WO2023193553A1 - 耗材盒以及手术机器人 - Google Patents

耗材盒以及手术机器人 Download PDF

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Publication number
WO2023193553A1
WO2023193553A1 PCT/CN2023/079489 CN2023079489W WO2023193553A1 WO 2023193553 A1 WO2023193553 A1 WO 2023193553A1 CN 2023079489 W CN2023079489 W CN 2023079489W WO 2023193553 A1 WO2023193553 A1 WO 2023193553A1
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WO
WIPO (PCT)
Prior art keywords
channel
pair
consumable box
medical device
motor
Prior art date
Application number
PCT/CN2023/079489
Other languages
English (en)
French (fr)
Inventor
杨新军
陈艾骎
Original Assignee
苏州润迈德医疗科技有限公司
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 苏州润迈德医疗科技有限公司 filed Critical 苏州润迈德医疗科技有限公司
Publication of WO2023193553A1 publication Critical patent/WO2023193553A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
    • 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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES 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
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES 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
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • 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

  • This application relates to the technical field of medical equipment, specifically a consumable box and a surgical robot.
  • Catheters as well as guidewires, are used in many minimally invasive medical procedures for the diagnosis and treatment of various vasculature disorders, including neurovascular intervention (NVI), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures all involve passing a guidewire through the vasculature and advancing a working catheter over the guidewire to deliver the treatment device.
  • NVI neurovascular intervention
  • PCI percutaneous coronary intervention
  • PVI peripheral vascular intervention
  • These procedures all involve passing a guidewire through the vasculature and advancing a working catheter over the guidewire to deliver the treatment device.
  • Catheterization begins by gaining access to the blood vessel using standard percutaneous techniques, using a sheath or guide catheter. The sheath or guide catheter is then advanced over the guidewire to a primary location, such as the internal carotid artery for NVI, the coronary ostia for PCI, or the superficial femoral artery for PVI.
  • the above surgical steps require X-rays emitted by the DSA equipment to be performed.
  • the doctor When the doctor performs traditional manual catheterization, the doctor will be exposed to a large amount of radiation, which will endanger the doctor's health during long-term work.
  • surgical robot systems In order to reduce X-ray radiation to doctors, surgical robot systems have been developed to help doctors perform catheterization procedures.
  • the surgical robot system can drive the catheter or guide wire under the remote control of the doctor, and deliver the catheter or guide wire to the target location in the patient's body.
  • this application provides a consumable box and a surgical robot. Three medical devices are integrated into one consumable box, which can realize the control functions of multiple instruments and facilitate the overall Install.
  • a consumable box including:
  • a first axial drive assembly disposed in the accommodation chamber, includes: a first pair of engagement surfaces for clamping a second elongated medical device and driving the second elongated medical device to axially displace, said The first pair of engagement surfaces define a second channel;
  • a second axial drive assembly disposed in the accommodation chamber, includes: a second pair of engagement surfaces for clamping a third elongated medical device and driving the third elongated medical device to axially displace, said The second pair of joint surfaces defines a third channel, and a predetermined angle is formed between the second channel and the third channel; in the axial direction of the first channel, the axis of the second channel and the third channel are The orthographic projection of the convergence point formed by the axes of the three channels on the cross section of the first channel is located within the first channel.
  • a cover body which is connected to the first housing and has an open position and a closed position. In the closed position, the cover body can cover the accommodation cavity. room.
  • the first housing has a partition assembly covering the first axial drive assembly and the second axial drive assembly, and the partition assembly is opened with the second axial drive assembly.
  • the passage is an escape channel corresponding to the third channel, and the escape channel can expose the first pair of joint surfaces and the second pair of joint surfaces.
  • the accommodation chamber is defined with a first chamber and a second chamber, the first transmission component and the first channel are disposed in the first chamber, and the third chamber is An axial drive assembly and the second axial drive assembly are disposed in the second chamber, the first chamber is an area not covered by the partition assembly, and the first housing has a side wall, A communication portion is provided on the side wall of the first chamber, and the communication portion is used to introduce external pipelines into the first chamber to connect with the Y valve.
  • the first housing has an opposite front end and a rear end.
  • the first housing defines a housing axis between the front end and the rear end.
  • the housing axis It is arranged coaxially with the first channel and the second channel.
  • the first elongated medical device is a catheter for imaging
  • the second elongated medical device is a guidewire
  • the third elongated medical device is a balloon catheter or a stent.
  • the consumable box includes: a first motor used to provide power to the first transmission component; a second motor used to provide power to the first axial drive component; A third electric motor powering said second axial drive assembly.
  • the consumable box includes: a rotational drive assembly for driving the second elongated medical device to rotate, and a fourth motor that provides power for the rotational drive assembly.
  • the consumable box includes: a second housing detachably installed outside the first housing, and an accommodation is formed between the first housing and the second housing. space, the first motor, the second motor, the third motor and the fourth motor are installed in the accommodation space.
  • a bottom plate is provided in the accommodation space, and the bottom plate is used to install the first motor, the second motor, the third motor and the fourth motor.
  • a circuit board is provided in the accommodation space, and the circuit board is electrically connected to the first motor, the second motor, the third motor and the fourth motor.
  • the circuit board is provided with a connection part for transmitting electrical signals
  • the second housing is provided with an opening for leading out the connection part.
  • the first axial drive assembly includes: a first pair of rotating shafts, a first pair of rotating wheels provided on the first pair of rotating shafts, and the first pair of engaging surfaces are the the contact surface between the first pair of rotating wheels;
  • the rotary drive assembly includes: at least one rotary drive member; and a torque conversion module disposed between at least one of the first pair of rotary wheels and the rotary drive member.
  • the torque conversion module can convert the rotational motion of the rotational driving member into the relative translational motion between the first pair of joint surfaces, and the translational motion direction is the axis direction of the rotation shaft.
  • the rotary driving member has two, including: a first rotary driving member and a second rotary driving member, and a rotary drive is provided between the first rotary driving member and the second rotary driving member.
  • the meshing gear transmission unit When the first rotational driving member is driven to rotate, the meshing gear transmission unit drives the second rotational driving member to rotate in the opposite direction, and then the corresponding torque conversion module realizes the neutralization of the first pair of engagement surfaces.
  • One of the engagement surfaces moves in relative upward translation, and the other engagement surface of the first pair of engagement surfaces moves in relative downward translation.
  • the torque conversion module includes: a linkage plate, the linkage plate has a transversely extending transverse section, the transverse section is disposed between the rotational driving member and the rotating wheel, the The transverse section has a first end and a second end in its transverse extension direction. The first end is relatively fixedly connected to the rotating wheel, and the second end is drivingly connected to the rotating driving member.
  • the second axial drive assembly includes: a second pair of rotating shafts, a second pair of rotating wheels provided on the second pair of rotating shafts, and the second pair of engaging surfaces are the The contact surface between the second pair of rotating wheels.
  • the first transmission assembly includes: a first rotary gear arranged to rotate, a second rotary gear meshed with the first rotary gear for transmission, the first rotary gear is arranged vertically, and the second rotary gear is arranged vertically. Two rotating gears are set horizontally.
  • the first elongated medical device includes: a tube body and a proximal end portion connected to the tube body, the proximal end portion is provided with a rotatable component, the rotatable component responds to The rotation operation causes the tube body to rotate.
  • the rotatable component is detachably mounted with the first rotating gear and can be driven to rotate by the first rotating gear.
  • the proximal part is a handle
  • the handle includes: a body, the rotatable component can rotate relative to the body, and the body is connected to the Y valve at the end far away from the tube body.
  • the Y valve and the body Communicated for transporting contrast medium
  • the containing chamber is provided with an anti-rotation partition plate for cooperating with the body, the anti-rotation partition plate is configured to limit the following of the body and the Y valve
  • the tube body rotates.
  • a surgical robot includes the consumable box.
  • the surgical robot includes: a sliding base, the consumable box is slidably disposed on the sliding base, and the consumable box and the sliding base are removably installed; a transport mechanism for driving the The consumable box slides along the sliding base.
  • the sliding base when the consumable box is installed on the sliding base, the sliding base extends longitudinally along the axis of the first channel, and the sliding base extends in the longitudinal direction of the first channel. It has an opposite head end and a tail end, and the head end is provided with a third axial drive assembly for clamping the first elongated medical device and driving the first elongated medical device to linearly displace.
  • the sliding base is provided with a position sensor for detecting that the consumable box is in place, and the position sensor is located on the sliding base near the head end.
  • the sliding base includes: a slide rail and a base for installing the consumable box, the base can move along the slide rail, and the base and the transport mechanism Transmission connection, a flexible connector is connected to the base, and the flexible connector is used to transmit external electrical signals to the consumable box.
  • Embodiments of the present application can integrate three medical devices into one consumable box.
  • the three medical devices may be a catheter used for imaging during PCI surgery, a guide wire, and a balloon catheter.
  • a first transmission component, a first axial drive component and a second axial drive component are provided inside the consumable box.
  • the first transmission component is used to drive the first elongated medical device to rotate
  • the first axial drive component is used to drive the second elongated medical device to axially displacement
  • the second axial drive component is used to drive the third elongated medical device shaft. direction displacement, so that one consumable box can realize the control function of multiple instruments.
  • the consumable box in the surgical robot provided by the embodiment of the present application can be installed and disassembled as a whole. Through one installation and disassembly of the consumable box, the replacement of three percutaneous devices and internal driving components is realized, which facilitates the use of the doctor.
  • Figure 1 is a schematic diagram of the overall structure of a consumable box provided by one embodiment of this specification
  • Figure 2 is a schematic structural diagram of the first shell of the consumable box provided by one embodiment of this specification
  • Figure 3 is a schematic structural diagram of the internal components of the consumable box provided by one embodiment of this specification.
  • Figure 4 is a front view of the first housing of the consumable box provided by one embodiment of this specification.
