CN217090898U - From end intervention operation robot drive arrangement with fast traffic function - Google Patents
From end intervention operation robot drive arrangement with fast traffic function Download PDFInfo
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- CN217090898U CN217090898U CN202122364051.0U CN202122364051U CN217090898U CN 217090898 U CN217090898 U CN 217090898U CN 202122364051 U CN202122364051 U CN 202122364051U CN 217090898 U CN217090898 U CN 217090898U
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Abstract
The utility model provides a from end intervention operation robot drive arrangement with fast function of handing over, includes the drive seat, the drive seat including the shell main part that has the installation face and install in the device is handed over soon of installation face, the device is handed over soon includes just to driven device and the drive arrangement that sets up, forces the separating mechanism of driven device and the separation of drive arrangement, when will be in when centre gripping microscler medical instrument between driven device and the drive arrangement, the drive separating mechanism lets driven device and drive arrangement separate, when microscler medical instrument arranges in between driven device and the drive arrangement, driven device and drive arrangement mutually support to centre gripping medical instrument and drive microscler medical instrument displacement. The utility model discloses the structure is nimble, can accomplish medical instrument at the dismouting of fast handing over device fast, practices thrift operating time.
Description
Technical Field
The utility model relates to a medical instrument robot field device especially relates to a from end intervention operation robot drive arrangement with fast handing over function.
Background
Interventional therapy is a minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, and the incision (puncture point) of the doctor is only rice grain in size, so that a plurality of diseases which cannot be treated in the past and have poor curative effect such as tumors, hemangiomas, various kinds of bleeding and the like can be treated without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
For the blood vessel interventional operation, doctors need to receive X-ray radiation for a long time, and therefore, a master-slave blood vessel interventional operation robot for remote operation is developed in engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment.
The operation robot is at the in-process of carrying out the operation, for realizing quick replacement medical equipment, generally can set up the fast handing over structure on drive arrangement, but the fast handing over structure of current equipment receives the influence of project organization, and the structure is not nimble enough, and medical instrument is not convenient for the dismouting on the fast handing over mechanism, brings the puzzlement for the operator.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a novel drive device for a slave-end interventional surgical robot with a quick-transit function, which overcomes the disadvantages of the prior art.
The utility model provides a from end intervention operation robot drive arrangement with fast function of handing over, its includes the drive seat, the drive seat including the shell main part that has the installation face and install in the device is handed over soon of installation face, the device is handed over soon including just to driven device and the drive arrangement that sets up, force the separating mechanism of driven device and drive arrangement separation, when will be in when centre gripping microscler medical instrument between driven device and the drive arrangement, the drive separating mechanism lets driven device and drive arrangement separate, when microscler medical instrument arranges in between driven device and the drive arrangement, driven device and drive arrangement mutually support to centre gripping medical instrument and drive microscler medical instrument displacement.
Furthermore, the separating mechanism comprises a fixed block fixed on the mounting surface and a movable block sliding relative to the fixed block, and the driven device is mounted on the movable block and can leave the driving device along with the movable block.
Furthermore, a pushing block for separating the driven device from the driving device is arranged on the movable block.
Furthermore, the separating mechanism further comprises a guide shaft which is arranged on the fixed block and allows the movable block to slide, and a spring which is arranged between the fixed block and the movable block and allows the driven device and the driving device to be matched with each other.
Furthermore, the separating mechanism further comprises an installation shaft arranged on the movable block, the driven device is a driven wheel rotatably arranged on the installation shaft, and the driving device comprises a driving shaft arranged on the installation surface and a driving wheel arranged on the driving shaft and corresponding to the driven wheel.
Furthermore, the mounting shaft is provided with a connecting plate for separating the driven wheel and the driving wheel.
Furthermore, the quick-crossing device also comprises a conversion device and a gear set, wherein the conversion device drives the driving device to rotate through the gear set.
Furthermore, the driving device also comprises a driving gear arranged on the driving shaft, and the gear set is meshed with the driving gear of the driving device.
Furthermore, the gear set comprises a connecting shaft penetrating through the mounting surface, and a first gear and a second gear which are arranged at two ends of the connecting shaft, wherein the first gear is positioned on the mounting surface and meshed with the driving gear, and the second gear is positioned on the back surface of the mounting surface.
Further, the conversion device comprises an installation frame installed on the back surface of the installation surface, a rotating shaft installed on the installation frame and capable of rotating on the installation frame, an input gear and an output gear connected to two ends of the rotating shaft, and the output gear is meshed with the second gear.
Furthermore, the drive device of the slave intervention surgical robot with the quick-handing function further comprises a power seat provided with a main drive gear, and when the drive seat is installed on the power seat, the main drive gear is meshed with the input gear.
Further, the main driving gear, the input gear and the output gear are all bevel gears.
Further, the shell main part is equipped with the butt joint groove with power seat complex one end, the drive seat can remove the cooperation installation through butt joint groove and power seat.
