WO2023016121A1 - Interventional surgical robot slave end driving device with protective isolation function - Google Patents
Interventional surgical robot slave end driving device with protective isolation function Download PDFInfo
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- WO2023016121A1 WO2023016121A1 PCT/CN2022/102252 CN2022102252W WO2023016121A1 WO 2023016121 A1 WO2023016121 A1 WO 2023016121A1 CN 2022102252 W CN2022102252 W CN 2022102252W WO 2023016121 A1 WO2023016121 A1 WO 2023016121A1
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- clamping
- protection
- slave
- driving device
- surgery robot
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- 230000001681 protective effect Effects 0.000 title claims abstract description 13
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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
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Definitions
- the invention relates to a device in the field of medical equipment and robots, in particular to a slave end drive device for an interventional operation robot with a function of protection and isolation.
- 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.
- Interventional therapy expands the doctor's field of vision, and extends the doctor's hands with the help of catheters and guide wires. Its incision (puncture point) is only the size of a grain of rice, and it can treat many diseases that could not be treated in the past and must be treated without cutting human tissue. Surgical treatment or medical treatment of poor efficacy of disease, such as tumors, hemangiomas, various bleeding and so on. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good results. It is the development trend of future medicine.
- vascular interventional surgery doctors need to receive X-ray radiation for a long time. For this reason, a master-slave vascular interventional surgery robot with remote operation has been developed.
- the master-slave vascular interventional surgery robot can work in the environment of strong radiation, and the doctor controls it outside the radiation environment.
- the surgical robot In the process of rotating the guide wire (or catheter) from the end, the surgical robot needs to be driven by a corresponding transmission mechanism.
- the transmission mechanism controls the guide wire (or catheter)
- the inside of the transmission mechanism is easily exposed to the air or is exposed to air. Blood and other residual fluids are polluted during the operation.
- the transmission mechanism after each operation needs to be discarded as a consumable to avoid the reuse of the contaminated transmission mechanism. Because the transmission mechanism The precision requirements for transmission and control are high, and the corresponding cost is also high.
- the transmission mechanism is directly discarded as a consumable, which will undoubtedly increase the medical cost of the patient and increase the financial burden of the patient.
- a slave end drive device for an interventional surgery robot with a protective isolation function which is installed on the slave end of the interventional surgery robot, and includes a rubbing mechanism and a frame, and the rubbing mechanism includes two oppositely arranged clamping groups and a drive
- the two clamping groups clamp the driving assembly of the guide wire catheter
- each of the clamping groups includes a clamping part and a positioning part
- the frame includes a first housing for accommodating the driving assembly.
- the first casing is protrudingly provided with two extension cylinders, and each of the extension cylinders is provided with a through hole penetrating to the inside, and the position adjustment parts of the two clamping groups respectively pass through the two through holes of the first casing and Cooperating with the drive assembly, the clamping parts of the two clamping groups are respectively wrapped around the outer sides of the two extension cylinders of the first housing.
- clamping portion and the positioning portion of each clamping group are distributed in a T shape.
- the clamping part is provided with a card slot extending inward, and the position adjustment part is detachably installed in the card slot.
- a gap is formed between the outer surface of the position adjustment part and the locking groove.
- the groove depth of the locking groove is greater than the length of the extension cylinder.
- the frame and the rubbing mechanism are non-consumable parts.
- the consumable part includes a cover, and the cover is sheathed on the outside of the clamping part.
- the consumable part also includes a buffer, and the buffer is adhered to the outer cover.
- the buffer is made of silica gel.
- the consumable part also includes a second housing for accommodating the first housing, the second housing includes a receiving part and a docking part connected to one end of the receiving part, the receiving part is hollow, and the An opening is provided at the upper end of the docking part, and the clamping parts and the outer cover of the two clamping groups are placed in the opening of the docking part on the second housing.
- the guide groove is arranged in a V shape, and the width of the guide groove gradually decreases from the edge to the inside.
- the consumable part also includes a cover that can be freely disassembled from the second casing, and the cover is covered on the docking portion.
- cover and the second casing are fixed by magnetic attraction.
- the cover is provided with a clamping plate, and the clamping plate cooperates with the guide groove to limit the position of the guide wire or catheter.