  • Figure 5 is a bottom view of the first housing of the consumable box provided by one embodiment of this specification.
  • Figure 6 is a schematic diagram 1 of the bottom plate of the consumable box provided by an embodiment of this specification when mating with the first shell;
  • Figure 7 is a second schematic view of the bottom plate of the consumable box provided by an embodiment of this specification when it matches the first shell;
  • Figure 8 is a schematic structural diagram of a rotation drive assembly provided by an embodiment of this specification.
  • Figure 9 is a schematic diagram of the driving structure of the adjustable bending conduit in the consumable box provided by one embodiment of this specification.
  • Figure 10 is a schematic diagram of the overall structure of the surgical robot provided by one embodiment of this specification.
  • Figure 11 is a schematic diagram of a consumable box connected to a sliding base according to an embodiment of this specification.
  • First shell 100. Side wall; 101. Front end; 102. Rear end; 103. Connecting portion; 104. Anti-rotation partition; 11. First axial drive assembly; 111, first rotating wheel; 112, second rotating wheel; 113, first rotating shaft; 114, second rotating shaft; 115, meshing gear transmission unit; 116, linkage plate; 12. Two axial drive components; 13, second channel; 14, third channel; 15, partition assembly; 16, first motor; 161, first bevel gear; 162, second bevel gear; 17, second motor; 18. Third motor; 19. Fourth motor; 2. First slender medical device; 20. Tube body; 21. Handle; 211. Rotatable component; 212. Control component; 22. Y valve; 23. Fifth Motor; 231.
  • front refers to the side of the consumable cartridge facing the patient.
  • rear refers to the side of the consumable cartridge away from the patient.
  • abvance refers to the process of movement from the side away from the patient toward the side facing the patient.
  • withdrawal refers to the process of movement from the side facing the patient toward the side away from the patient.
  • the consumable box includes: a first housing 1 with a receiving chamber, in which a first transmission assembly 7, a first axial drive assembly 11 and a second axial drive are disposed.
  • Component 12 Component 12.
  • the consumable box is used to accommodate medical devices for performing minimally invasive medical procedures.
  • medical devices often have elongated structures and are used for the diagnosis and treatment of various vascular system diseases, such as guide wires, guide catheters, microcatheters, Embolization coils, working catheters such as balloon catheters, suction catheters, and atherectomy catheters, etc.
  • the type of the medical device may be a catheter or a guidewire used to perform NVI surgery, PCI surgery, and PVI surgery.
  • the following description takes PCI surgery as the main scenario. However, based on the above description, it can be seen that the protection scope of the embodiments of this specification is not limited thereby.
  • a first channel is provided in the accommodation chamber, and the first elongated medical device 2 can translate along the first channel.
  • a mounting portion may be provided in the accommodation chamber for clamping the first elongated medical device 2 to prevent the first elongated medical device 2 from deflecting relative to the axis of the first channel.
  • the first transmission assembly 7 is used to drive the first elongated medical device 2 to rotate around the axis of the first channel.
  • the first axial drive assembly 11 includes: a first pair of joint surfaces for clamping the second elongated medical device 3 and driving the second elongated medical device 3 to axially displace.
  • the first pair of joint surfaces A second channel 13 is defined.
  • the second axial drive assembly 12 includes: a second pair of joint surfaces for clamping the third elongated medical device 4 and driving the third elongated medical device 4 to axially displace.
  • the second pair of joint surfaces A third channel 14 is defined.
  • the second channel 13 and the third channel 14 form a predetermined angle.
  • the convergence point formed by the axis of the second channel 13 and the third channel 14 is along the direction of the axis of the first channel.
  • the projection of the axis direction of the first channel falls within the first channel.
  • the first channel is used for placing the first elongated medical device 2
  • the second channel 13 is used for placing the second elongated medical device 3
  • the third channel 14 is used for placing the third elongated medical device 4 .
  • the axis of the first channel basically coincides with the axis of the first elongated medical device 2.
  • the axis of the second elongated medical device 3 is substantially coincident with the axis of the second channel 13
  • the axis of the third elongated medical device 4 is substantially coincident with the axis of the third channel 14 .
  • the second channel 13 and the third channel 14 form an acute angle. Moreover, the second channel 13 and the third channel 14 have a meeting point.
  • the second elongated medical device 3 and the third elongated medical device 4 move non-coaxially before the meeting point and after the meeting point the second elongated medical device 3 moves non-coaxially.
  • the medical device 3 and the third elongated medical device 4 move coaxially and move together along the first channel after being merged.
  • the meeting point may be located on the axis of the first channel.
  • the first elongated medical device 2 may be a catheter for imaging
  • the second elongated medical device 3 may be a guidewire
  • the third elongated medical device 4 may be a balloon. Catheter or stent.
  • the catheter used for imaging includes: a hollow tube structure, a handle can be provided at the proximal end of the tube structure, and a control component for actuating the deflection of the distal end of the tube structure is provided on the handle.
  • Connect the Y valve usually has a first end, a second end and a third end. The first end is connected to the handle, the second end is used to pass the guide wire, and the third end is used to inject the contrast agent.
  • the contrast agent can It enters the patient's body through the handle and tube structure for imaging.
  • the catheter used for imaging may only include a hollow tube structure, and the proximal end of the tube structure may be directly connected to the Y valve. This embodiment is not particularly limited to the first slender medical device. It may be an adjustable and bendable catheter with a handle, or an ordinary imaging catheter without a handle.
  • the catheter used for imaging is rotated through the first transmission assembly 7 so that the distal end of the first elongated medical device 2 can smoothly reach a desired position in the patient's body, such as the coronary artery opening position.
  • the guide wire is linearly displaced along the second channel 13 driven by the first axial drive assembly 11.
  • the balloon catheter is driven by the second axial driving assembly 12 to linearly displace along the third channel 14 until it reaches the confluence point and is coaxial with the guide wire, and then is transported along the guide wire.
  • the embodiment of the present application can integrate three medical devices into one consumable box.
  • the three medical devices can be catheters for imaging, guide wires, and balloon catheters, so that one consumable box can realize the control function of multiple instruments.
  • the consumable box can be installed and disassembled as a whole. Through one installation and disassembly of the consumable box, three medical devices and internal driving components can be replaced, making it convenient for doctors to use.
  • the consumable box includes: a cover 6, which is connected to the first housing 1 and has an open position and a closed position. When in the closed position, the cover 6 can cover the accommodation chamber. Further, limit labels 61 are provided on the inner surface of the cover 6. There are multiple limit labels 61. The limit labels 61 are used to remove the third label when the cover 6 is in the closed position.
  • the axis of an elongated medical device 2 is limited to the first channel
  • the axis of the second elongated medical device 3 is limited to the second channel 13
  • the axis of the third elongated medical device 4 is limited to the first channel.
  • the three channels 14 prevent the shaft body of the medical device from escaping upward from the first channel, the second channel 13 and the third channel 14.
  • the first housing 1 has a partition assembly 15 covering the first axial drive assembly 11 and the second axial drive assembly 12, and the partition assembly 15 is opened with the
  • the second channel 13 and the third channel 14 are corresponding escape channels, and the escape channels can expose the first pair of joint surfaces and the second pair of joint surfaces, so as to facilitate the installation of the second elongated medical device 3 on In the first axial drive assembly 11 , the third elongated medical device 4 is installed in the second axial drive assembly 12 .
  • the accommodation chamber defines a first chamber and a second chamber, the first transmission component 7 and the first channel are disposed in the first chamber, the first axial drive component 11 and The second axial drive assembly 12 is disposed in the second chamber, wherein the first chamber is an area not covered by the partition assembly 15 .
  • the first housing 1 has a side wall 100, and a communication portion 103 is provided on the side wall 100 of the first chamber.
  • the communication portion 103 is used to introduce external pipelines into the first chamber to communicate with the first chamber.
  • Y valve 22 is connected.
  • the external pipeline is used to transport contrast media, and the external pipeline is connected to a high-pressure syringe outside the consumable box.
  • the first housing 1 has an opposite front end 101 and a rear end 102.
  • the first housing 1 defines a housing axis between the front end 101 and the rear end 102.
  • the housing The axis is coaxially arranged with the first channel and the second channel 13 .
  • the first transmission assembly 7 may include: a first rotary gear 71 that is rotatably arranged, a second rotary gear 72 that meshes with the first rotary gear 71 for transmission, and the first rotary gear 71 is vertically
  • the second rotating gear 72 is arranged transversely.
  • the first elongated medical device 2 includes: a tube body and a proximal end portion connected to the tube body.
  • the proximal end portion is provided with a rotatable component, and the rotatable component responds to the The rotation operation causes the rotation of the tube body.
  • the rotatable component is detachably mounted with the first rotation gear 71 and can be driven to rotate by the first rotation gear 71 .
  • the proximal part is a handle 21.
  • the handle 21 includes: a body, the rotatable component 211 can rotate relative to the body, and the body moves away from the tube.
  • the end of body 20 is connected to Y valve 22 .
  • the rotatable component 211 is a rotation control part on the handle 21 for controlling the rotation of the tube body 20 .
  • the first rotating gear 71 is detachably connected to the rotation control part. When the second rotating gear 72 is driven to rotate, the rotation control part can be driven to rotate, thereby causing the tube body 20 to rotate.
  • the proximal part is a Y valve
  • the rotatable component is a Y valve body.
  • the Y valve body and the first rotating gear 71 are detachably mounted.
  • the second rotating gear 72 is driven to rotate When, it can drive the Y valve body to rotate, which in turn causes the pipe body to rotate.
  • the first axial drive assembly 11 includes: a first pair of rotating shafts, a first pair of rotating wheels provided on the first pair of rotating shafts, the The first pair of engagement surfaces are contact surfaces between the first pair of rotating wheels.
