WO2024031840A1 - 介入手术机器人从端驱动装置及细长型医疗器械递送方法 - Google Patents
介入手术机器人从端驱动装置及细长型医疗器械递送方法 Download PDFInfo
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- WO2024031840A1 WO2024031840A1 PCT/CN2022/127423 CN2022127423W WO2024031840A1 WO 2024031840 A1 WO2024031840 A1 WO 2024031840A1 CN 2022127423 W CN2022127423 W CN 2022127423W WO 2024031840 A1 WO2024031840 A1 WO 2024031840A1
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- 238000002716 delivery method Methods 0.000 title claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 158
- 230000001360 synchronised effect Effects 0.000 claims description 31
- 238000009434 installation Methods 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000001356 surgical procedure Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- 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
- A61B34/37—Master-slave robots
Definitions
- the present application relates to the field of medical device robot technology, and in particular to a slave-end driving device for an interventional surgical robot and a slender medical device delivery method.
- Interventional therapy is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.
- the main purpose of this application is to provide a slave-end driving device for an interventional surgical robot and a slender medical device delivery method, aiming to solve the above-mentioned technical problem that the overall size of the existing equipment is too large and bulky, which is not conducive to the spatial layout of the surgical robot.
- a slave-end driving device for an interventional surgical robot including:
- the first driving mechanism is fixed on the frame, clamps one end of the slender medical device, and delivers the slender medical device;
- a second driving mechanism is movably provided on the frame, clamps the other end of the elongated medical device, and delivers the elongated medical device by displacing on the frame;
- a driving assembly installed on the frame, is used to drive the second driving mechanism to displace in the delivery direction of the elongated medical device;
- a detection component provided on the driving assembly, used to detect whether the slender medical instrument between the first driving mechanism and the second driving mechanism is in a straightened state
- the elongated medical device between the first driving mechanism and the second driving mechanism is in a bent state, and the first driving mechanism delivers the elongated medical device until the detection
- the component detects that the elongated medical device between the first driving mechanism and the second driving mechanism is straightened, and starts the second driving mechanism to deliver the rear end of the elongated medical device.
- the second driving mechanism delivers the The speed of the elongated medical device is the same as the speed at which the first drive mechanism delivers the elongated medical device.
- the driving assembly includes a driving motor installed on the frame and a screw structure installed on the frame and drivingly connected to the driving motor.
- the screw structure is connected to the second drive.
- the mechanism is connected to drive the second driving mechanism to move on the frame.
- the screw rod structure includes a screw rod and a nut seat, the screw rod and the nut seat form a threaded fit, the drive motor is installed on the frame through the first support plate, and the screw rod One end is provided at the output end of the driving motor, and the other end is rotatably connected to the second support plate installed on the frame.
- the detection component is a pressure sensor
- the nut seat is fixedly connected to a connecting block.
- the nut seat includes a chassis and a sleeve shaft, and the sleeve shaft passes through the pressure sensor and the connecting block in sequence.
- the pressure sensor is located between the chassis and the connecting block.
- the driving assembly includes a driving motor installed on the frame and a synchronous belt structure installed on the frame and drivingly connected to the driving motor.
- the synchronous belt structure is connected to the second drive.
- the mechanism is connected to drive the second driving mechanism to move on the frame.
- the synchronous belt structure includes a main synchronous wheel provided at the output end of the drive motor, a second support plate installed on the frame, and a slave synchronous wheel installed on the second support plate. and a synchronous belt wound around the main synchronous wheel and the slave synchronous wheel.
- the first driving mechanism is installed at an end of the frame, and the driving motor is disposed close to the first driving mechanism.
- the driving component is a linear module installed on the frame and drives the second driving mechanism to move along the delivery direction of the elongated medical device.
- the frame is equipped with guide rails and slide blocks, the extension direction of the guide rail is consistent with the delivery direction of the elongated medical device, and the slide block is installed on the guide rail and can slide along the guide rail.
- the second driving mechanism is connected to the slider through a connecting plate.
- slide grooves are respectively provided on both sides of the guide rail, and the slide grooves extend along the extension direction of the guide rail.
- a clamping groove is provided at the bottom of the slide block, and the opposite side walls of the clamping groove are respectively provided with sliding grooves.
- the connecting plate includes a connecting section, a first installation section and a second installation section.
- the first installation section and the second installation section are respectively vertically connected to both sides of the connection section and extend in directions away from each other.
- the slider is installed on the first installation section
- the second driving mechanism is installed on the second installation section.
- the frame is also equipped with a drag chain.
- the drag chain is used to store a wire group electrically connected to the second driving mechanism.
- the extension direction of the drag chain is in line with the slender medical device. Device delivery direction is consistent.
- the displacement detection component includes a main scale installed on the frame and a reading head installed on the connecting plate.
- the main scale is provided between the drag chain and the guide rail, and the extending direction is consistent with the delivery direction of the elongated medical device.
- the position of the reading head corresponds to the position of the main scale.
- the main scale is a grating scale or a magnetic grating scale
- the reading head corresponds to the grating scale or the magnetic grating scale.
- the first driving mechanism is provided with an axial delivery assembly for delivering elongated medical instruments.
- the axial delivery assembly includes a plurality of rollers rotatably mounted on the first driving mechanism and an axial delivery assembly.
- a driving unit is provided on the first driving mechanism for driving the roller to rotate, and a plurality of the rollers are arranged on both sides of the slender medical instrument.
- it also includes an outer cover that covers the first driving mechanism and the second driving mechanism, and the outer cover and the first driving mechanism form an isolated space for accommodating the axis delivery assembly.