- an avoidance groove is provided at the bottom of the clamping plate.
- the second casing is fixed to the first casing by means of magnetic attraction.
- the rubbing mechanism is installed on the inner frame, and the frame is sheathed on the outer side of the inner frame and the rubbing mechanism.
- a supporting foot is protruded from one side of the first casing.
- the interventional surgery robot with protection and isolation function of the present invention is equipped with a positioning part and a clamping part on the clamping group, and an extension cylinder is provided on the first housing, and the two clamping parts
- the position adjustment parts of the group respectively pass through the perforations of the two extension tubes on the first housing and are installed in cooperation with the first drive assembly.
- the clamping part remains wrapped around the outside of the extension tubes to ensure The internal space is isolated from the outside world. After use, there is no need to replace the entire device, which effectively reduces the cost of using the product and reduces the economic burden of patients. It is also compact in structure, takes up less space, and has strong practicability, which has strong promotional significance.
- Fig. 1 is the structural schematic diagram of the slave end drive device of the interventional surgery robot with protective isolation function of the present invention
- Fig. 2 is an exploded view of the slave end drive device of the interventional surgery robot with protective isolation function shown in Fig. 1;
- Fig. 3 is an exploded view from another angle of the end drive device of the interventional surgery robot with protective isolation function shown in Fig. 2;
- Fig. 4 is a further exploded view of the slave end drive device of the interventional surgery robot with protective isolation function shown in Fig. 2;
- Fig. 5 is an exploded view from another angle of the end drive device of the interventional surgery robot with protective isolation function shown in Fig. 4;
- Fig. 6 is a structural schematic view of the interventional surgery robot with the protection and isolation function when the clamping group and the first drive assembly are installed in cooperation with the drive device at the slave end.
- the present invention provides an interventional surgery robot slave end drive device with protection and isolation functions, which is installed on the interventional surgery robot slave end to push elongated medical instruments (guide wires or catheters) ) 100 performs clamping, forward rotation, and reverse operations, and pushes the slender medical device 100, that is, the forward rotation of the guide wire or catheter refers to the direction in which the guide wire or catheter rotates into the patient's body, and the reverse refers to the direction in which the guide wire or catheter enters the patient's body. The catheter is rotated out of the direction of the surgical patient's body.
- the drive device of the interventional surgery robot with protective isolation function includes a frame 10, an inner frame 20 and a rubbing mechanism.
- the rubbing mechanism is installed on the inner frame 20, and the frame 10 is sleeved on the inner frame 20. And the outside of the rubbing mechanism, so that the outside world is isolated from the rubbing mechanism.
- the rubbing mechanism includes two clamping groups 30, a first drive assembly 40 and a second drive assembly 50 which are arranged oppositely.
- the first drive assembly 40 drives the two clamping groups 30 to approach or move away from each other along the first direction.
- the driving assembly 50 drives the two clamping groups 30 clamping the guide wire catheter to move in opposite directions along a second direction different from the first direction, rubbing the guide wire catheter to rotate, and the first direction and the second direction are perpendicular to each other , the frame 10 supports the guide wire or catheter.
- Both clamping groups 30 include a clamping portion 31 and a positioning portion 32, the clamping portion 31 and the positioning portion 32 are distributed in a T-shape, and the bottom surface of the clamping portion 31 is provided with an inwardly extending card.
- Slot 35 the upper end of the positioning part 32 is detachably installed in the slot 35, a gap is formed between the outer surface of the positioning part 32 and the slot 35, and the bottom of the positioning part 32 is provided There are several adjusting slots extending inward.
- the frame 10 includes a first housing 11, the first housing 11 is arranged in a hollow structure as a whole, and the top surface of the first housing 11 is protrudingly provided with two extension cylinders 111, and each of the extension cylinders has a A through hole 112 penetrating along the second direction is provided, and a supporting foot 113 protrudes from one side of the first housing 11 .
- the first driving assembly 40, the second driving assembly 50 and the inner frame 20 of the rubbing mechanism are installed in the first housing 11, and the position adjustment parts 32 of the two clamping groups 30 respectively pass through the first
- the perforations 112 of the two extension tubes 111 on the housing 11 are installed in cooperation with the corresponding first guide rods 44 on the first drive assembly 40 through their positioning grooves, so that the entire clamping group 30 can move along the two first guide rods 44 Slide back and forth in the second direction.
