    外壳组件，所述外壳组件包括主壳体，所述主壳体具有容纳腔和安装腔，所述容纳腔用于收容所述驱动机构和从端动力座，所述安装腔用于安装医疗器械和/或其连接器。
  2. 如权利要求1所述的介入手术机器人的从端驱动座，其中：所述安装腔由所述主壳体凹陷形成。
  3. 如权利要求2所述的介入手术机器人的从端驱动座，其中：所述主壳体包括顶板和侧板，所述顶板的外面部分沿重力方向凹陷而让所述顶板的外面与所述侧板的内壁围合形成所述安装腔。
  4. 如权利要求3所述的介入手术机器人的从端驱动座，其中：所述顶板的里面与所述侧板的内壁围合形成所述容纳腔，所述容纳腔和所述安装腔相互背向设置。
  5. 如权利要求4所述的介入手术机器人的从端驱动座，其中：所述驱动机构的动力输入端设于所述主壳体的容纳腔，所述驱动机构的动力输出端设于所述主壳体的安装腔。
  6. 如权利要求4所述的介入手术机器人的从端驱动座，其中：所述顶板包括第一板体、第二板体和第三板体，所述第一板体相对所述第二板体沿重力方向错落设置而在所述第一板体和第二板体之间形成第三板体。
  7. 如权利要求6所述的介入手术机器人的从端驱动座，其中：所述第一板体、所述第二板体、所述第三板体和所述侧板围合形成所述容纳腔，所述第一板体、所述第三板体和所述侧板围合形成所述安装腔。
  8. 如权利要求3所述的介入手术机器人的从端驱动座，其中：所述外壳组件还包括隔板组件，所述顶板的外面于所述安装腔内设有用于固定连接于医疗器械和/或其连接器的隔板组件。
  9. 如权利要求8所述的介入手术机器人的从端驱动座，其中：所述隔板组件包括多个隔板单元，所述多个隔板单元间隔设置形成配合连接于医疗器械和/或其连接器的卡槽。
  10. 如权利要求9所述的介入手术机器人的从端驱动座，其中：所述安装腔具有开口，所述外壳组件还包括第一盖板，所述第一盖板盖设于所述安装腔的开口而让医疗器械和/或其连接器隔离于所述安装腔内；
    所述第一盖板内壁的相应位置设置隔板组件，第一盖板扣合时，上下设置的隔板组件配合固定医疗器械和/或其连接器。
  11. 如权利要求1所述的介入手术机器人的从端驱动座，其中：所述安装腔具有开口，所述外壳组件还包括第一盖板，所述第一盖板盖设于所述安装腔的开口而让医疗器械和/或其连接器隔离于所述安装腔内。
  12. 如权利要求1所述的介入手术机器人的从端驱动座，其中：所述容纳腔具有开口，所述外壳组件还包括第二盖板，所述第二盖板盖设于所述容纳腔的开口，让从端动力座隔离于所述容纳腔内。
  13. 如权利要求1所述的介入手术机器人的从端驱动座，其中：所述驱动机构包括多个动力输出端。
  14. 如权利要求13所述的介入手术机器人的从端驱动座，其中：所述驱动机构包括多个动力输入端，所述多个动力输入端与所述多个动力输出端对应设置。
  15. 如权利要求14所述的介入手术机器人的从端驱动座，其中：所述主壳体具有多个容纳腔，所述多个容纳腔与所述多个动力输出端对应设置。
  16. 如权利要求15所述的介入手术机器人的从端驱动座，其中：所述主壳体包括顶板和侧板，所述顶板的外面部分沿重力方向凹陷而让所述顶板的外面与所述侧板的内壁围合形成所述安装腔；
    所述多个容纳腔包括第一容纳腔和第二容纳腔，所述第一容纳腔和所述第二容纳腔分别位于所述侧板的两侧，侧板上开设有通孔；
    所述多个动力输入端包括第一动力输入端和第二动力输入端，所述第一动力输出端安装在所述第一容纳腔中，所述第二动力输出端安装在所述第二容纳腔中，所述第二动力输出端的一端通过所述通孔插入所述第一容纳腔中；
    一个第三盖板与所述侧板抵接，将所述通孔的开口包围在密闭空间中。
  17. 如权利要求15所述的介入手术机器人的从端驱动座，其中：所述多个容纳腔位于同侧，且所述多个容纳腔与所述安装腔相背设置。
  18. 如权利要求15所述的介入手术机器人的从端驱动座，其中：所述多个容纳腔相互连通，以让所述多个动力输入端位于同一容纳腔内。
  19. 如权利要求1所述的介入手术机器人的从端驱动座，其中：所述主壳体上开设有连通所述容纳腔和所述安装腔的过孔，所述动力输出端穿设于所述过孔。
  20. 如权利要求19所述的介入手术机器人的从端驱动座，其中：所述驱动机构还包括固定座，所述动力输入端通过所述固定座固定在所述容纳腔内，所述动力输出端置于所述固定座和所述过孔形成的空间内并连通所述安装腔。
PCT/CN2022/090320 2022-01-29 2022-04-29 一种介入手术机器人的从端驱动座 WO2023142293A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210111645.7A CN115517774A (zh) 2022-01-29 2022-01-29 一种介入手术机器人的从端驱动座
CN202210111645.7 2022-01-29

Publications (1)