- the delivery stroke of the second driving mechanism is 0.3m-1.5m.
- This application also provides a slender medical device delivery method, applied to any of the above-mentioned interventional surgery robot slave-end driving devices, including:
- One end of the elongated medical device is clamped by the first driving mechanism, and the other end of the elongated medical device is clamped by the second driving mechanism, wherein the first driving mechanism and the third The conduit between the two driving mechanisms is in a curved state;
- the third driving mechanism The speed at which the second driving mechanism delivers the elongated medical device is the same as the speed at which the first driving mechanism delivers the elongated medical device.
- This application provides an interventional surgery robot slave-end driving device and a slender medical device delivery method, including: a frame; a first driving mechanism, fixed on the frame, clamping one end of the slender medical device , to deliver the elongated medical device; a second driving mechanism is movably provided on the frame, clamps the other end of the elongated medical device, and displaces the elongated medical device on the frame , delivering the elongated medical device. Since the first driving mechanism is fixed and only the second driving mechanism is displaced on the frame, the overall size of the slave end is reduced through reasonable structural design, reducing the occupied space and overall quality of the slave end, which is beneficial to the spatial layout of the surgical robot.
- Figure 1 is a schematic diagram of the overall structure of this application.
- Figure 2 is a schematic diagram of the overall structure of this application (excluding the outer cover);
- Figure 3 is an enlarged view of point A in Figure 2;
- Figure 4 is a schematic diagram of the overall structure of the present application from another angle
- Figure 5 is an enlarged view of B in Figure 4.
- Figure 6 is a schematic structural diagram of a driving assembly according to an embodiment
- Figure 7 is a schematic structural diagram of the axis delivery assembly.
- First driving mechanism 11. Axis delivery assembly; 111. Roller; 112. Driving unit; 2. Second driving mechanism; 20. Driving motor; 21. First support Plate; 22. Second support plate; 23. Lead screw; 24. Main synchronous wheel; 25. Slave synchronous wheel; 26. Timing belt; 27. Connecting block; 28. Nut seat; 281. Chassis; 282. Bushing shaft; 3. Conduit; 4. Drag chain; 5. Cover; 6. Frame; 61. Guide rail; 611. Slide; 62. Connecting plate; 620. Connecting section; 621. First installation section; 622. Second installation section ; 63. Slider; 631. Card convex; 632. Card slot; 7. Pressure sensor; 8. Displacement detection component; 81. Main ruler; 82. Reading head.
- first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.
- features defined as “first” and “second” may explicitly or implicitly include one or more of the described features.
- “plurality” means two or more than two, unless otherwise expressly and specifically limited.
- connection should be understood in a broad sense.
- it can be a fixed connection or a detachable connection. connect, or connect in one piece ; It can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium. It can be an internal connection between two elements or an interaction between two elements.
- the term “above” or “below” a first feature on a second feature may include direct contact between the first and second features, or may also include the first and second features. Not in direct contact but through additional characteristic contact between them.
- the terms “above”, “above” and “above” a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature.
- “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.
- an interventional surgical robot slave-end driving device is used to perform clamping, delivery and/or rotation operations on different slender medical instruments (catheters 3 or guide wires), and then push the slender medical instruments.
- Type medical device enters or exits the surgical patient's body.
- the above-mentioned slave end driving device includes a frame 6; the first driving mechanism 1 is fixed on the frame 6, clamps one end of the slender medical device, and delivers the slender medical device. ;
- the second driving mechanism 2 is movably provided on the frame 6, clamps the other end of the slender medical device, and moves the slender medical device by displacing on the frame 6. Devices are delivered.
- the elongated medical device is a catheter 3, and the first driving mechanism 1 is fixed on the frame 6 and delivers the catheter 3 through its own internal structure.
- the second driving mechanism 2 is different from the first driving mechanism 1 in delivering the catheter 3.
- the second driving mechanism 2 delivers the rear end of the catheter 3 through displacement on the frame 6.
- the delivery stroke of the second driving mechanism is 0.3m-1.5m.
- a detection component is provided on the driving assembly, and the detection component is used to detect the gap between the first driving mechanism 1 and the second driving mechanism 2. Whether the slender medical device is in a straightened state.
- the detection component is the pressure sensor 7 .
- the second driving mechanism 2 starts to move on the frame 6 Displacement is performed, and the speed at which the second driving mechanism 2 delivers the elongated medical device is the same as the speed at which the first driving mechanism 1 delivers the elongated medical device.
- the front end of the conduit 3 is installed on the first driving mechanism 1, and the rear end of the conduit 3 is installed on the second driving mechanism 2. At this time, the conduit 3 always remains in a bent state.
- the first driving mechanism 1 delivers the catheter 3 by clamping the tube body of the catheter 3 until the detection component detects the first driving mechanism 1 and the second driving mechanism.
- the conduit 3 between 2 is straightened, and the second driving mechanism 2 is activated to deliver the rear end of the conduit 3 .
- the speed at which the first driving catheter 3 delivers the tube body of the catheter 3 needs to be consistent with the speed at which the second driving mechanism 2 delivers the rear end of the catheter 3, so that the first driving mechanism 1 and the second The conduit 3 between the drive mechanisms 2 always remains straight.
- the frame 6 is equipped with guide rails 61 and sliders 63 .
- the extension direction of the guide rail 61 is consistent with the delivery direction of the elongated medical device.
- the slider 63 is installed on the guide rail 61 and can slide along the guide rail 61 .