  • the first pair of rotation shafts includes: a first rotation shaft 113 and a second rotation shaft 114 .
  • the first rotation shaft 113 and the second rotation shaft 114 are respectively arranged on both sides of the second channel 13 .
  • the first pair of rotating wheels includes: a first rotating wheel 111 and a second rotating wheel 112.
  • the first rotating wheel 111 is arranged on the first rotating shaft 113
  • the second rotating wheel 112 is arranged on the second rotating shaft 114.
  • first rotating shaft 113 is fixedly provided with a first meshing gear
  • second rotating shaft 114 is fixedly provided with a second meshing gear
  • first meshing gear meshes with the second meshing gear for transmission.
  • the second axial drive assembly 12 includes: a second pair of rotating shafts, a second pair of rotating wheels provided on the second pair of rotating shafts, and the second pair of engaging surfaces are the second pair of rotating shafts. The contact surface between two pairs of rotating wheels.
  • the second pair of rotation shafts includes: a third rotation shaft and a fourth rotation shaft, and the third rotation shaft and the fourth rotation shaft are respectively arranged on both sides of the third channel 14 .
  • the consumable box also includes: a first motor 16 for providing power to the first transmission assembly 7 ; a third motor 16 for providing power to the first axial drive assembly 11 .
  • the first motor 16 , the second motor 17 and the third motor 18 are arranged outside the first housing 1 , specifically at the bottom of the first housing 1 , and are the second rotating gear 72 in the first transmission assembly 7 , the rotation shaft in the first axial drive assembly 11 and the rotation shaft in the second axial drive assembly 12 provide power.
  • a first reversing unit is provided between the first motor 16 and the second rotating gear 72.
  • the first reversing unit includes: a first bevel gear 161 and a second bevel gear 162.
  • a bevel gear 161 is meshed with a second bevel gear 162, and the first motor 16 changes the torque transmission direction through the first reversing unit, so that the first motor 16 can be placed horizontally.
  • the output shaft of the first motor 16 may also be directly connected to the second rotating gear 72 .
  • a second reversing unit is provided between the second motor 17 and the first rotation shaft 113 , and the second motor 17 changes the torque transmission direction through the second reversing unit, so that the second motor 17 Can be placed horizontally.
  • the consumable box may also include a third reversing unit through which the third motor 18 changes the direction of torque transmission.
  • the third motor 18 may be placed horizontally, thereby reducing the overall height of the consumable box.
  • the consumable box includes: a rotation drive assembly for driving the second elongated medical device 3 to rotate, and a fourth motor 19 that provides power for the rotation drive assembly.
  • the rotary drive assembly includes: at least one rotary drive member; and a torque conversion module disposed between at least one of the first pair of rotary wheels and the rotary drive member.
  • the torque conversion module can convert the rotational motion of the rotational driving member into the relative translational motion between the first pair of joint surfaces, and the translational motion direction is the axis direction of the rotation shaft.
  • the rotational driving member and the torque conversion module cause relative translational motion between the first pair of rotating wheels, which can simulate the doctor's thread rolling action and cause the second elongated medical device 3 (such as the guidewire) to rotate around its own axis. It can be seen that when the first pair of rotating wheels rotates, they can also perform relative translational movements under the action of the rotational driving part and the torque conversion module, so that the guide wire can perform rotational movements and delivery movements at the same time.
  • the rotating wheel When the rotating wheel performs translational movement, it specifically moves along the axial direction of the rotating shaft. During this process, the rotating shaft can only perform rotational movement driven by the second motor 17 but cannot perform axial movement.
  • the rotation shaft may have a special-shaped structure, a square structure, or other irregular-shaped structures.
  • the rotation axis is a special-shaped structure with a plane section formed by longitudinal cutting along the axial direction of the cylinder.
  • there are two rotational driving parts including: a first rotational driving part and a second rotational driving part, and a meshing gear is provided between the first rotational driving part and the second rotational driving part.
  • Transmission unit 115 When the first rotational driving member is driven to rotate, the second rotational driving member is driven to rotate in the opposite direction through the meshing gear transmission unit 115, and then the corresponding torque conversion module is used to realize the neutralization of the first pair of engagement surfaces.
  • One of the engagement surfaces moves in relative upward translation, and the other engagement surface of the first pair of engagement surfaces moves in relative downward translation.
  • the first rotational driving member and the second rotational driving member may be respectively disposed on both sides of the second elongated medical device 3.
  • the first rotational driving member is used to drive one of the first pair of rotating wheels to move upward relative to each other. movement, the second rotation driving member is used to drive the other of the first pair of rotation wheels to move downward relative to each other. In this way, the guide wire clamped between the first pair of rotating wheels prevents the guide wire from deflecting upward or downward through this movement form.
  • the torque conversion module includes: a linkage plate 116, the linkage plate 116 has a transversely extending transverse section, the transverse section is disposed between the rotational drive member and the rotational Between the wheels, the transverse section has a first end and a second end in its transverse extension direction, the first end is relatively fixedly connected to the rotating wheel, and the The second end is drivingly connected to the rotary driving member.
  • the number of the torque conversion modules is the same as the number of rotational driving parts.
  • the rotational driving parts may be screw structures with threads.
  • the first rotational driving part and the second rotational driving part have The external threads have the same rotation direction, and the second end of the torque conversion module is provided with an internal thread that matches the external thread.
  • a fourth reversing unit is provided between the fourth motor 19 and the first rotational driving member, and the fourth motor 19 changes the torque transmission direction through the fourth reversing unit, so that the fourth motor 19 Can be placed horizontally, thereby reducing the overall height of the consumable box.
  • the consumable box includes: a second housing 5 detachably installed outside the first housing 1, and the first housing 1 and the An accommodation space is formed between the second housings 5 , and the first motor 16 , the second motor 17 , the third motor 18 and the fourth motor 19 are installed in the accommodation space.
  • the second housing 5 has a cavity that can accommodate the entire first housing 1 to protect the first motor 16 , the second motor 17 , the third motor 18 and the fourth motor 19 .
  • the second housing 5 has an escape groove at a position corresponding to the first housing 1 to allow the first elongated medical device 2, the second elongated medical device 3 and the third elongated medical device 4 to extend from their respective channels. to the outside of the second housing 5 .
  • a bottom plate 51 is provided in the accommodation space.
  • the bottom plate 51 is used to install the first motor 16, the second motor 17, the third motor 18 and the fourth motor 19.
  • the bottom plate 51 It is connected to the first housing 1 through a plurality of connecting rods 53 .
  • a circuit board 52 is provided in the accommodation space, and the circuit board 52 is electrically connected to the first motor 16 , the second motor 17 , the third motor 18 and the fourth motor 19
  • the circuit board 52 is provided with a connection part for transmitting electrical signals
  • the second housing 5 is provided with an opening for leading out the connection part.
  • the circuit board 52 is provided on the bottom plate 51 , and a slot is provided on the bottom plate 51 to lead out the connection portion of the circuit board 52 .
  • the doctor connects the consumable box to the surgical robot.
  • the first motor 16, the second motor 17, the third motor 18 and the fourth motor 19, as well as the first axial drive component 11, the second axial drive component 12, the rotation drive component and the first transmission component 7 can all be It can be installed on the surgical robot at one time, eliminating the need for doctors to install it multiple times.
  • the motion control of three slender medical devices can be realized to meet the application of various surgical scenarios.
  • the end of the surgical robot is provided with a docking portion for docking with the connection portion led from the second housing 5 to provide electrical signals to various components inside the consumable box and to provide power to the circuit board 52 .
  • the first elongated medical device 2 includes: a tube body 20 and a The proximal end portion connected to the tube body 20 is provided with a rotatable component 211 that causes the rotation of the tube body 20 in response to a rotation operation thereon.
  • the proximal end portion is a handle. 21.
  • the handle 21 includes: a body, the rotatable component 211 can rotate relative to the body, the body is connected to a Y valve 22 at the end away from the pipe body 20, and the Y valve 22 is connected to the body.
  • the accommodation chamber is provided with an anti-rotation partition 104 for cooperating with the body, and the anti-rotation partition 104 is configured to limit the body and the Y
  • the valve 22 rotates following the tube body 20 .
  • the anti-rotation partition 104 has a slot for placing the handle body of the first elongated medical device 2 .
  • the rotatable component 211 is driven by the first rotating gear 71, part of the force will inevitably be transmitted to the handle body.
  • the handle body is limited by the anti-rotation partition 104, which can prevent the handle body from rotating and further prevent the handle from interfering with the handle.
  • the Y valve 22 connected to the body rotates.
  • the consumable box includes: a second transmission assembly 8 disposed in the first chamber
  • the first elongated medical device 2 includes: a tube body 20 and a proximal end portion connected to the tube body 20, the tube body 20 has a proximal end close to the proximal end portion and a distal end far away from the proximal end portion, the proximal end portion is provided with a control component 212 , the control component 212 causes the distal end of the tube body 20 to deflect in response to its operation.
  • the control component 212 may be in any of the following forms: a slider or a rotating knob. Specifically, when the control component 212 is a slider, the second transmission component 8 can drive the movement of the slider to actuate the distal end of the tube 20 to deflect. When the control component 212 is a rotating knob, the second transmission component 8 can 8 can drive the rotation of the rotating knob to actuate the deflection of the distal end of the tube body 20 . In this embodiment, the second transmission component 8 is different according to the specific form of the control component of the existing adjustable bending catheter. Regarding the slider actuating the distal end deflection of the tube body, the rotating knob actuates the distal end deflection of the tube body. The technical solution is an existing technology and will not be described in detail in this application.
  • control component 212 is a slider
  • second transmission component 8 includes: a bending rack 81 and a bending gear 82.
  • the bending gear 82 is connected to the slider through an adapter.
  • the bending gear 82 rotates under the driving of the fifth motor 23 and drives the bending rack 81 meshed with the bending gear 82 to move forward and backward, thereby driving the slider to move to realize the bending function of the pipe body 20 .