- the second drive assembly 50 drives the two clamping groups 30 to slide along the corresponding first guide rod 44, and the clamping parts 31 of the two clamping groups 30 Keep wrapped on the outside of the extension tube 111 to ensure the isolation of the inner space from the outside world.
- the frame 10, the inner frame 20 and the rubbing mechanism are non-consumable parts.
- the present invention also includes a consumable part.
- the consumable part includes an outer cover 33 and a buffer member 34.
- the outer cover 33 is sleeved on the clamping part 31 outside, the buffer member 34 is bonded to the outer cover 33, and the buffer members 34 of the two clamping groups 30 are arranged oppositely.
- the buffer member 34 has elasticity, which can prevent the clamping group 30 from clamping the catheter or guide wire If the force is too large, the catheter or guide wire will be damaged.
- the buffer member 34 is made of silica gel.
- the consumable part also includes a second housing 12 and a cover 13 for accommodating the first housing 11, the second housing 12 includes a receiving portion 121 and a docking portion 122 connected to the upper end of the receiving portion 121, the The accommodating portion 121 is hollow, and the upper end of the docking portion 122 is provided with an elongated opening 123 extending along the first direction.
- the edge position of the opening 123 along the third direction is provided with two guide grooves 124 oppositely arranged.
- the guide grooves 124 It is arranged in a V shape, and the groove width of the guide groove 124 gradually decreases from the edge to the inside.
- the third direction is perpendicular to the first direction and the second direction.
- the second housing 12 When in use, the second housing 12 is sheathed on the outside of the first housing 11 along the second direction, and the second housing 12 and the first housing 11 are provided with magnets and/or iron blocks, which are magnetically attracted.
- the method is to ensure that the first shell 11 and the second shell 12 are not easy to loosen when they are matched, and can be disassembled freely.
- the guide groove 124 By setting the guide groove 124, the guide wire catheter can be installed more conveniently, and the guide groove 124 can carry out the guide wire catheter support.
- clamping parts 31 of the two clamping groups 30 and the outer cover 33 and the buffer member 34 sleeved thereon are placed in the opening 123 of the butt joint part 122 on the second housing 12, and their central positions are facing the two V-shaped Guide groove 124; cover the face cover 13 on the docking portion 122, the face cover 13 and the second housing 12 are also provided with magnets and/or iron blocks, and the face cover 13 is closed in place by magnetic attraction And it can be freely disassembled from the second housing 12.
- the cover 13 is provided with a clamping plate 131, and the clamping plate 131 cooperates with the guide groove 124 to limit the guide wire or catheter, allowing it to rotate around the center of the axis, and for The matching effect is better, and the bottom of the clamping plate 131 is provided with an escape groove 132 .
- the interventional surgery robot slave end drive device with protection and isolation function of the present invention sets the positioning part 32 and the clamping part 31 on the clamping group 30, and sets the extension cylinder 111 on the first housing 11,
- the position adjustment parts 32 of the two clamping groups 30 respectively pass through the perforations 112 of the two extension cylinders 111 on the first housing 11 and are installed in cooperation with the first drive assembly 40.
- clamp The holding part is kept wrapped on the outside of the extension tube 111 to ensure the isolation of the internal space from the outside world. After use, there is no need to replace the entire device, which effectively reduces the cost of use of the product and reduces the economic burden of the patient. It has a compact structure and takes up less space. Strong practicability and strong promotional significance.
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- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
An interventional surgical robot slave end driving device with a protective isolation function. The device is mounted at a slave end of an interventional surgical robot and comprises a rubbing mechanism and a machine frame (10), wherein the rubbing mechanism comprises two clamping assemblies (30) arranged opposite each other and a drive component, each clamping assembly (30) comprising a clamping portion (31) and a position adjustment portion (32); and the machine frame (10) is provided with two extension tubes (111), the position adjustment portions (32) of the clamping assemblies (30) pass through the extension tubes (111) and are then fitted and mounted to the drive component, and the clamping portions (31) of the clamping assemblies (30) are wrapped outside the extension tubes (111) when the drive component drives the clamping assemblies (30) to work. The entire device does not need to be replaced after being used, thereby effectively reducing the use cost of a product to reduce the economic burden of patients. In addition, the device has a compact structure, small occupied space, high practicability and relatively high promotion significance.