- the second driving mechanism 2 is connected to the slider 63 through a connecting plate 62 .
- slide grooves 611 are respectively provided on both sides of the guide rail 61 and extend along the extension direction of the guide rail 61 .
- the slider 63 is provided with a latching slot 632 at the bottom, and latching protrusions 631 are respectively provided on opposite side walls of the clamping slot 632 .
- the connecting plate 62 includes a connecting section 620 , a first installation section 621 and a second installation section 622 .
- the first installation section 621 and the second installation section 622 are respectively vertically connected to both sides of the connecting section 620 and extend in directions away from each other.
- the slider 63 and the second driving mechanism 2 are installed on the first installation section 621 and the second installation section 622 respectively.
- the frame 6 is equipped with a driving assembly, and the driving assembly is used to drive the second driving mechanism 2 to displace in the delivery direction of the elongated medical device.
- the driving assembly includes a driving motor 20 installed on the frame 6 and a screw structure provided on the frame 6 and drivingly connected to the driving motor 20.
- the screw structure is connected to the second driving mechanism 2 to drive the second driving mechanism 2 to move on the frame 6 .
- the screw rod structure includes a screw rod 23 and a nut seat 28 .
- the screw rod 23 and the nut seat 28 form a threaded fit.
- the driving motor 20 is installed on the frame 6 through the first support plate 21, and one end of the screw rod 23 is provided at the output end of the driving motor 20, and the other end is connected to the screw rod 23 installed on the frame 6.
- the second support plate 22 is rotationally connected.
- the nut seat 28 is fixedly connected to a connecting block 27
- the connecting block 27 is installed on the first installation section 621
- the second driving mechanism 2 is installed on the second installation section 622 .
- the driving motor 20 is started. Since the nut seat 28 engages with the external thread on the screw rod 23 through the internal thread, under the action of the external thread, the nut seat 28 drives the connecting block 27 to move along the screw rod 23, thereby driving the second screw.
- the drive mechanism 2 slides linearly in the delivery direction.
- the nut seat 28 is fixedly connected to the pressure sensor 7 , and the pressure sensor 7 is fixedly connected to the connecting block 27 .
- the nut seat 28 includes a base plate 281 and a sleeve shaft 282 .
- the sleeve shaft 282 passes through the above-mentioned pressure sensor 7 and the connecting block 27 in sequence, and the pressure sensor 7 is located between the chassis 281 and the connecting block 27 .
- the delivery force of the first driving mechanism 1 on the catheter 3 is transmitted to the second driving force through the rear end of the catheter 3
- the second driving mechanism 2 is pulled to move, and at the same time the connecting block 27 is driven to move.
- the connecting block 27 generates pressure on the surface of the pressure sensor 7 during movement.
- the pressure sensor 7 detects the pressure signal and triggers the movement of the second driving mechanism 2 .
- the driving assembly includes a driving motor 20 installed on the frame 6 and a synchronous motor 20 installed on the frame 6 and drivingly connected to the driving motor 20 .
- the synchronous belt structure is connected to the second driving mechanism 2 to drive the second driving mechanism 2 to move on the frame 6 .
- the driving motor 20 is installed on the frame 6 through the first support plate 21 .
- the synchronous belt structure includes a main synchronous wheel 24 provided at the output end of the drive motor 20, a second support plate 22 installed on the frame 6, and a second support plate 22 installed on the second support plate 22.
- the slave synchronous wheel 25 and the synchronous belt 26 wound around the main synchronous wheel 24 and the slave synchronous wheel 25 .
- the synchronous belt 26 is connected to the connecting plate 62 through a connecting block 27 to drive the second driving mechanism 2 to move.
- the main synchronous wheel 24 and the slave synchronous wheel 25 are used to drive the synchronous belt 26 to complete the control of the linear movement of the second driving mechanism 2, and the control accuracy is high. Since the synchronous belt 26 replaces the traditional rigid structure, the structure is simple and the mechanism is relatively light. The inertia is small, the compliance of the device is good, and no rigid collision or impact occurs. At the same time, the movement of the second driving mechanism 2 on the frame 6 is controlled linearly by a motor alone, making it suitable for clinical use.
- the first driving mechanism 1 is installed at the end of the frame 6 , and the above-mentioned driving motor 20 is provided at a position close to the first driving mechanism 1 . Since the first driving mechanism 1 is provided at one end and does not need to be displaced, the required extension length of the frame 6 can be shortened, making the frame 6 lighter. In addition, since the motor is disposed near the first driving mechanism 1 , the space can be reasonably utilized, the overall volume of the frame 6 is reduced, and the space utilization rate of the frame 6 is improved.
- the driving assembly may be a linear module installed on the frame 6 and driving the second driving mechanism 2 to move along the delivery direction of the catheter 3 .
- the linear module is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. It has the advantages of simple structure, convenient long stroke, high acceleration, fast response, and high precision.
- the above-mentioned linear module can be used to connect the second driving mechanism 2 and drive the second driving mechanism 2 to perform linear displacement.
- the first driving mechanism 1 is provided with an axis delivery assembly 11 for delivering elongated medical instruments.
- the axis delivery assembly 11 includes a plurality of rollers 111 rotatably mounted on the first driving mechanism 1 and mounted on the first driving mechanism 1 for driving the rollers 111 .
- the driving unit 112 for rotating the roller 111.
- a plurality of the rollers 111 are arranged on both sides of the slender medical instrument.
- the driving unit 112 drives the roller 111 to rotate to deliver the catheter 3 .