  • a third bevel gear 231 and a fourth bevel gear 232 are provided between the fifth motor 23 and the bending gear 82, and the torque transmission direction is changed through the third bevel gear 231 and the fourth bevel gear 232, so that the fifth motor 23 Can be placed horizontally, thereby reducing the overall height of the consumable box.
  • the fifth motor 23 is disposed in the accommodation space between the first housing 1 and the second housing 5 and is electrically connected to the circuit board 52 .
  • This specification also provides a surgical robot, including the consumable box. As shown in Figures 10 and 11, the operation The robot includes: a sliding base 9 on which the consumable box is slidably arranged; the consumable box and the sliding base 9 are removably installed; and a conveying mechanism for driving the consumable box along the sliding base 9.
  • the base 9 slides.
  • the sliding base 9 extends longitudinally along the axial direction of the first channel, and the sliding base 9 has an opposite direction in its longitudinal extension direction.
  • the head end and the tail end are provided with a third axial drive assembly 91 for clamping the first elongated medical device 2 and driving the first elongated medical device 2 to linearly displace.
  • the third axial driving component 91 is fixed at the head end of the sliding base 9 , and the consumable box is installed near the tail end of the sliding base 9 .
  • the delivery mechanism is activated to push the consumable box to slide along the sliding base 9 to advance the proximal part of the first elongated medical device 2 , and the first elongated medical device 2 is delivered through the third axial drive assembly 91
  • the tube body 20 of the medical device 2 is long.
  • This propulsion method can simulate a doctor's manual delivery process. Secondly, this propulsion method can prevent the tube body 20 from bending during the delivery of the first elongated medical device 2 into the patient's body.
  • the surgical robot provided by the embodiments of this specification can not only realize the rotation and bending functions of the first slender medical device 2, but also realize the delivery of the first slender medical device 2, thereby realizing a variety of motion control methods. .
  • the third axial drive assembly 91 may include: a third pair of rotating shafts, a third pair of rotating wheels provided on the third pair of rotating shafts, the third pair of rotating wheels are used for The tube body 20 of the first elongated medical device 2 is clamped.
  • the sliding base 9 can also be provided with a position sensor 92 for detecting that the consumable box is in place.
  • the position sensor 92 is located near the head end of the sliding base 9 to detect when the consumable box approaches. When the head end of the sliding base 9 is slid, an in-place signal is sent to stop the conveying mechanism from continuing to advance the consumable box.
  • the sliding base 9 includes: a slide rail 93 and a base for installing the consumable box.
  • the base can move along the slide rail 93.
  • the base is connected with the conveyor.
  • Mechanical transmission connection, a flexible connector 94 is connected to the base, and the flexible connector 94 is used to transmit external electrical signals to the consumable box.
  • the base is provided with a docking part that matches the connection part in the consumable box.
  • the flexible connector 94 can be a drag chain structure. One end of the drag chain structure is connected to the base. The docking part is connected, and the other end of the drag chain structure is connected to the sliding base 9 and connected to the PCB board on the sliding base 9 to transmit electrical signals. In this way, when the consumable box moves along the slide rail 93, the drag chain structure can keep signal transmission unaffected and can move in response to the movement of the consumable box.
  • the flexible connector 94 may be a cable made of flexible material.
  • the conveying mechanism includes: a sixth motor 95 and a screw 96 connected to the sixth motor 95.
  • the base is provided on the screw 96, so that when the sixth motor 95 is started, The screw 96 drives the base to move along the slide rail 93, and then drives the consumable box to move.
  • the surgical robot also includes a console.
  • the console includes an input device and a controller.