Description
本申请要求申请日为2021年08月10日、申请号为202110912452.7、发明名称为“一种具有防护隔离功能的介入手术机器人从端驱动装置”的中国专利申请，以及申请日为2021年08月31日、申请号为202111018209.7、发明名称为“一种具有防护隔离功能的介入手术机器人从端驱动装置”的中国专利申请的优先权，此两件中国专利申请的全部内容通过引用结合在本申请中。This application requires a Chinese patent application with an application date of August 10, 2021, an application number of 202110912452.7, and an invention title of "A slave-end drive device for an interventional surgery robot with a protective isolation function", and an application date of August 2021 On the 31st, the priority of the Chinese patent application with the application number 202111018209.7 and the title of the invention "A Slave Drive Device for Interventional Surgery Robot with Protection and Isolation Function", the entire contents of these two Chinese patent applications are incorporated in this application by reference middle.
本发明涉及一种医疗器械机器人领域装置，尤其涉及一种具有防护隔离功能的介入手术机器人从端驱动装置。The invention relates to a device in the field of medical equipment and robots, in particular to a slave end drive device for an interventional operation robot with a function of protection and isolation.
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。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.
介入治疗应用数字技术，扩大了医生的视野，借助导管、导丝延长了医生的双手，它的切口(穿刺点)仅有米粒大小，不用切开人体组织，就可治疗许多过去无法治疗、必须手术治疗或内科治疗疗效欠佳的疾病，如肿瘤，血管瘤，各种出血等。介入治疗具有不开刀，创伤小，恢复快，效果好的特点。是未来医学的发展趋势。The application of digital technology in interventional therapy expands the doctor's field of vision, and extends the doctor's hands with the help of catheters and guide wires. Its incision (puncture point) is only the size of a grain of rice, and it can treat many diseases that could not be treated in the past and must be treated without cutting human tissue. Surgical treatment or medical treatment of poor efficacy of disease, such as tumors, hemangiomas, various bleeding and so on. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good results. It is the development trend of future medicine.
血管介入手术中医生需要长期接收X射线的辐射，为此工程上开发了远隔操作的主从式血管介入手术机器人。主从式血管介入手术机器人可以在强烈辐射的环境下工作，医生则在射线环境之外对其控制。In vascular interventional surgery, doctors need to receive X-ray radiation for a long time. For this reason, a master-slave vascular interventional surgery robot with remote operation has been developed. The master-slave vascular interventional surgery robot can work in the environment of strong radiation, and the doctor controls it outside the radiation environment.
从端手术机器人在执行导丝(或导管)转动的过程中，需要相应的传动机构带动，传动机构实现对导丝(或导管)的操控过程中，传动机构内部容易暴露在空气中或者是被手术过程中的血液等残液污染，为保证手术安全，实现手术在无菌环境中操作，需要将每次手术完后的传动机构作为耗材丢弃，避免被 污染的传动机构重复使用，由于传动机构对传送及控制的精密度要求较高，其对应的造价成本也较高，传动机构作为耗材直接丢弃，无疑增大患者的医疗成本，增大患者的经济负担。In the process of rotating the guide wire (or catheter) from the end, the surgical robot needs to be driven by a corresponding transmission mechanism. When the transmission mechanism controls the guide wire (or catheter), the inside of the transmission mechanism is easily exposed to the air or is exposed to air. Blood and other residual fluids are polluted during the operation. In order to ensure the safety of the operation and realize the operation in a sterile environment, the transmission mechanism after each operation needs to be discarded as a consumable to avoid the reuse of the contaminated transmission mechanism. Because the transmission mechanism The precision requirements for transmission and control are high, and the corresponding cost is also high. The transmission mechanism is directly discarded as a consumable, which will undoubtedly increase the medical cost of the patient and increase the financial burden of the patient.