- the driving unit 112 drives the rotating shaft connected with the power and the roller 111 installed on the rotating shaft to rotate together. During the rotation process, the roller 111 rotates together with the roller 111 on the other side to deliver the catheter 3 .
- the driving unit 112 in this embodiment is disposed below the second installation section 622 .
- the slave-end driving device of the interventional surgical robot further includes an outer cover 5 covering the first driving mechanism 1 and the second driving mechanism 2 .
- the outer cover 5 and the first driving mechanism 1 form an isolated space for accommodating the axis delivery assembly 11 .
- the frame 6 is also equipped with a drag chain 4, the drag chain 4 is used to store a wire group electrically connected to the second driving mechanism 2, so
- the extension direction of the drag chain 4 is consistent with the delivery direction of the elongated medical device.
- the wire groups connected to several driving devices are all arranged in the drag chain 4. Due to the dense wiring during the movement, it is very easy to cause the wires to wear out, posing safety risks. In addition, special flexible wires need to be used, increasing costs. In this application, since the first driving mechanism 1 is fixedly arranged on the frame 6 , the wire set connected to the first driving mechanism 1 does not need to be placed in the drag chain 4 .
- the driving motor 20 can be arranged near the first driving mechanism 1 , and the wire group connected to the driving motor 20 does not need to be placed in the drag chain 4 either. Therefore, only the wire set electrically connected to the second driving mechanism 2 needs to be placed in the drag chain 4. This can reduce the number of wires in the drag chain 4, reduce wire wear, reduce safety risks, and at the same time reduce flexibility. The use of wires reduces costs.
- a displacement detection component 8 for detecting the movement distance of the second driving mechanism is further included.
- the displacement detection component 8 includes a main scale 81 installed on the frame and a reading head 82 installed on the connecting plate.
- the main scale 81 is provided between the drag chain 4 and the guide rail 61 space, and the extension direction is consistent with the delivery direction of the elongated medical device, and the position of the reading head 82 corresponds to the position of the main scale 81 .
- the main scale 81 can be a grating scale or a magnetic scale, and the reading head 82 corresponds to the grating scale or the magnetic scale.