  • the input device is for the user to trigger.
  • the controller is connected with the first motor 16, the second motor 17, The third motor 18, the fourth The motor 19, the fifth motor 23 and the sixth motor 95 are communicatively connected.
  • the input device sends corresponding instructions to the controller in response to the user's trigger operation, and the controller controls the above motors to perform corresponding actions.

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Abstract

一种耗材盒以及手术机器人，耗材盒包括：具有容纳腔室的第一壳体（1），设置有第一传动组件（7）和第一通道；第一轴向驱动组件（11），设置在容纳腔室中，包括：用于夹持第二细长医疗装置（3）并带动第二细长医疗装置（3）轴向位移的第一对接合表面，第一对接合表面限定出第二通道（13）；第二轴向驱动组件（12），设置在容纳腔室中，包括：用于夹持第三细长医疗装置（4）并带动第三细长医疗装置（4）轴向位移的第二对接合表面，第二对接合表面限定出第三通道（14），第二通道（13）与第三通道（14）之间呈预定角度，第二通道（13）的轴线与第三通道（14）的轴线形成的汇合点落在第一通道横截面上的正投影位于第一通道内。能将三种医疗装置集成于一个耗材盒中，可实现多种器械的控制功能。

Description

耗材盒以及手术机器人 技术领域
本申请涉及医疗设备技术领域，具体涉及一种耗材盒以及手术机器人。
背景技术
导管以及导丝可用于许多微创医疗程序，以用于各种脉管系统疾病的诊断和治疗，包括神经血管介入(NVI)、经皮冠状动脉介入(PCI)和外周血管介入(PVI)。这些程序均包括将导丝通过脉管系统，并经有导丝使工作导管前进以递送治疗装置。导管插入术开始于使用标准经皮技术、利用护套或者引导导管获得到血管的通路而开始。然后，护套或引导导管在导丝上前进至主要位置，诸如用于NVI的颈内动脉、用于PCI的冠状动脉口或用于PVI的浅股动脉。继而，适用于脉管系统的导丝和/或微导管通过护套或引导导管被递送至脉管系统中的目标位置。
上述手术步骤需要DSA设备发出的X射线来实施，当医生通过传统的手动导管插入术时，医生会受到大量的辐射，在长期工作中会危害医生的健康。为了减小X射线对医生的辐射，目前已开发了手术机器人系统可用于帮助医生执行导管插入术程序。手术机器人系统可以在医生的远程控制下驱动导管或者导丝，将导管或者导丝递送至患者体内的目标位置。
现有的手术机器人中，以执行PCI手术的介入手术机器人为例，引导导管、导丝、工作导管等器械的推进机构位置较为分散，每次手术时不利于医生整体安装。若要满足整体安装的条件，引导导管、导丝、工作导管将在一个相对紧凑的空间内协同动作，需要减小互相之间的干扰，这对于手术机器人的结构设计带来一定的挑战。
发明内容
为了解决现有技术中存在的至少一个技术问题，本申请提供了一种耗材盒以及手术机器人，将三种医疗装置集成于一个耗材盒中，可实现多种器械的控制功能，并能够方便整体安装。
为了达到上述目的，本申请提供的技术方案如下所述：
一种耗材盒，包括：
具有容纳腔室的第一壳体，设置有第一传动组件和第一通道，所述第一传动组件用于带 动第一细长医疗装置绕所述第一通道的轴线旋转；
第一轴向驱动组件，设置在所述容纳腔室中，包括：用于夹持第二细长医疗装置并带动所述第二细长医疗装置轴向位移的第一对接合表面，所述第一对接合表面限定出第二通道；
第二轴向驱动组件，设置在所述容纳腔室中，包括：用于夹持第三细长医疗装置并带动所述第三细长医疗装置轴向位移的第二对接合表面，所述第二对接合表面限定出第三通道，所述第二通道与所述第三通道之间呈预定角度；在所述第一通道的轴线方向上，所述第二通道的轴线与所述第三通道的轴线形成的汇合点落在第一通道横截面上的正投影位于所述第一通道内。
作为一种优选的实施方式，包括：盖体，所述盖体与所述第一壳体相连接并具有打开位置和关闭位置，在所述关闭位置时，所述盖体能覆盖所述容纳腔室。
作为一种优选的实施方式，所述第一壳体具有覆盖所述第一轴向驱动组件和所述第二轴向驱动组件的隔板组件，所述隔板组件开设有与所述第二通道和所述第三通道相对应的避让通道，所述避让通道能露出所述第一对接合表面和所述第二对接合表面。
作为一种优选的实施方式，所述容纳腔室定义有第一腔室和第二腔室，所述第一传动组件和所述第一通道设置在所述第一腔室中，所述第一轴向驱动组件和所述第二轴向驱动组件设置在所述第二腔室中，所述第一腔室为所述隔板组件未覆盖区域，所述第一壳体具有侧壁，所述第一腔室的侧壁上设置有连通部，所述连通部用于将外部管路引入至所述第一腔室以与Y阀连接。
作为一种优选的实施方式，所述第一壳体具有相对的前端和后端，所述第一壳体在所述前端至所述后端之间定义有壳体轴线，所述壳体轴线与所述第一通道、所述第二通道同轴设置。
作为一种优选的实施方式，所述第一细长医疗装置为用于造影的导管，所述第二细长医疗装置为导丝，所述第三细长医疗装置为球囊导管或者支架。
作为一种优选的实施方式，所述耗材盒包括：用于为所述第一传动组件提供动力的第一电机；用于为所述第一轴向驱动组件提供动力的第二电机；用于为所述第二轴向驱动组件提供动力的第三电机。
作为一种优选的实施方式，所述耗材盒包括：用于驱动所述第二细长医疗装置旋转的旋转驱动组件，以及为所述旋转驱动组件提供动力的第四电机。
作为一种优选的实施方式，所述耗材盒包括：可分离地安装在所述第一壳体外部的第二壳体，所述第一壳体与所述第二壳体之间形成容置空间，所述第一电机、所述第二电机、所述第三电机和所述第四电机安装于所述容置空间中。
作为一种优选的实施方式，所述容置空间中设置有底板，所述底板用于安装所述第一电机、所述第二电机、所述第三电机和所述第四电机。
作为一种优选的实施方式，所述容置空间中设置有电路板，所述电路板与所述第一电机、所述第二电机、所述第三电机和所述第四电机电性连接，所述电路板设置有用于传输电信号的连接部，所述第二壳体设置有用于引出所述连接部的开孔。
作为一种优选的实施方式，所述第一轴向驱动组件包括：第一对转动轴，设置在所述第一对转动轴上的第一对转动轮，所述第一对接合表面为所述第一对转动轮之间的接触表面；
所述旋转驱动组件包括：至少一个转动驱动件；设置在所述第一对转动轮中的至少一个转动轮与所述转动驱动件之间的力矩转换模块，所述转动驱动件被驱动旋转时，所述力矩转换模块能将所述转动驱动件的旋转运动转换为所述第一对接合表面之间的相对平移运动，所述平移运动方向为所述转动轴的轴线方向。
作为一种优选的实施方式，所述转动驱动件具有两个，包括：第一转动驱动件和第二转动驱动件，所述第一转动驱动件与所述第二转动驱动件之间设置有啮合齿轮传动单元，所述第一转动驱动件被驱动旋转时，通过啮合齿轮传动单元带动第二转动驱动件沿着相反方向转动，进而通过对应的力矩转换模块实现所述第一对接合表面中的一个接合表面相对向上平移运动，所述第一对接合表面中的另一个接合表面相对向下平移运动。
作为一种优选的实施方式，所述力矩转换模块包括：联动板，所述联动板具有横向延伸的横向段，所述横向段设置在所述转动驱动件与所述转动轮之间，所述横向段在其横向延伸方向上具有第一端和第二端，所述第一端与所述转动轮相对固定地连接，所述第二端与所述转动驱动件传动连接。
作为一种优选的实施方式，所述第二轴向驱动组件包括：第二对转动轴，设置在所述第二对转动轴上的第二对转动轮，所述第二对接合表面为所述第二对转动轮之间的接触表面。
作为一种优选的实施方式，第一传动组件包括：转动设置地第一旋转齿轮，与所述第一旋转齿轮啮合传动的第二旋转齿轮，所述第一旋转齿轮竖向设置，所述第二旋转齿轮横向设置。
作为一种优选的实施方式，所述第一细长医疗装置包括：管体以及与所述管体相连的近端部分，所述近端部分设置有可旋转部件，所述可旋转部件响应于对其的旋转操作引起所述管体的旋转，所述可旋转部件与所述第一旋转齿轮可拆卸安装，并能被所述第一旋转齿轮带动旋转。
作为一种优选的实施方式，所述近端部分为手柄，所述手柄包括：本体，所述可旋转部件能相对所述本体旋转，所述本体在远离所述管体的端部连接Y阀，所述Y阀与所述本体 相连通以用于输送造影剂，所述容纳腔室内设置有用于与所述本体相配合的防转隔板，所述防转隔板被构造为：能够限制所述本体和所述Y阀跟随所述管体旋转。
一种手术机器人，包括所述的耗材盒。
作为一种优选的实施方式，所述手术机器人包括：滑动底座，所述耗材盒滑动设置在所述滑动底座上，所述耗材盒与所述滑动底座可拆卸安装；输送机构，用于带动所述耗材盒沿着所述滑动底座滑动。
作为一种优选的实施方式，所述耗材盒安装于所述滑动底座上时，所述滑动底座沿着所述第一通道的轴线方向纵长延伸，所述滑动底座在其纵长延伸方向上具有相对的头端和尾端，所述头端设置有用于夹持所述第一细长医疗装置并带动所述第一细长医疗装置线性位移的第三轴向驱动组件。
作为一种优选的实施方式，所述滑动底座上设置有用于检测所述耗材盒到位的位置传感器，所述位置传感器位于所述滑动底座上靠近头端的位置。
作为一种优选的实施方式，所述滑动底座包括：滑轨和用于安装所述耗材盒的基座，所述基座能沿着所述滑轨移动，所述基座与所述输送机构传动连接，所述基座上连接柔性连接件，所述柔性连接件用于将外部电信号传递给所述耗材盒。
有益效果：
本申请实施例能够把三种医疗装置集成在一个耗材盒内，三种医疗装置可以分别是执行PCI手术的用于造影的导管、导丝和球囊导管。其中，耗材盒内部设置第一传动组件、第一轴向驱动组件和第二轴向驱动组件。第一传动组件用于带动第一细长医疗装置旋转，第一轴向驱动组件用于带动第二细长医疗装置轴向位移，第二轴向驱动组件用于带动第三细长医疗装置轴向位移，从而一个耗材盒可以实现多器械的控制功能。
本申请实施例提供的手术机器人中的耗材盒可整体安装和拆卸，通过耗材盒的一次安装和拆卸，实现三种经皮装置以及内部驱动部件的更换，方便了医生的使用。
参照后文的说明和附图，详细公开了本申请的特定实施方式，指明了本申请的原理可以被采用的方式。应该理解，本申请的实施方式在范围上并不因而受到限制。