发明内容Contents of the invention
基于此，有必要针对现有技术中的不足，提供一种新型的具有防护隔离功能的介入手术机器人从端驱动装置。Based on this, it is necessary to address the deficiencies in the prior art and provide a new type of slave-end drive device for interventional surgery robots with a protective isolation function.
一种具有防护隔离功能的介入手术机器人从端驱动装置，其装设于介入手术机器人从端上，其包括搓动机构及机架，所述搓动机构包括相对设置的两夹持组及驱动所述两夹持组夹持导丝导管的驱动组件，每一所述夹持组包括夹持部、调位部，所述机架包括用于***述驱动组件的第一壳体，所述第一壳体凸设有两延伸筒，每一所述延伸筒上设有贯穿至内部的穿孔，所述两夹持组的调位部分别穿过所述第一壳体的两穿孔并与所述驱动组件配合安装，所述两夹持组的夹持部分别包裹在所述第一壳体的两延伸筒的外侧。A slave end drive device for an interventional surgery robot with a protective isolation function, which is installed on the slave end of the interventional surgery robot, and includes a rubbing mechanism and a frame, and the rubbing mechanism includes two oppositely arranged clamping groups and a drive The two clamping groups clamp the driving assembly of the guide wire catheter, each of the clamping groups includes a clamping part and a positioning part, and the frame includes a first housing for accommodating the driving assembly. The first casing is protrudingly provided with two extension cylinders, and each of the extension cylinders is provided with a through hole penetrating to the inside, and the position adjustment parts of the two clamping groups respectively pass through the two through holes of the first casing and Cooperating with the drive assembly, the clamping parts of the two clamping groups are respectively wrapped around the outer sides of the two extension cylinders of the first housing.
进一步地，每一所述夹持组的夹持部与调位部呈T形分布。Further, the clamping portion and the positioning portion of each clamping group are distributed in a T shape.
进一步地，所述夹持部设有向内延伸的卡槽，所述调位部的可拆卸地装设于所述卡槽内。Further, the clamping part is provided with a card slot extending inward, and the position adjustment part is detachably installed in the card slot.
进一步地，所述调位部的外侧面与所述卡槽之间形成有间隙。Further, a gap is formed between the outer surface of the position adjustment part and the locking groove.
进一步地，所述卡槽的槽深大于所述延伸筒的长度。Further, the groove depth of the locking groove is greater than the length of the extension cylinder.
进一步地，包括耗材部分及非耗材部分，所述机架及搓动机构为非耗材部分。Further, it includes a consumable part and a non-consumable part, and the frame and the rubbing mechanism are non-consumable parts.
进一步地，所述耗材部分包括外罩，所述外罩套设于夹持部外侧。Further, the consumable part includes a cover, and the cover is sheathed on the outside of the clamping part.
进一步地，所述耗材部分还包括缓冲件，所述缓冲件粘接于外罩上。Further, the consumable part also includes a buffer, and the buffer is adhered to the outer cover.
进一步地，所述缓冲件的材质为硅胶。Further, the buffer is made of silica gel.
进一步地，所述耗材部分还包括用于收容第一壳体的第二壳体，所述第二壳体包括收容部及连接于收容部一端的对接部，所述收容部呈中空设置，所述对接部上端设有一开口，两夹持组的夹持部及外罩置于第二壳体上的对接部的开口内。Further, the consumable part also includes a second housing for accommodating the first housing, the second housing includes a receiving part and a docking part connected to one end of the receiving part, the receiving part is hollow, and the An opening is provided at the upper end of the docking part, and the clamping parts and the outer cover of the two clamping groups are placed in the opening of the docking part on the second housing.
进一步地，所述开口的边缘位置设有相对设置的两导槽。Further, two opposite guide grooves are provided at the edge of the opening.
进一步地，所述导槽呈V形设置，导槽槽宽由边缘向内逐渐缩小。Further, the guide groove is arranged in a V shape, and the width of the guide groove gradually decreases from the edge to the inside.
进一步地，所述耗材部分还包括可从第二壳体上自由拆装的面盖，所述面盖盖在对接部上。Further, the consumable part also includes a cover that can be freely disassembled from the second casing, and the cover is covered on the docking portion.