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Abstract
医疗器械机器人技术领域的一种介入手术机器人从端驱动装置及细长型医疗器械递送方法。介入手术机器人从端驱动装置包括：机架（6）；第一驱动机构（1），固设于机架（6）上，夹持细长型医疗器械（3）的一端，对细长型医疗器械（3）进行递送；第二驱动机构（2），可移动地设于机架（6）上，夹持细长型医疗器械（3）的另一端，通过在机架（6）上进行位移，对细长型医疗器械（3）进行递送，由于第一驱动机构（1）固定设置，仅第二驱动机构（2）在机架（6）上位移，因此通过合理的结构设计减小了从端的整体尺寸，降低从端的占用空间以及整体质量，利于手术机器人空间布局。
Description
本申请要求于2022年08月08日提交中国专利局、申请号为202210944474.6，发明名称为“介入手术机器人从端驱动装置”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。
本申请涉及到医疗器械机器人技术领域，尤其涉及一种介入手术机器人从端驱动装置及细长型医疗器械递送方法。
介入治疗是利用现代高科技手段进行的一种微创性治疗，在医学影像设备的引导下，将特制的导管、导丝等精密器械引入人体，对体内病态进行诊断和局部治疗。
现有的介入手术机器人通过若干个驱动装置协同运动递送导管。发明人意识到导管递送过程中，为了保证若干个驱动装置沿导管递送方向有足够的运动行程，设备应具有足够的内部空间，导致设备的整体体积过大且笨重，不利于手术机器人空间布局。
本申请的主要目的为提供一种介入手术机器人从端驱动装置及细长型医疗器械递送方法，旨在解决上述现有的设备整体体积过大且笨重，不利于手术机器人空间布局的技术问题。
本申请提出以下技术方案：一种介入手术机器人从端驱动装置，包括：
机架；
第一驱动机构，固设于所述机架上，夹持细长型医疗器械的一端，对所述细长型医疗器械进行递送；
第二驱动机构，能够移动地设于所述机架上，夹持所述细长型医疗器械的另一端，通过在所述机架上进行位移，对所述细长型医疗器械进行递送；
驱动组件，装设于所述机架上，用于驱动所述第二驱动机构沿细长型医疗器械递送方向进行位移；
检测部件，设置于所述驱动组件上，用于检测所述第一驱动机构与所述第二驱动机构之间的细长型医疗器械是否处于拉直状态；
工作开始时，所述第一驱动机构和所述第二驱动机构之间的细长型医疗器械为弯曲状态，由所述第一驱动机构将所述细长型医疗器械递送，直至所述检测部件检测到第一驱动机构和第二驱动机构之间的细长型医疗器械被拉直，启动第二驱动机构对细长型医疗器械的后端进行递送，所述第二驱动机构递送所述细长型医疗器械的速度与所述第一驱动机构递送所述细长型医疗器械的速度相同。
进一步地，所述驱动组件包括装设于所述机架上的驱动电机以及设于所述机架上与所述驱动电机传动连接的丝杆结构，所述丝杆结构与所述第二驱动机构连接，以驱动所述第二驱动机构在所述机架上位移。
进一步地，所述丝杆结构包括丝杆和螺母座，所述丝杆和所述螺母座形成螺纹配合，所述驱动电机通过第一支撑板装设于所述机架上，所述丝杆的一端设于所述驱动电机的输出端，另一端与装设于所述机架上的第二支撑板转动连接。
进一步地，所述检测部件为压力传感器，所述螺母座与一连接块固定连接，所述螺母座包括底盘和套轴，所述套轴依次穿过所述压力传感器和所述连接块，所述压力传感器位于所述底盘和所述连接块之间。
进一步地，所述驱动组件包括装设于所述机架上的驱动电机以及设于所述机架上与所述驱动电机传动连接的同步带结构，所述同步带结构与所述第二驱动机构连接，以驱动所述第二驱动机构在所述机架上位移。
进一步地，所述同步带结构包括设于所述驱动电机的输出端的主同步轮、装设于所述机架上的第二支撑板、装设于所述第二支撑板上的从同步轮以及绕接于所述主同步轮和所述从同步轮上的同步带。
进一步地，所述第一驱动机构装设于所述机架的端部，所述驱动电机在靠近所述第一驱动机构的位置上设置。
进一步地，驱动组件为装设于所述机架上并带动所述第二驱动机构沿细长型医疗器械递送方向进行位移的直线模组。
进一步地，所述机架上装设有导轨和滑块，所述导轨的延伸方向与所述细长型医疗器械递送方向一致，所述滑块安装于所述导轨上并能够沿所述导轨滑动，所述第二驱动机构通过连接板与所述滑块连接。
进一步地，所述导轨两侧分别设有滑槽，且所述滑槽沿所述导轨的延伸方向延伸，所述滑块底部设有卡槽，所述卡槽内相对的两侧壁上分别设有卡凸，所述滑块与所述导轨配合安装时，所述导轨靠近所述滑块的一面卡入所述卡槽内，所述卡凸对应卡设于所述滑槽内，从而使得所述滑块可以沿所述导轨滑动。
进一步地，所述连接板包括连接段、第一安装段及第二安装段，所述第一安装段、所述第二安装段分别垂直连接于所述连接段两侧并呈相互背离方向延伸，所述滑块装设于所述第一安装段上，所述第二驱动机构装设在所述第二安装段上。
进一步地，所述机架上还装设有拖链，所述拖链用于收纳与所述第二驱动机构电性连接的导线组，所述拖链的延伸方向与所述细长型医疗器械递送方向一致。
进一步地，还包括用于检测所述第二驱动机构移动距离的位移检测部件，所述位移检测部件包括装设于所述机架上的主尺和装设于所述连接板上的读数头，所述主尺设于所述拖链和所述导轨之间，且延伸方向与细长型医疗器械递送方向一致，所述读数头与所述主尺的位置相对应。
进一步地，所述主尺为光栅尺或磁栅尺，所述读数头与所述光栅尺或所述磁栅尺相对应。
进一步地，所述第一驱动机构上设有用于递送细长型医疗器械的轴线递送组件，所述轴线递送组件包括若干个可转动地装设于所述第一驱动机构上的辊轮以及装设于所述第一驱动机构上用于驱动所述辊轮转动的驱动单元，若干个所述辊轮设置在细长型医疗器械的两侧。
进一步地，还包括罩设于所述第一驱动机构和所述第二驱动机构上的外罩，所述外罩与所述第一驱动机构围成一收纳所述轴线递送组件的隔离空间。