针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。
应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。
附图说明
为了更清楚地说明本申请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申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动力的前提下，还可以根据这些附图获得其他的附图。
图1为本说明书一个实施例提供的耗材盒的整体结构示意图；
图2为本说明书一个实施例提供的耗材盒的第一壳体的结构示意图；
图3为本说明书一个实施例提供的耗材盒的内部组件的结构示意图；
图4为本说明书一个实施例提供的耗材盒的第一壳体的主视图；
图5为本说明书一个实施例提供的耗材盒的第一壳体的仰视图；
图6为本说明书一个实施例提供的耗材盒的底板与第一外壳相配合时的示意图一；
图7为本说明书一个实施例提供的耗材盒的底板与第一外壳相配合时的示意图二；
图8为本说明书一个实施例提供的旋转驱动组件的结构示意图；
图9为本说明书一个实施例提供的耗材盒内可调弯导管的驱动结构示意图；
图10为本说明书一个实施例提供的手术机器人的整体结构示意图；
图11为本说明书一个实施例提供的耗材盒与滑动底座连接时的示意图。
附图标记说明：
1、第一壳体；100、侧壁；101、前端；102、后端；103、连通部；104、防转隔板；11、
第一轴向驱动组件；111、第一转动轮；112、第二转动轮；113、第一转动轴；114、第二转动轴；115、啮合齿轮传动单元；116、联动板；12、第二轴向驱动组件；13、第二通道；14、第三通道；15、隔板组件；16、第一电机；161、第一锥齿轮；162、第二锥齿轮；17、第二电机；18、第三电机；19、第四电机；2、第一细长医疗装置；20、管体；21、手柄；211、可旋转部件；212、控制部件；22、Y阀；23、第五电机；231、第三锥齿轮；232、第四锥齿轮；3、第二细长医疗装置；4、第三细长医疗装置；5、第二壳体；51、底板；52、电路板；53、连接杆；6、盖体；61、限位标签；7、第一传动组件；71、第一旋转齿轮；72、第二旋转齿轮；8、第二传动组件；81、调弯齿条；82、调弯齿轮；9、滑动底座；91、第三轴向驱动组件；92、位置传感器；93、滑轨；94、柔性连接件；95、第六电机；96、丝杠。
具体实施方式
下面将结合附图和具体实施方式，对本发明的技术方案作详细说明，应理解这些实施方式仅用于说明本发明而不用于限制范围，在阅读了本发明之后，本领域技术人员对本发明的各种等价形式的修改均落入本申请所限定的范围内。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
下面将结合图1至图11对本说明书实施例的耗材盒以及手术机器人进行解释和说明。需要说明的是，在本发明的实施例中，相同的附图标记表示相同的部件。而为了简洁，在不同的实施例中，省略对相同部件的详细说明，且相同部件的说明可互相参照和引用。
如本文所用，术语“前方”、“前端”、“远端”、“头端”是指耗材盒面向患者的一侧。术语“后方”、“后端”、“近端”、“尾端”是指耗材盒远离患者的一侧。术语“推进”、“推送”或者“递送”是指自远离患者的一侧朝向面向患者的一侧运动的过程。术语“回撤”、“后退”或者“撤出”是指自面向患者的一侧朝向远离患者的一侧运动的过程。
如图1至图7所示，耗材盒包括：具有容纳腔室的第一壳体1，所述容纳腔室内设置有第一传动组件7、第一轴向驱动组件11和第二轴向驱动组件12。
所述耗材盒用于容纳执行微创医疗程序的医疗装置，该种医疗装置往往具有细长型结构，以用于各种血管系统疾病的诊断和治疗，诸如导丝、引导导管、微导管、栓塞线圈、球囊导管等工作导管、抽吸导管和动脉粥样硬化切除术导管等。
在本说明书中，对于所述医疗装置的类型不作任何限定，其可以是用于执行NVI手术、PCI手术和PVI手术的导管或者导丝，下文是以PCI手术作为主述场景来阐述的。但基于上文描述可知，本说明书实施例的保护范围并不因此而受到限定。
具体的，所述容纳腔室内设置有第一通道，所述第一细长医疗装置2能够沿着第一通道平移。所述容纳腔室内可以设置有安装部，用于夹持第一细长医疗装置2，以防止第一细长医疗装置2相对于第一通道的轴线跑偏。
所述第一传动组件7用于带动第一细长医疗装置2绕所述第一通道的轴线旋转。所述第一轴向驱动组件11包括：用于夹持第二细长医疗装置3并带动所述第二细长医疗装置3轴向位移的第一对接合表面，所述第一对接合表面限定出第二通道13。所述第二轴向驱动组件12包括：用于夹持第三细长医疗装置4并带动所述第三细长医疗装置4轴向位移的第二对接合表面，所述第二对接合表面限定出第三通道14。所述第二通道13与所述第三通道14之间呈预定角度，在第一通道的轴线方向上，所述第二通道13的轴线与所述第三通道14形成的汇合点沿着所述第一通道的轴线方向的投影落在所述第一通道内。
进一步的，所述第一通道供第一细长医疗装置2放置，第二通道13供第二细长医疗装置3放置，第三通道14供第三细长医疗装置4放置。所述第一通道的轴线基本与第一细长医疗装置2的轴线重合，当第一细长医疗装置2绕第一通道的轴线旋转时，即第一细长医疗 装置2绕自身轴线旋转。同样的，第二细长医疗装置3的轴线基本与第二通道13的轴线重合，第三细长医疗装置4的轴线基本与第三通道14的轴线重合。
优选的，第二通道13与第三通道14之间呈锐角。并且，第二通道13与第三通道14具有汇合点。从而，沿着第二细长医疗装置3的递送方向上，第二细长医疗装置3和第三细长医疗装置4在该汇合点之前非同轴运动，在该汇合点之后第二细长医疗装置3和第三细长医疗装置4为同轴运动，并在汇合后一起沿着第一通道运动。该汇合点可以位于第一通道的轴线上。
在一个实施方式中，所述第一细长医疗装置2可以为用于造影的导管，所述第二细长医疗装置3可以为导丝，所述第三细长医疗装置4可以为球囊导管或者支架。
在一些实施例中，所述用于造影的导管包括：具有中空的管体结构，管体结构的近端可以设置手柄，手柄上具有致动管体结构的远端偏转的控制部件，手柄上连接Y阀，Y阀通常具有第一端、第二端和第三端，该第一端与手柄连接，第二端用于通过导丝，第三端用于注造影剂，造影剂便能够通过手柄、管体结构进入至患者的体内进行造影。当然，在一些实施例中，所述用于造影的导管可以仅包括中空的管体结构，管体结构的近端可以直接连接Y阀。本实施方式对于第一细长医疗装置不作特别限定，其可以为具有手柄的可调弯导管，也可以为不具有手柄的普通造影导管。
具体的，用于造影的导管通过第一传动组件7带动旋转，以便第一细长医疗装置2的远端顺利到达患者体内的期望位置，例如冠脉开口位置。导丝通过第一轴向驱动组件11带动沿着第二通道13线性位移，所述第二通道13的轴线方向基本与第一通道的轴线方向一致，从而导丝能够通过第一细长医疗装置2的内部空腔输送至患者体内。球囊导管通过第二轴向驱动组件12带动沿着第三通道14线性位移，直至到达汇合点处与导丝同轴，然后沿着导丝输送。
本申请实施例能够把三种医疗装置集成在一个耗材盒内，三种医疗装置可以分别是用于造影的导管、导丝和球囊导管，从而一个耗材盒可以实现多器械的控制功能。耗材盒可整体安装和拆卸，通过耗材盒的一次安装和拆卸，实现三种医疗装置以及内部驱动部件的更换，方便了医生的使用。
在本说明书中，如图1和图2所示，所述耗材盒包括：盖体6，所述盖体6与所述第一壳体1相连接并具有打开位置和关闭位置，在所述关闭位置时，所述盖体6能覆盖所述容纳腔室。进一步的，所述盖体6的内表面上设置限位标签61，所述限位标签61的个数为多个，所述限位标签61用于在盖体6处于关闭位置时，将第一细长医疗装置2的轴身限位于第一通道、第二细长医疗装置3的轴身限位于第二通道13、第三细长医疗装置4的轴身限位于第 三通道14，防止医疗装置的轴身向上脱出第一通道、第二通道13和第三通道14。
在本说明书中，所述第一壳体1具有覆盖所述第一轴向驱动组件11和所述第二轴向驱动组件12的隔板组件15，所述隔板组件15开设有与所述第二通道13和所述第三通道14相对应的避让通道，所述避让通道能露出所述第一对接合表面和所述第二对接合表面，以便于第二细长医疗装置3安装于第一轴向驱动组件11中、第三细长医疗装置4安装于第二轴向驱动组件12中。
所述容纳腔室定义有第一腔室和第二腔室，所述第一传动组件7和所述第一通道设置在所述第一腔室中，所述第一轴向驱动组件11和所述第二轴向驱动组件12设置在所述第二腔室中，其中，所述第一腔室为所述隔板组件15未覆盖区域。所述第一壳体1具有侧壁100，所述第一腔室的侧壁100上设置有连通部103，所述连通部103用于将外部管路引入至所述第一腔室以与Y阀22连接。所述外部管路用于输送造影剂，该外部管路与耗材盒外部的高压注射器连接。
进一步的，所述第一壳体1具有相对的前端101和后端102，所述第一壳体1在所述前端101至所述后端102之间定义有壳体轴线，所述壳体轴线与所述第一通道、所述第二通道13同轴设置。
在本说明书中，所述第一传动组件7可以包括：转动设置地第一旋转齿轮71，与所述第一旋转齿轮71啮合传动的第二旋转齿轮72，所述第一旋转齿轮71竖向设置，所述第二旋转齿轮72横向设置。当第二旋转齿轮72被驱动旋转时，带动与第二旋转齿轮72相啮合的第一旋转齿轮71转动，继而带动与第一旋转齿轮71相配接的第一细长医疗装置2旋转。
在本说明书中，所述第一细长医疗装置2包括：管体以及与所述管体相连的近端部分，所述近端部分设置有可旋转部件，所述可旋转部件响应于对其的旋转操作引起所述管体的旋转，所述可旋转部件与所述第一旋转齿轮71可拆卸安装，并能被所述第一旋转齿轮71带动旋转。
在一个实施方式中，如图9所示，所述近端部分为手柄21，所述手柄21包括：本体，所述可旋转部件211能相对所述本体旋转，所述本体在远离所述管体20的端部连接Y阀22。所述可旋转部件211为手柄21上用于控制管体20旋转的旋转控制部。将第一旋转齿轮71与该旋转控制部可拆卸连接，当第二旋转齿轮72被驱动旋转时，能够带动该旋转控制部转动，继而引起管体20旋转。
在另一个实施方式中，所述近端部分为Y阀，所述可旋转部件为Y阀本体，所述Y阀本体与第一旋转齿轮71可拆卸安装，当第二旋转齿轮72被驱动旋转时，能够带动该Y阀本体转动，继而引起管体旋转。