To sum up, the utility model discloses intervene operation robot drive arrangement from end with fast friendship function is through setting up separating mechanism, driven device installs on separating mechanism, but operator manual drive separating mechanism lets driven device and active device separate in order to place or take out medical instrument, the utility model discloses the structure flexibility is good, can accomplish medical instrument fast and practice thrift operating time in the dismouting of fast friendship device, and the practicality is strong.
Drawings
Fig. 1 is a schematic structural view of the driving seat and the power seat of the driving device of the slave-end interventional surgical robot with the quick-transit function of the present invention when being assembled;
FIG. 2 is a schematic structural view of the first driving seat and the power seat shown in FIG. 1 at another angle during assembly;
FIG. 3 is a schematic structural view of the driving seat of the present invention after the outer box is opened;
FIG. 4 is a schematic structural view of a quick-cross apparatus on the driving seat shown in FIG. 3;
fig. 5 is a schematic structural view of the fast crossing device shown in fig. 4 at another angle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 5, the present invention provides a drive device for a slave-end intervention surgical robot with a quick-handing function, which is installed on a slave-end robot to implement delivery operation of a medical device 100, the drive device for a slave-end intervention surgical robot with a quick-handing function comprises a power seat 10 and a drive seat 20, the drive seat 20 can be freely detached from the power seat 10 to take down or install the drive seat 20 from the power seat 10 according to actual use requirements, and the drive seat 20 is a disposable consumable material and cannot be reused, and the medical device 100 can be a guide wire or a catheter (such as a microcatheter, a balloon catheter, etc.) of different types.
The driving seat 20 comprises a shell body 21 with a mounting surface 22 and a quick-cross device 30 mounted on the mounting surface 22, wherein a butt joint groove 211 is formed in one end, matched with the power seat 10, of the shell body 21, the driving seat 20 is manually and removably installed in a matched manner with the power seat 10 through the butt joint groove 211, and the quick-cross device 30 comprises a driven device 32 and a driving device 31 which are oppositely arranged, and a separation mechanism 33 forcing the driven device 32 and the driving device 31 to be separated.
The separating mechanism 33 includes a fixed block 331 fixed on the mounting surface 22, a movable block 332 located on the fixed block 331 and sliding relative to the fixed block 331, a guide shaft 335 installed on the fixed block 331 and slidably guiding the movable block 332, a spring disposed between the fixed block 331 and the movable block 332 and allowing the driven device 32 and the driving device 31 to be engaged with each other, and a mounting shaft 334 installed on the movable block 332, wherein the driven device 32 is installed on the movable block 332 and can be separated from the driving device 31 along with the movable block 332. In this embodiment, the driving device 31 includes a driving shaft 312 mounted on the mounting surface 22, a driving wheel 311 mounted on an end of the driving shaft 312 and disposed corresponding to the driven wheel 321, and a driving gear 313 mounted on the driving shaft 312. The driven device 32 is a driven wheel 321 rotatably mounted on a mounting shaft 334, the movable block 332 is provided with a push block 333 for manually separating the driven device 32 from the driving device 31, and the mounting shaft 334 is provided with a connecting plate 336 for manually separating the driven wheel 321 from the driving wheel 311. The outer surfaces of the driven wheel 321 and the driving wheel 311 are attached with protective layers, and the protective layers may be made of silica gel or latex materials, such as materials used for manufacturing gloves for doctors.
The quick-exchanging device 30 further comprises a switching device 34 and a gear set 35, wherein the switching device 34 drives the driving device 31 to rotate through the gear set 35, and the gear set 35 is meshed with the driving gear 313 of the driving device 31. Specifically, the gear set 35 includes a connecting shaft 351 penetrating the mounting surface 22, and a first gear 352 and a second gear 353 mounted at two ends of the connecting shaft 351, the first gear 352 is located on the mounting surface 22 and meshed with the driving gear 313, the second gear 353 is located at the back of the mounting surface 22, and the second gear 353 is connected to the conversion device 34.
The conversion device 34 includes a mounting frame 341 mounted on the back surface of the mounting surface 22, a rotating shaft 342 mounted on the mounting frame 341 and rotatable on the mounting frame 341, an input gear 343 and an output gear 344 connected to both ends of the rotating shaft 342, wherein the output gear 344 is engaged with the second gear 353. The power base 10 comprises a main driving motor 11 and a main driving gear 12 connected to the main driving motor 11, when the driving base 20 is installed on the power base 10, the main driving gear 12 is engaged with the input gear 343, and in order to change the power transmission direction in the vertical direction, the main driving gear 12, the input gear 343, and the output gear 344 are all bevel gears.
The driving seat 20 is installed on the power seat 10, and the main driving gear 12 on the power seat 10 is meshed with the input gear 343 on the driving seat 20 to realize power transmission. When the elongated medical device 100 is to be clamped between the driven device 32 and the driving device 31, the pushing block 333 or the connecting plate 336 is pressed outward, the driven device 32 and the driving device 31 are in a separated state, and the spring further elastically contracts. Then, the elongated medical device 100 is placed between the driven device 32 and the driving device 31, the pushing block 333 is released, the spring pushes the movable block 332 and the driven wheel 321 indirectly connected to the movable block 332, and the driven wheel 321 is pressed on the driving wheel 311 to clamp the elongated medical device 100. The driving gear 12 of the power base 10 drives the driving wheel 311 to rotate through the switching device 34 and the gear set 35, and since the long medical device 100 is clamped between the driving wheel 311 and the driven wheel 321, the driving wheel 311 synchronously drives the long medical device 100 to deliver or withdraw when rotating, and the driven wheel 321 rotates along with the driving wheel.