进一步地，第二驱动机构的递送行程是0.3m-1.5m。
本申请还提供一种细长型医疗器械递送方法，应用于上述任一项所述的介入手术机器人从端驱动装置，包括：
由所述第一驱动机构夹持所述细长型医疗器械的一端，所述第二驱动机构夹持所述细长型医疗器械的另一端，其中，所述第一驱动机构和所述第二驱动机构之间的导管为弯曲状态；
直至所述检测部件检测到第一驱动机构和第二驱动机构之间的细长型医疗器械被拉直，启动所述第二驱动机构对细长型医疗器械的后端进行递送，所述第二驱动机构递送所述细长型医疗器械的速度与所述第一驱动机构递送所述细长型医疗器械的速度相同。
本申请提供的一种介入手术机器人从端驱动装置及细长型医疗器械递送方法，包括：机架；第一驱动机构，固设于所述机架上，夹持细长型医疗器械的一端，对所述细长型医疗器械进行递送；第二驱动机构，可移动地设于所述机架上，夹持所述细长型医疗器械的另一端，通过在所述机架上进行位移，对所述细长型医疗器械进行递送。由于第一驱动机构固定设置，仅第二驱动机构在机架上位移，因此通过合理的结构设计减小了从端的整体尺寸，降低从端的占用空间以及整体质量，利于手术机器人空间布局。
图1为本申请整体结构示意图；
图2为本申请整体结构示意图（不包括外罩）；
图3为图2中的A处放大图；
图4为本申请另一角度整体结构示意图；
图5为图4中的B处放大图；
图6为驱动组件的一实施例结构示意图；
图7为轴线递送组件的结构示意图。
图中所标各部件的名称如下：1、第一驱动机构；11、轴线递送组件；111、辊轮；112、驱动单元；2、第二驱动机构；20、驱动电机；21、第一支撑板；22、第二支撑板；23、丝杆；24、主同步轮；25、从同步轮；26、同步带；27、连接块；28、螺母座；281、底盘；282、套轴；3、导管；4、拖链；5、外罩；6、机架；61、导轨；611、滑槽；62、连接板；620、连接段；621、第一安装段；622、第二安装段；63、滑块；631、卡凸；632、卡槽；7、压力传感器；8、位移检测部件；81、主尺；82、读数头。
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。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”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。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体地限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接
；可以是机械连接，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。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
参照图1和图2，一种介入手术机器人从端驱动装置，用于对不同的细长型医疗器械（导管3或导丝）执行夹持、递送和/或转动的操作，进而推动细长型医疗器械即（导管3或导丝）进入或退出手术病人身体。具体地，上述地从端驱动装置包括机架6；第一驱动机构1，固设于所述机架6上，夹持细长型医疗器械的一端，对所述细长型医疗器械进行递送；第二驱动机构2，可移动地设于所述机架6上，夹持所述细长型医疗器械的另一端，通过在所述机架6上进行位移，对所述细长型医疗器械进行递送。在一实施例中，细长型医疗器械为导管3，第一驱动机构1固定在机架6上，通过自身的内部结构对导管3进行递送。第二驱动机构2与第一驱动机构1对导管3的递送方式不同，第二驱动机构2是通过在机架6上的位移进而对导管3的后端进行递送。在本实施例中，第二驱动机构的递送行程是0.3m-1.5m，在上述范围内能够有效保证对导管的控制精度，提高手术的安全性，实用性强。
现有的介入手术机器人对导管3的全程递送，需要导管3始终保持拉直的状态。现有技术中使导管3保持拉直状态的方式是通过若干驱动装置分别夹持导管3，由若干个驱动装置协同运动递送导管3，使导管3始终处于拉直状态。参照图1和图2，在一个可行的实施方式中，所述驱动组件上设置有检测部件，所述检测部件用于检测所述第一驱动机构1与所述第二驱动机构2之间的细长型医疗器械是否处于拉直状态。在本实施例中，检测部件为压力传感器7。所述检测部件检测到所述第一驱动机构1与所述第二驱动机构2之间的细长型医疗器械处于拉直状态时，所述第二驱动机构2开始在所述机架6上进行位移，所述第二驱动机构2递送所述细长型医疗器械的速度与所述第一驱动机构1递送所述细长型医疗器械的速度相同。工作开始时，导管3的前端安装在第一驱动机构1上，导管3的后端安装在第二驱动机构2上，此时导管3始终保持弯曲状态。启动第一驱动机构1对导管3进行递送，在这里第一驱动机构1是通过夹持住导管3的管体对导管3进行递送，直至检测部件检测到第一驱动机构1和第二驱动机构2之间的导管3被拉直，启动第二驱动机构2对导管3的后端进行递送。在这里需要注意的是，第一驱动导管3对导管3的管体进行递送的速度需要与第二驱动机构2对导管3的后端递送的速度保持一致，使得第一驱动机构1和第二驱动机构2之间的导管3始终保持拉直的状态。
在一个可行的实施方式中，参照图2和图3，所述机架6上装设有导轨61和滑块63。所述导轨61的延伸方向与所述细长型医疗器械递送方向一致，所述滑块63安装于所述导轨61上并可沿所述导轨61滑动。所述第二驱动机构2通过连接板62与所述滑块63连接。具体地，所述导轨61两侧分别设有滑槽611，且其沿所述导轨61的延伸方向延伸。所述滑块63底部设有卡槽632，所述卡槽632内相对的两侧壁上分别设有卡凸631。滑块63与导轨61配合安装时，所述导轨61靠滑块63的一面卡入卡槽632内，卡凸631对应卡设于滑槽611内，从而使得滑块63可以沿导轨61滑动。所述连接板62包括连接段620、第一安装段621及第二安装段622。所述第一安装段621、第二安装段622分别垂直连接于连接段620两侧并呈相互背离方向延伸。所述滑块63、第二驱动机构2分别装设于第一安装段621、第二安装段622上。