在本说明书中，如图3和图8所示，所述第一轴向驱动组件11包括：第一对转动轴，设置在所述第一对转动轴上的第一对转动轮，所述第一对接合表面为所述第一对转动轮之间的接触表面。
具体的，所述第一对转动轴包括：第一转动轴113和第二转动轴114，第一转动轴113和第二转动轴114分别设置在第二通道13的两侧。所述第一对转动轮包括：第一转动轮111和第二转动轮112，第一转动轮111设置在第一转动轴113上，第二转动轮112设置在第二转动轴114上，第一转动轴113和第二转动轴114旋转时，能够带动一对转动轮围绕转动轴的轴线旋转。当一对转动轮沿着相反方向转动时，能够带动第二细长医疗装置3沿着自身轴线方向前进或者后退。
进一步的，所述第一转动轴113固定设置第一啮合齿轮，所述第二转动轴114固定设置第二啮合齿轮，所述第一啮合齿轮与所述第二啮合齿轮啮合传动。当第一转动轴113被驱动旋转时，带动与第一转动轴113相固定的第一啮合齿轮旋转，进而带动第二啮合齿轮旋转，从而带动第一转动轮111和第二转动轮112反向旋转，实现第二细长医疗装置3沿着其自身轴线前进。
在本说明书中，所述第二轴向驱动组件12包括：第二对转动轴，设置在所述第二对转动轴上的第二对转动轮，所述第二对接合表面为所述第二对转动轮之间的接触表面。同理，所述第二对转动轴包括：第三转动轴和第四转动轴，第三转动轴和第四转动轴分别设置在第三通道14的两侧。关于第二轴向驱动组件12如何推进第三细长医疗装置4的方式请参考上述第一轴向驱动组件11的描述，本说明书不作赘述。
如图4至图5所示，所述耗材盒还包括：用于为所述第一传动组件7提供动力的第一电机16；用于为所述第一轴向驱动组件11提供动力的第二电机17；用于为所述第二轴向驱动组件12提供动力的第三电机18。所述第一电机16、第二电机17和第三电机18设置在第一壳体1的外部，具体设置在第一壳体1的底部，为第一传动组件7中的第二旋转齿轮72、第一轴向驱动组件11中的转动轴和第二轴向驱动组件12中的转动轴提供动力。
在一个实施例中，所述第一电机16与第二旋转齿轮72之间设置有第一换向单元，所述第一换向单元包括：第一锥齿轮161和第二锥齿轮162，第一锥齿轮161与第二锥齿轮162啮合连接，所述第一电机16通过第一换向单元改变力矩传递方向，如此第一电机16可以卧式放置。
当然，在一些实施例中，所述第一电机16的输出轴也可以直接与第二旋转齿轮72连接。
在一个实施例中，所述第二电机17与第一转动轴113之间设置有第二换向单元，所述第二电机17通过第二换向单元改变力矩传递方向，如此第二电机17可以卧式放置。同理， 所述耗材盒还可以包括第三换向单元，第三电机18通过第三换向单元改变力矩传递方向，第三电机18可以卧式放置，从而能够减小耗材盒的整体高度。
在本说明书中，如图8所示，所述耗材盒包括：用于驱动所述第二细长医疗装置3旋转的旋转驱动组件，以及为所述旋转驱动组件提供动力的第四电机19。
所述旋转驱动组件包括：至少一个转动驱动件；设置在所述第一对转动轮中的至少一个转动轮与所述转动驱动件之间的力矩转换模块，所述转动驱动件被驱动旋转时，所述力矩转换模块能将所述转动驱动件的旋转运动转换为所述第一对接合表面之间的相对平移运动，所述平移运动方向为所述转动轴的轴线方向。
从而，通过转动驱动件以及力矩转换模块使得第一对转动轮之间产生相对平移运动，如此能模拟医生搓丝动作，使得第二细长医疗装置3(例如导丝)绕其自身轴线旋转。可见，第一对转动轮在转动时，还能够在转动驱动件以及力矩转换模块的作用下进行相对平移运动，如此导丝能够同时进行旋转动作和递送动作。
转动轮在进行平移运动时，具体沿着转动轴的轴向移动。在此过程中，转动轴仅可以在第二电机17的驱动下作旋转运动，而不能作轴向运动。为了实现该目的，所述转动轴可以为异形结构，或者为方形结构、或者其他具有不规则形状的结构。在一个具体的实施例中，转动轴为沿着圆柱体的轴向进行纵切形成的具有平面切面的异形结构。
另外，由于转动轴仅作旋转运动，而不作轴向运动，在第二电机17驱动转动轴时，无需再增加多余的传动部件，整体方案的结构比较简单，且能够实现的转动轮的运动方式多样化。
在一个实施方式中，所述转动驱动件具有两个，包括：第一转动驱动件和第二转动驱动件，所述第一转动驱动件与所述第二转动驱动件之间设置有啮合齿轮传动单元115，所述第一转动驱动件被驱动旋转时，通过啮合齿轮传动单元115带动第二转动驱动件沿着相反方向转动，进而通过对应的力矩转换模块实现所述第一对接合表面中的一个接合表面相对向上平移运动，所述第一对接合表面中的另一个接合表面相对向下平移运动。
所述第一转动驱动件和所述第二转动驱动件可以分别设置在第二细长医疗装置3的两侧，第一转动驱动件用于带动第一对转动轮的中的一个相对向上平移运动，第二转动驱动件用于带动第一对转动轮中的另一个相对向下平移运动。如此，夹持在第一对转动轮之间的导丝通过这种运动形式防止导丝向上或者向下运动跑偏。
在一个实施方式中，如图8所示，所述力矩转换模块包括：联动板116，所述联动板116具有横向延伸的横向段，所述横向段设置在所述转动驱动件与所述转动轮之间，所述横向段在其横向延伸方向上具有第一端和第二端，所述第一端与所述转动轮相对固定地连接，所述 第二端与所述转动驱动件传动连接。
在本实施例中，所述力矩转换模块的个数与转动驱动件的个数相同，所述转动驱动件可以为具有螺纹的丝杠结构，第一转动驱动件和第二转动驱动件上的外螺纹旋向相同，力矩转换模块的第二端设置有与所述外螺纹相配合的内螺纹。当第一转动驱动件被驱动旋转时，通过啮合齿轮传动单元115带动第二转动驱动件旋转，且第二转动驱动件的旋转方向与第一转动驱动件的旋转方向相反。然后，通过对应的力矩转换模块带动第一对转动轮能够沿着相反方向运动，从而使夹持在第一对转动轮之间的导丝旋转。
在一个实施例中，所述第四电机19与第一转动驱动件之间设置有第四换向单元，所述第四电机19通过第四换向单元改变力矩传递方向，如此第四电机19可以卧式放置，从而能够减小耗材盒的整体高度。
在本说明书中，如图1和图6所示，所述耗材盒包括：可分离地安装在所述第一壳体1外部的第二壳体5，所述第一壳体1与所述第二壳体5之间形成容置空间，所述第一电机16、所述第二电机17、所述第三电机18和所述第四电机19安装于所述容置空间中。
具体的，第二壳体5具有腔室，所述腔室能够容纳整个第一壳体1，以保护第一电机16、第二电机17、第三电机18和第四电机19。所述第二壳体5在与第一壳体1对应位置开设避让槽，以允许第一细长医疗装置2、第二细长医疗装置3和第三细长医疗装置4从各自的通道延伸至第二壳体5的外部。
所述容置空间中设置有底板51，所述底板51用于安装所述第一电机16、所述第二电机17、所述第三电机18和所述第四电机19，所述底板51与所述第一壳体1之间通过多个连接杆53进行连接。进一步的，所述容置空间中设置有电路板52，所述电路板52与所述第一电机16、所述第二电机17、所述第三电机18和所述第四电机19电性连接，所述电路板52设置有用于传输电信号的连接部，所述第二壳体5设置有用于引出所述连接部的开孔。为了保证连接稳定性，所述电路板52设置在所述底板51上，所述底板51上设置有槽以将电路板52的连接部引出。
当需要使用时，由医生将耗材盒连接至手术机器人上。其中，第一电机16、第二电机17、第三电机18和第四电机19，以及第一轴向驱动组件11、第二轴向驱动组件12、旋转驱动组件和第一传动组件7均可以一次性安装至手术机器人端，无需医生多次安装。并且，通过一次安装，可以实现三种细长医疗装置的运动控制，满足多种手术场景的运用。相应的，手术机器人端设置有对接部，以与从第二壳体5引出的连接部进行对接，能够为耗材盒内部的各个部件提供电信号，以及为电路板52供电。
在一个实施例中，如图1和图9所示，所述第一细长医疗装置2包括：管体20以及与 管体20相连的近端部分，所述近端部分设置有可旋转部件211，所述可旋转部件211响应于对其的旋转操作引起所述管体20的旋转，所述近端部分为手柄21，所述手柄21包括：本体，所述可旋转部件211能相对所述本体旋转，所述本体在远离所述管体20的端部连接Y阀22，所述Y阀22与所述本体相连通以用于输送造影剂，所述容纳腔室设置有用于与所述本体相配合的防转隔板104，所述防转隔板104被构造为：能够限制所述本体以及所述Y阀22跟随所述管体20旋转。
在本实施例中，当可旋转部件211被第一旋转齿轮71驱动旋转时，仅可旋转部件211和管体20转动，而本体和Y阀22在防转隔板104的作用下不会发生转动，以防止Y阀22因旋转影响造影剂的输送。
所述防转隔板104具有卡槽，用于放置第一细长医疗装置2的手柄本体。当可旋转部件211被第一旋转齿轮71带动时，难免会有部分力传递至手柄本体上，此时通过防转隔板104对手柄本体进行限位，可防止手柄本体旋转，进一步防止与手柄本体相连的Y阀22旋转。
在一个实施例中，如图3和图9所示，所述耗材盒包括：设置在所述第一腔室中的第二传动组件8，所述第一细长医疗装置2包括：管体20以及与所述管体20相连的近端部分，所述管体20具有靠近所述近端部分的近端和远离所述近端部分的远端，所述近端部分设置有控制部件212，所述控制部件212响应于对其操作引起所述管体20的远端偏转。
所述控制部件212可以为以下任意形式之一：滑块、旋转旋钮。具体的，当控制部件212为滑块时，所述第二传动组件8可以带动滑块的移动以致动管体20的远端偏转，当控制部件212为旋转旋钮时，所述第二传动组件8可以带动旋转旋钮的旋转以致动管体20的远端偏转。在本实施例中，所述第二传动组件8根据现有可调弯导管的控制部件的具体形式不同而不同，关于滑块致动管体远端偏转、旋转旋钮致动管体远端偏转的技术方案为现有技术，本申请不再作详细介绍。
在一个具体的实施例中，所述控制部件212为滑块，所述第二传动组件8包括：调弯齿条81和调弯齿轮82，调弯齿轮82通过适配件与滑块连接。所述调弯齿轮82在第五电机23的带动下旋转，并带动与调弯齿轮82啮合的调弯齿条81前后移动，以此带动滑块移动，实现管体20的调弯功能。其中，所述第五电机23与调弯齿轮82之间设置第三锥齿轮231和第四锥齿轮232，通过第三锥齿轮231和第四锥齿轮232改变力矩传递方向，如此第五电机23可以卧式放置，从而能够减小耗材盒的整体高度。
在本实施例中，所述第五电机23设置在第一壳体1与第二壳体5之间的容置空间中，并与电路板52电性连接。
本说明书还提供了一种手术机器人，包括所述耗材盒。如图10和图11所示，所述手术 机器人包括：滑动底座9，所述耗材盒滑动设置在所述滑动底座9上，所述耗材盒与所述滑动底座9可拆卸安装；输送机构，用于带动所述耗材盒沿着所述滑动底座9滑动。