Publication Number Publication Date
WO2023142293A1 true WO2023142293A1 (zh) 2023-08-03

Family

ID=84695203

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/090320 WO2023142293A1 (zh) 2022-01-29 2022-04-29 一种介入手术机器人的从端驱动座

Country Status (2)

Country Link
CN (1) CN115517774A (zh)
WO (1) WO2023142293A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117379630A (zh) * 2023-12-11 2024-01-12 北京唯迈医疗设备有限公司 一种介入手术液体注射和球囊扩张通用控制装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020022797A1 (en) * 2000-08-17 2002-02-21 Suh Jeong-Joo Medical instrument
JP2003010204A (ja) * 2001-06-29 2003-01-14 Terumo Corp 医療機器、医療機器の本体ユニットおよび医療機器の駆動ユニット
CN207970143U (zh) * 2017-07-06 2018-10-16 北京理工大学 一种介入手术机器人从端装置
CN110891514A (zh) * 2018-02-13 2020-03-17 奥瑞斯健康公司 用于驱动医疗器械的系统和方法
CN113693734A (zh) * 2021-09-28 2021-11-26 深圳市爱博医疗机器人有限公司 一种具有快交功能的从端介入手术机器人驱动装置
CN113712666A (zh) * 2021-08-03 2021-11-30 复旦大学 一种柔性连续体手术机器人
CN113729948A (zh) * 2021-06-17 2021-12-03 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端执行器装置
CN113796965A (zh) * 2021-09-28 2021-12-17 深圳市爱博医疗机器人有限公司 一种可拆装式从端介入手术机器人驱动装置
CN114391964A (zh) * 2021-12-31 2022-04-26 深圳市爱博医疗机器人有限公司 一种紧凑型介入手术机器人驱动装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020022797A1 (en) * 2000-08-17 2002-02-21 Suh Jeong-Joo Medical instrument
JP2003010204A (ja) * 2001-06-29 2003-01-14 Terumo Corp 医療機器、医療機器の本体ユニットおよび医療機器の駆動ユニット
CN207970143U (zh) * 2017-07-06 2018-10-16 北京理工大学 一种介入手术机器人从端装置
CN110891514A (zh) * 2018-02-13 2020-03-17 奥瑞斯健康公司 用于驱动医疗器械的系统和方法
CN113729948A (zh) * 2021-06-17 2021-12-03 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端执行器装置
CN113712666A (zh) * 2021-08-03 2021-11-30 复旦大学 一种柔性连续体手术机器人
CN113693734A (zh) * 2021-09-28 2021-11-26 深圳市爱博医疗机器人有限公司 一种具有快交功能的从端介入手术机器人驱动装置
CN113796965A (zh) * 2021-09-28 2021-12-17 深圳市爱博医疗机器人有限公司 一种可拆装式从端介入手术机器人驱动装置
CN114391964A (zh) * 2021-12-31 2022-04-26 深圳市爱博医疗机器人有限公司 一种紧凑型介入手术机器人驱动装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117379630A (zh) * 2023-12-11 2024-01-12 北京唯迈医疗设备有限公司 一种介入手术液体注射和球囊扩张通用控制装置
CN117379630B (zh) * 2023-12-11 2024-03-19 北京唯迈医疗设备有限公司 一种介入手术液体注射和球囊扩张通用控制装置

Also Published As

Publication number Publication date
CN115517774A (zh) 2022-12-27

Similar Documents

Publication Publication Date Title
WO2023142293A1 (zh) 一种介入手术机器人的从端驱动座
EP1876960B1 (en) Transducer assembly for use with a connectorized ultrasound probe and connectorized ultrasound probe comprising said tranducer assembly
US8052609B2 (en) Connectorized probe with serial engagement mechanism
US20130304950A1 (en) Configurable health-care equipment apparatus
JP3343262B2 (ja) ダイヤフラム隔離手段を備えた２部品構成の医療用圧力変換器
CN104994901B (zh) 用于微创插入的可植入医疗装置
CN113796965B (zh) 一种可拆装式从端介入手术机器人驱动装置
CN113842220A (zh) 微创手术机器人
CN114391964A (zh) 一种紧凑型介入手术机器人驱动装置
CN110151101B (zh) 内窥镜装置
CN108514447A (zh) 内镜手术机器人控制终端及机器人系统
CN219439804U (zh) 一种防感染隔离设备
WO2023142292A1 (zh) 一种介入手术机器人的从端动力座
CN114366282A (zh) 穿刺系统及其控制手柄
CN113082396A (zh) 一种手术室输血输液护理加温装置
WO2009062202A1 (en) Connectorized probe with serial engagement mechanism
CN218128575U (zh) 一种听诊器加热消毒装置
CN219440434U (zh) 除颤监护设备、监护组件及除颤监护组件
CN217853226U (zh) 带影像传输机构的穿刺器
CN215078827U (zh) 超声探头收纳装置及超声系统
US20240041303A1 (en) Steerable endoscopes and related systems and methods
CN219595636U (zh) 医用设备、除颤监护仪和具有除颤功能的医疗设备
CN218280216U (zh) 一种重症护理引流装置
CN216167831U (zh) 微创手术机器人
EP4356957A1 (en) Device for defibrillation and monitoring, monitoring component and component for defibrillation and monitoring

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22923110

Country of ref document: EP

Kind code of ref document: A1