在一个可行的实施方式中，所述机架6上装设有驱动组件，所述驱动组件用于驱动所述第二驱动机构2沿细长型医疗器械递送方向进行位移。具体地，参照图2至图5，所述驱动组件包括装设于所述机架6上的驱动电机20以及设于所述机架6上与所述驱动电机20传动连接的丝杆结构，所述丝杆结构与所述第二驱动机构2连接，以驱动所述第二驱动机构2在所述机架6上位移。优选地，丝杆结构包括丝杆23和螺母座28。丝杆23和螺母座28形成螺纹配合。驱动电机20通过第一支撑板21装设于所述机架6上，而丝杆23的一端设于所述驱动电机20的输出端，另一端则与装设于所述机架6上的第二支撑板22转动连接。在本实施例中，所述螺母座28与一连接块27固定连接，连接块27则装设于第一安装段621上，第二驱动机构2装设于第二安装段622上。工作时，所述驱动电机20启动，由于螺母座28通过内螺纹与丝杆23上的外螺纹啮合，在外螺纹的作用下，螺母座28带动连接块27沿丝杆23运动，进而带动第二驱动机构2沿递送方向线性滑动。在本实施例中，螺母座28与压力传感器7固定连接，压力传感器7与连接块27固定连接。具体地，螺母座28包括底盘281和套轴282。套轴282依次穿过上述的压力传感器7和连接块27，压力传感器7位于底盘281和连接块27之间。具体地，第一驱动机构1与第二驱动机构2之间的细长型医疗器械变拉直的瞬间，第一驱动机构1对导管3的递送力通过导管3的后端传递到第二驱动机构2上，拉动第二驱动机构2移动，同时带动连接块27移动。连接块27在移动过程中对压力传感器7的表面产生压力，压力传感器7检测到压力信号，触发第二驱动机构2运动。
在另一个可行的实施方式中，参照图6，所述驱动组件包括装设于所述机架6上的驱动电机20以及设于所述机架6上与所述驱动电机20传动连接的同步带结构。所述同步带结构与所述第二驱动机构2连接，以驱动所述第二驱动机构2在所述机架6上位移。具体地，驱动电机20通过第一支撑板21装设于所述机架6上。所述同步带结构则包括设于所述驱动电机20的输出端的主同步轮24、装设于所述机架6上的第二支撑板22、装设于所述第二支撑板22上的从同步轮25以及绕接于所述主同步轮24和所述从同步轮25上的同步带26。所述同步带26通过连接块27与所述连接板62连接，以带动所述第二驱动机构2进行位移。采用主同步轮24和从同步轮25带动同步带26来完成第二驱动机构2直线移动的控制，控制精度高，由于同步带26代替传统的刚性结构，使得其结构简单，机构相对较轻，惯性小，装置的柔顺性好，不会产生刚性碰撞或冲击，同时第二驱动机构2在机架6上的运动通过一个电机单独线性控制，适合临床使用。
在一个可行的实施方式中，参照图2，所述第一驱动机构1装设于所述机架6的端部，上述的驱动电机20在靠近所述第一驱动机构1的位置上设置。由于第一驱动机构1设置在一侧的端部且不需要进行位移，因此可以缩短机架6所需的延伸长度，使机架6更加轻便。此外由于电机设置在第一驱动机构1的附近，因此可以合理利用空间，减少机架6的整体体积，提高了机架6的空间利用率。
在一个可行的实施方式中，驱动组件可以是装设于机架6上并带动第二驱动机构2沿导管3递送方向进行位移的直线模组。直线模组是将电能直接转化为直线运动机械能，而不需要任何中间转换机构的一种传动装置，具有结构简单，方便实现长行程，高加速度，响应快，精度高等优点。上述的直线模组可用于连接第二驱动机构2并驱动第二驱动机构2进行直线位移。
在一个可行的实施方式中，所述第一驱动机构1上设有用于递送细长型医疗器械的轴线递送组件11。具体地，参照图7，所述轴线递送组件11包括若干个可转动地装设于所述第一驱动机构1上的辊轮111以及装设于所述第一驱动机构1上用于驱动所述辊轮111转动的驱动单元112。若干个所述辊轮111设置在细长型医疗器械的两侧。在所述辊轮111与所述导管3之间的摩擦作用下，所述驱动单元112驱动所述辊轮111转动，以递送导管3。驱动单元112带动与其动力连接的转轴以及安装在该转轴上的辊轮111一起转动，辊轮111在转动过程中，配合另一侧的辊轮111一起转动，对导管3进行递送。本实施例中的驱动单元112设置在第二安装段622的下方。
在一个可行的实施方式中，参照图1，所述介入手术机器人从端驱动装置还包括罩设于所述第一驱动机构1和所述第二驱动机构2上的外罩5。所述外罩5与所述第一驱动机构1围成一收纳所述轴线递送组件11的隔离空间。
在一个可行的实施方式中，参照图2，所述机架6上还装设有拖链4，所述拖链4用于收纳与所述第二驱动机构2电性连接的导线组，所述拖链4的延伸方向与所述细长型医疗器械递送方向一致。在现有技术中，若干个驱动装置连接的导线组都设置在拖链4中，移动过程中由于布线密集，极容易造成电线磨损，带来安全隐患。此外，需要使用特殊的柔性电线，增加成本。在本申请中，由于第一驱动机构1固定设置在机架6上，因此与第一驱动机构1连接的导线组不需要放置于拖链4内。优选地，在本申请中可以将驱动电机20设置在第一驱动机构1的附近，与驱动电机20连接的导线组同样不需要放置于拖链4内。因此，拖链4内只需放置与第二驱动机构2电性连接的导线组即可，这样可以减少拖链4内导线的数量，减少了导线磨损，降低安全隐患，同时，也减少了柔性导线的使用，降低成本。
在一个可行的实施方式中，参照图4和图5，还包括用于检测所述第二驱动机构移动距离的位移检测部件8。所述位移检测部件8包括装设于所述机架上的主尺81和装设于所述连接板上的读数头82，所述主尺81设于所述拖链4和所述导轨61之间，且延伸方向与细长型医疗器械递送方向一致，所述读数头82与所述主尺81的位置相对应。上述主尺81可以为光栅尺或磁栅尺，读数头82与上述的光栅尺或磁栅尺相对应。通过主尺81和读数头82的配合，检测第二驱动机构2的位置，防止第二驱动机构2的运动轨迹超出设定值或者与机架6上的其他部件相互碰撞，损坏第二驱动机构2。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。