To sum up, the utility model discloses intervene surgical robot drive arrangement from end with fast friendship function is through setting up separating mechanism 33, just driven device 32 is installed on separating mechanism 33, but the operator manual drive separating mechanism 33 lets driven device 32 and 31 separation of initiative device are in order to place or take out medical instrument 100, the utility model discloses the structure is nimble, can accomplish medical instrument fast and in the dismouting of fast friendship device 30, practices thrift operating time, and the practicality is strong.
The above-described embodiments only represent one embodiment of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the spirit of the invention, and these are within the scope of the invention. Therefore, the protection scope of the utility model should be subject to the appended claims.
Claims (13)
1. The utility model provides a from end intervention operation robot drive arrangement with fast handing over function, its characterized in that, includes the drive seat, the drive seat including the shell main part that has the installation face and install in the device is handed over soon of installation face, the device is handed over soon including just driven device and the drive arrangement that sets up, compels the separating mechanism of driven device and drive arrangement separation, when will be in when centre gripping microscler medical instrument between driven device and the drive arrangement, the drive separating mechanism lets driven device and drive arrangement separate, when microscler medical instrument is arranged in between driven device and the drive arrangement, driven device and drive arrangement mutually support to centre gripping medical instrument and drive microscler medical instrument displacement.
2. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 1, wherein: the separation mechanism comprises a fixed block fixed on the mounting surface and a movable block sliding relative to the fixed block, and the driven device is mounted on the movable block and can leave the driving device along with the movable block.
3. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 2, wherein: and the movable block is provided with a push block for separating the driven device from the driving device.
4. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 2, wherein: the separating mechanism also comprises a guide shaft which is arranged on the fixed block and allows the movable block to slide, and a spring which is arranged between the fixed block and the movable block and allows the driven device and the driving device to be matched with each other.
5. A slave-end-intervention surgical robot driving device with a quick-transit function according to claim 4, wherein: the separating mechanism further comprises an installation shaft arranged on the movable block, the driven device is a driven wheel rotatably arranged on the installation shaft, and the driving device comprises a driving shaft arranged on the installation surface and a driving wheel arranged on the driving shaft and corresponding to the driven wheel.
6. A slave-end-intervention surgical robot drive device with a fast-transit function, according to claim 5, wherein: and the mounting shaft is provided with a connecting plate for separating the driven wheel and the driving wheel.
7. A slave-end-intervention surgical robot drive device with a fast-transit function, according to claim 5, wherein: the quick-crossing device further comprises a conversion device and a gear set, wherein the conversion device drives the driving device to rotate through the gear set.
8. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, according to claim 7, wherein: the driving device also comprises a driving gear arranged on the driving shaft, and the gear set is meshed with the driving gear of the driving device.
9. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, according to claim 8, wherein: the gear set comprises a connecting shaft penetrating through the mounting surface, and a first gear and a second gear which are arranged at two ends of the connecting shaft, the first gear is positioned on the mounting surface and meshed with the driving gear, and the second gear is positioned on the back of the mounting surface.
10. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, according to claim 9, wherein: the conversion device comprises a mounting frame arranged on the back surface of the mounting surface, a rotating shaft arranged on the mounting frame and capable of rotating on the mounting frame, an input gear and an output gear, wherein the input gear and the output gear are connected to two ends of the rotating shaft, and the output gear is meshed with the second gear.
11. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, as recited in claim 10, wherein: the drive device of the slave intervention operation robot with the quick delivery function further comprises a power seat provided with a main drive gear, and when the drive seat is installed on the power seat, the main drive gear is meshed with the input gear.
12. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, as recited in claim 11, wherein: the main driving gear, the input gear and the output gear are all bevel gears.
13. A slave-end-intervention surgical robot drive apparatus with a fast-transit function, as recited in claim 11, wherein: the shell main part is equipped with the butt joint groove with power seat complex one end, drive seat can remove the cooperation installation through butt joint groove and power seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122364051.0U CN217090898U (en) | 2021-09-28 | 2021-09-28 | From end intervention operation robot drive arrangement with fast traffic function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122364051.0U CN217090898U (en) | 2021-09-28 | 2021-09-28 | From end intervention operation robot drive arrangement with fast traffic function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217090898U true CN217090898U (en) | 2022-08-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122364051.0U Active CN217090898U (en) | 2021-09-28 | 2021-09-28 | From end intervention operation robot drive arrangement with fast traffic function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217090898U (en) |
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2021
- 2021-09-28 CN CN202122364051.0U patent/CN217090898U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |
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| CP03 | Change of name, title or address |