具体的，所述耗材盒安装于所述滑动底座9上时，所述滑动底座9沿着所述第一通道的轴线方向纵长延伸，所述滑动底座9在其纵长延伸方向上具有相对的头端和尾端，所述头端设置有用于夹持所述第一细长医疗装置2并带动所述第一细长医疗装置2线性位移的第三轴向驱动组件91。
所述第三轴向驱动组件91固定于滑动底座9的头端，耗材盒安装于滑动底座9靠近尾端的位置。当递送第一细长医疗装置2时，启动输送机构推进耗材盒沿着滑动底座9滑动，以推进第一细长医疗装置2的近端部分，通过第三轴向驱动组件91递送第一细长医疗装置2的管体20。通过这种推进方式，能够模拟医生的手动递送过程。其次，该种推进方式能够避免第一细长医疗装置2在向患者体内递送过程中管体20发生弯折。
由此可见，本说明书实施例提供的手术机器人不仅能够实现第一细长医疗装置2的旋转、以及调弯功能，还能够实现第一细长医疗装置2的递送，从而实现多种运动控制方式。
在一个实施例中，所述第三轴向驱动组件91可以包括：第三对转动轴，设置在所述第三对转动轴上的第三对转动轮，所述第三对转动轮用于夹持第一细长医疗装置2的管体20。
在一个实施例中，所述滑动底座9上还可以设置有用于检测所述耗材盒到位的位置传感器92，所述位置传感器92位于所述滑动底座9上靠近头端的位置，以在耗材盒接近滑动底座9头端时发出到位信号，以停止输送机构继续推进耗材盒。
在一个实施例中，所述滑动底座9包括：滑轨93和用于安装所述耗材盒的基座，所述基座能沿着所述滑轨93移动，所述基座与所述输送机构传动连接，所述基座上连接柔性连接件94，所述柔性连接件94用于将外部电信号传递给所述耗材盒。
在本实施例中，所述基座上设置有与所述耗材盒中连接部相配合的对接部，所述柔性连接件94可以为拖链结构，所述拖链结构的一端与基座的对接部相连，拖链结构的另一端连接至滑动底座9上，并与滑动底座9上的PCB板相连接以传输电信号。如此，当耗材盒沿着滑轨93移动时，拖链结构能够保持信号传输不受影响，并能响应于耗材盒的移动而移动。或者，在其他可能的实施例中，所述柔性连接件94可以为采用柔性材料制作的电缆。
在一个实施例中，所述输送机构包括：第六电机95以及与第六电机95相连的丝杠96，所述基座设置在所述丝杠96上，从而当启动第六电机95时，通过丝杠96带动基座沿着滑轨93移动，继而带动耗材盒移动。
在本说明书中，所述手术机器人还包括控制台，所述控制台包括输入设备和控制器，所述输入设备供用户触发，所述控制器与所述第一电机16、第二电机17、第三电机18、第四 电机19、第五电机23以及第六电机95通信连接，所述输入设备响应于用户的触发操作发出相应的指令给控制器，所述控制器控制上述电机执行相应的动作。
上述实施例只为说明本申请的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本申请的内容并据以实施，并不能以此限制本申请的保护范围。凡根据本申请精神实质所作的等效变化或修饰，都应涵盖在本申请的保护范围之内。
应该理解，以上描述是为了进行图示说明而不是为了进行限制。通过阅读上述描述，在所提供的示例之外的许多实施方式和许多应用对本领域技术人员来说都将是显而易见的。出于全面之目的，所有文章和参考包括专利申请和公告的公开都通过参考结合在本文中。

Claims (23)

  1. 一种耗材盒，其特征在于，包括：
    具有容纳腔室的第一壳体，设置有第一传动组件和第一通道，所述第一传动组件用于带动第一细长医疗装置绕所述第一通道的轴线旋转；
    第一轴向驱动组件，设置在所述容纳腔室中，包括：用于夹持第二细长医疗装置并带动所述第二细长医疗装置轴向位移的第一对接合表面，所述第一对接合表面限定出第二通道；
    第二轴向驱动组件，设置在所述容纳腔室中，包括：用于夹持第三细长医疗装置并带动所述第三细长医疗装置轴向位移的第二对接合表面，所述第二对接合表面限定出第三通道，所述第二通道与所述第三通道之间呈预定角度；在所述第一通道的轴线方向上，所述第二通道的轴线与所述第三通道的轴线形成的汇合点落在第一通道横截面上的正投影位于所述第一通道内。
  2. 如权利要求1所述的耗材盒，其特征在于，包括：盖体，所述盖体与所述第一壳体相连接并具有打开位置和关闭位置，在所述关闭位置时，所述盖体能覆盖所述容纳腔室。
  3. 如权利要求1所述的耗材盒，其特征在于，所述第一壳体具有覆盖所述第一轴向驱动组件和所述第二轴向驱动组件的隔板组件，所述隔板组件开设有与所述第二通道和所述第三通道相对应的避让通道，所述避让通道能露出所述第一对接合表面和所述第二对接合表面。
  4. 如权利要求3所述的耗材盒，其特征在于，所述容纳腔室定义有第一腔室和第二腔室，所述第一传动组件和所述第一通道设置在所述第一腔室中，所述第一轴向驱动组件和所述第二轴向驱动组件设置在所述第二腔室中，所述第一腔室为所述隔板组件未覆盖区域，所述第一壳体具有侧壁，所述第一腔室的侧壁上设置有连通部，所述连通部用于将外部管路引入至所述第一腔室以与Y阀连接。
  5. 如权利要求1所述的耗材盒，其特征在于，所述第一壳体具有相对的前端和后端，所述第一壳体在所述前端至所述后端之间定义有壳体轴线，所述壳体轴线与所述第一通道、所述第二通道同轴设置。
  6. 如权利要求1所述的耗材盒，其特征在于，所述第一细长医疗装置为用于造影的导管，所述第二细长医疗装置为导丝，所述第三细长医疗装置为球囊导管或者支架。
  7. 如权利要求1所述的耗材盒，其特征在于，所述耗材盒包括：用于为所述第一传动组件提供动力的第一电机；用于为所述第一轴向驱动组件提供动力的第二电机；用于为所述第二轴向驱动组件提供动力的第三电机。
  8. 如权利要求7所述的耗材盒，其特征在于，所述耗材盒包括：用于驱动所述第二细长医疗装置旋转的旋转驱动组件，以及为所述旋转驱动组件提供动力的第四电机。
  9. 如权利要求8所述的耗材盒，其特征在于，所述耗材盒包括：可分离地安装在所述第一壳体外部的第二壳体，所述第一壳体与所述第二壳体之间形成容置空间，所述第一电机、所述第二电机、所述第三电机和所述第四电机安装于所述容置空间中。
  10. 如权利要求9所述的耗材盒，其特征在于，所述容置空间中设置有底板，所述底板用于安装所述第一电机、所述第二电机、所述第三电机和所述第四电机。
  11. 如权利要求9所述的耗材盒，其特征在于，所述容置空间中设置有电路板，所述电路板与所述第一电机、所述第二电机、所述第三电机和所述第四电机电性连接，所述电路板设置有用于传输电信号的连接部，所述第二壳体设置有用于引出所述连接部的开孔。
  12. 如权利要求8所述的耗材盒，其特征在于，所述第一轴向驱动组件包括：第一对转动轴，设置在所述第一对转动轴上的第一对转动轮，所述第一对接合表面为所述第一对转动轮之间的接触表面；
    所述旋转驱动组件包括：至少一个转动驱动件；设置在所述第一对转动轮中的至少一个转动轮与所述转动驱动件之间的力矩转换模块，所述转动驱动件被驱动旋转时，所述力矩转换模块能将所述转动驱动件的旋转运动转换为所述第一对接合表面之间的相对平移运动，所述平移运动方向为所述转动轴的轴线方向。
  13. 如权利要求12所述的耗材盒，其特征在于，所述转动驱动件具有两个，包括：第一转动驱动件和第二转动驱动件，所述第一转动驱动件与所述第二转动驱动件之间设置有啮合齿轮传动单元，所述第一转动驱动件被驱动旋转时，通过啮合齿轮传动单元带动第二转动驱动件沿着相反方向转动，进而通过对应的力矩转换模块实现所述第一对接合表面中的一个接合表面相对向上平移运动，所述第一对接合表面中的另一个接合表面相对向下平移运动。
  14. 如权利要求12所述的耗材盒，其特征在于，所述力矩转换模块包括：联动板，所述联动板具有横向延伸的横向段，所述横向段设置在所述转动驱动件与所述转动轮之间，所述横向段在其横向延伸方向上具有第一端和第二端，所述第一端与所述转动轮相对固定地连接，所述第二端与所述转动驱动件传动连接。
  15. 如权利要求1所述的耗材盒，其特征在于，所述第二轴向驱动组件包括：第二对转动轴，设置在所述第二对转动轴上的第二对转动轮，所述第二对接合表面为所述第二对转动轮之间的接触表面。
  16. 如权利要求1所述的耗材盒，其特征在于，第一传动组件包括：转动设置地第一旋转齿轮，与所述第一旋转齿轮啮合传动的第二旋转齿轮，所述第一旋转齿轮竖向设置，所述第二旋转齿轮横向设置。
  17. 如权利要求16所述的耗材盒，其特征在于，所述第一细长医疗装置包括：管体以及与所述管体相连的近端部分，所述近端部分设置有可旋转部件，所述可旋转部件响应于对其的旋转操作引起所述管体的旋转，所述可旋转部件与所述第一旋转齿轮可拆卸安装，并能被所述第一旋转齿轮带动旋转。
  18. 如权利要求17所述的耗材盒，其特征在于，所述近端部分为手柄，所述手柄包括：本体，所述可旋转部件能相对所述本体旋转，所述本体在远离所述管体的端部连接Y阀，所述Y阀与所述本体相连通以用于输送造影剂，所述容纳腔室内设置有用于与所述本体相配合的防转隔板，所述防转隔板被构造为：能够限制所述本体和所述Y阀跟随所述管体旋转。
  19. 一种手术机器人，其特征在于，包括如权利要求1-18任一所述的耗材盒。
  20. 如权利要求19所述的手术机器人，其特征在于，所述手术机器人包括：滑动底座，所述耗材盒滑动设置在所述滑动底座上，所述耗材盒与所述滑动底座可拆卸安装；输送机构，用于带动所述耗材盒沿着所述滑动底座滑动。
  21. 如权利要求20所述的手术机器人，其特征在于，所述耗材盒安装于所述滑动底座上时，所述滑动底座沿着所述第一通道的轴线方向纵长延伸，所述滑动底座在其纵长延伸方向 上具有相对的头端和尾端，所述头端设置有用于夹持所述第一细长医疗装置并带动所述第一细长医疗装置线性位移的第三轴向驱动组件。
  22. 如权利要求21所述的手术机器人，其特征在于，所述滑动底座上设置有用于检测所述耗材盒到位的位置传感器，所述位置传感器位于所述滑动底座上靠近头端的位置。
  23. 如权利要求20所述的手术机器人，其特征在于，所述滑动底座包括：滑轨和用于安装所述耗材盒的基座，所述基座能沿着所述滑轨移动，所述基座与所述输送机构传动连接，所述基座上连接柔性连接件，所述柔性连接件用于将外部电信号传递给所述耗材盒。
PCT/CN2023/079489 2022-04-08 2023-03-03 耗材盒以及手术机器人 WO2023193553A1 (zh)

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