Claims (18)
- 一种介入手术机器人从端驱动装置， 其中，包括：机架；第一驱动机构，固设于所述机架上，夹持细长型医疗器械的一端，对所述细长型医疗器械进行递送；第二驱动机构，能够移动地设于所述机架上，夹持所述细长型医疗器械的另一端，通过在所述机架上进行位移，对所述细长型医疗器械进行递送；驱动组件，装设于所述机架上，用于驱动所述第二驱动机构沿细长型医疗器械递送方向进行位移；检测部件，设置于所述驱动组件上，用于检测所述第一驱动机构与所述第二驱动机构之间的细长型医疗器械是否处于拉直状态；工作开始时，所述第一驱动机构和所述第二驱动机构之间的细长型医疗器械为弯曲状态，由所述第一驱动机构将所述细长型医疗器械递送，直至所述检测部件检测到第一驱动机构和第二驱动机构之间的细长型医疗器械被拉直，启动第二驱动机构对细长型医疗器械的后端进行递送，所述第二驱动机构递送所述细长型医疗器械的速度与所述第一驱动机构递送所述细长型医疗器械的速度相同。
- 根据权利要求1所述的介入手术机器人从端驱动装置，其中，所述驱动组件包括装设于所述机架上的驱动电机以及设于所述机架上与所述驱动电机传动连接的丝杆结构，所述丝杆结构与所述第二驱动机构连接，以驱动所述第二驱动机构在所述机架上位移。
- 根据权利要求2所述的介入手术机器人从端驱动装置，其中，所述丝杆结构包括丝杆和螺母座，所述丝杆和所述螺母座形成螺纹配合，所述驱动电机通过第一支撑板装设于所述机架上，所述丝杆的一端设于所述驱动电机的输出端，另一端与装设于所述机架上的第二支撑板转动连接。
- 根据权利要求3所述的介入手术机器人从端驱动装置，其中，所述检测部件为压力传感器，所述螺母座与一连接块固定连接，所述螺母座包括底盘和套轴，所述套轴依次穿过所述压力传感器和所述连接块，所述压力传感器位于所述底盘和所述连接块之间。
- 根据权利要求1所述的介入手术机器人从端驱动装置，其中，所述驱动组件包括装设于所述机架上的驱动电机以及设于所述机架上与所述驱动电机传动连接的同步带结构，所述同步带结构与所述第二驱动机构连接，以驱动所述第二驱动机构在所述机架上位移。
- 根据权利要求5所述的介入手术机器人从端驱动装置，其中，所述同步带结构包括设于所述驱动电机的输出端的主同步轮、装设于所述机架上的第二支撑板、装设于所述第二支撑板上的从同步轮以及绕接于所述主同步轮和所述从同步轮上的同步带。
- 根据权利要求2或5所述的介入手术机器人从端驱动装置，其中，所述第一驱动机构装设于所述机架的端部，所述驱动电机在靠近所述第一驱动机构的位置上设置。
- 根据权利要求1所述的介入手术机器人从端驱动装置，其中，驱动组件为装设于所述机架上并带动所述第二驱动机构沿细长型医疗器械递送方向进行位移的直线模组。
- 根据权利要求1所述的介入手术机器人从端驱动装置，其中，所述机架上装设有导轨和滑块，所述导轨的延伸方向与所述细长型医疗器械递送方向一致，所述滑块安装于所述导轨上并能够沿所述导轨滑动，所述第二驱动机构通过连接板与所述滑块连接。
- 根据权利要求9所述的介入手术机器人从端驱动装置，其中，所述导轨两侧分别设有滑槽，且所述滑槽沿所述导轨的延伸方向延伸，所述滑块底部设有卡槽，所述卡槽内相对的两侧壁上分别设有卡凸，所述滑块与所述导轨配合安装时，所述导轨靠近所述滑块的一面卡入所述卡槽内，所述卡凸对应卡设于所述滑槽内，从而使得所述滑块可以沿所述导轨滑动。
- 根据权利要求10所述的介入手术机器人从端驱动装置，其中，所述连接板包括连接段、第一安装段及第二安装段，所述第一安装段、所述第二安装段分别垂直连接于所述连接段两侧并呈相互背离方向延伸，所述滑块装设于所述第一安装段上，所述第二驱动机构装设在所述第二安装段上。
- 根据权利要求9所述的介入手术机器人从端驱动装置，其中，所述机架上还装设有拖链，所述拖链用于收纳与所述第二驱动机构电性连接的导线组，所述拖链的延伸方向与所述细长型医疗器械递送方向一致。
- 根据权利要求12所述的介入手术机器人从端驱动装置，其中，还包括用于检测所述第二驱动机构移动距离的位移检测部件，所述位移检测部件包括装设于所述机架上的主尺和装设于所述连接板上的读数头，所述主尺设于所述拖链和所述导轨之间，且延伸方向与细长型医疗器械递送方向一致，所述读数头与所述主尺的位置相对应。
- 根据权利要求13所述的介入手术机器人从端驱动装置，其中，所述主尺为光栅尺或磁栅尺，所述读数头与所述光栅尺或所述磁栅尺相对应。
- 根据权利要求1所述的介入手术机器人从端驱动装置，其中，所述第一驱动机构上设有用于递送细长型医疗器械的轴线递送组件，所述轴线递送组件包括若干个可转动地装设于所述第一驱动机构上的辊轮以及装设于所述第一驱动机构上用于驱动所述辊轮转动的驱动单元，若干个所述辊轮设置在细长型医疗器械的两侧。
- 根据权利要求15所述的介入手术机器人从端驱动装置，其中，还包括罩设于所述第一驱动机构和所述第二驱动机构上的外罩，所述外罩与所述第一驱动机构围成一收纳所述轴线递送组件的隔离空间。
- 根据权利要求15所述的介入手术机器人从端驱动装置，其中，第二驱动机构的递送行程是0.3m-1.5m。
- 一种细长型医疗器械递送方法，应用于所述权利要求1-17中任一项所述的介入手术机器人从端驱动装置，其特征在于，包括：由所述第一驱动机构夹持所述细长型医疗器械的一端，所述第二驱动机构夹持所述细长型医疗器械的另一端，其中，所述第一驱动机构和所述第二驱动机构之间的导管为弯曲状态；直至所述检测部件检测到第一驱动机构和第二驱动机构之间的细长型医疗器械被拉直，启动所述第二驱动机构对细长型医疗器械的后端进行递送，所述第二驱动机构递送所述细长型医疗器械的速度与所述第一驱动机构递送所述细长型医疗器械的速度相同。
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