进一步地，所述面盖与所述第二壳体通过磁性吸合的方式固定。Further, the cover and the second casing are fixed by magnetic attraction.
进一步地，所述面盖上设有卡板，所述卡板配合导槽对导丝或导管进行限位。Further, the cover is provided with a clamping plate, and the clamping plate cooperates with the guide groove to limit the position of the guide wire or catheter.
进一步地，所述卡板的底部设有避让槽。Further, an avoidance groove is provided at the bottom of the clamping plate.
进一步地，所述第二壳体与第一壳体通过磁性吸合的方式固定。Further, the second casing is fixed to the first casing by means of magnetic attraction.
进一步地，还包括内架，所述搓动机构装设于所述内架上，所述机架套设于所述内架及所述搓动机构的外侧。Further, it also includes an inner frame, the rubbing mechanism is installed on the inner frame, and the frame is sheathed on the outer side of the inner frame and the rubbing mechanism.
进一步地，所述第一壳体的一侧位置还凸设有支撑脚。Further, a supporting foot is protruded from one side of the first casing.
综上所述，本发明具有防护隔离功能的介入手术机器人从端驱动装置通过在夹持组上设置调位部及夹持部，并且在第一壳体上设置延伸筒，所述两夹持组的调位部分别穿过第一壳体上两延伸筒的穿孔并与所述第一驱动组件配合安装，导丝或导管在递送过程中，夹持部保持包裹在延伸筒的外侧，保证内部空间与外界的隔离，使用完后，无需更换整个装置，有效缩减产品的使用成本，减轻患者的经济负担，而且结构紧凑，占用空间较小，实用性强，具有较强的推广意义。To sum up, the interventional surgery robot with protection and isolation function of the present invention is equipped with a positioning part and a clamping part on the clamping group, and an extension cylinder is provided on the first housing, and the two clamping parts The position adjustment parts of the group respectively pass through the perforations of the two extension tubes on the first housing and are installed in cooperation with the first drive assembly. During the delivery process of the guide wire or catheter, the clamping part remains wrapped around the outside of the extension tubes to ensure The internal space is isolated from the outside world. After use, there is no need to replace the entire device, which effectively reduces the cost of using the product and reduces the economic burden of patients. It is also compact in structure, takes up less space, and has strong practicability, which has strong promotional significance.
图1为本发明具有防护隔离功能的介入手术机器人从端驱动装置的结构示意图；Fig. 1 is the structural schematic diagram of the slave end drive device of the interventional surgery robot with protective isolation function of the present invention;
图2为图1所示具有防护隔离功能的介入手术机器人从端驱动装置的分解图；Fig. 2 is an exploded view of the slave end drive device of the interventional surgery robot with protective isolation function shown in Fig. 1;
图3为图2所示具有防护隔离功能的介入手术机器人从端驱动装置另一角度的分解图；Fig. 3 is an exploded view from another angle of the end drive device of the interventional surgery robot with protective isolation function shown in Fig. 2;
图4为图2所示具有防护隔离功能的介入手术机器人从端驱动装置进一步 的分解图；Fig. 4 is a further exploded view of the slave end drive device of the interventional surgery robot with protective isolation function shown in Fig. 2;
图5为图4所示具有防护隔离功能的介入手术机器人从端驱动装置另一角度的分解图；Fig. 5 is an exploded view from another angle of the end drive device of the interventional surgery robot with protective isolation function shown in Fig. 4;
图6为本发明具有防护隔离功能的介入手术机器人从端驱动装置的夹持组与第一驱动组件配合安装时的结构示意图。Fig. 6 is a structural schematic view of the interventional surgery robot with the protection and isolation function when the clamping group and the first drive assembly are installed in cooperation with the drive device at the slave end.
为了使发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释发明，并不用于限定发明。In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.
如图1至图6所示，本发明提供一种介入具有防护隔离功能的介入手术机器人从端驱动装置，其装设于介入手术机器人从端上，推动细长型医疗器械(导丝或导管)100执行夹持、正转、反转的操作，推动细长型医疗器械100即导丝或导管的正转指让导丝或导管旋转进入手术病人身体的方向、反转指让导丝或导管旋转退出手术病人身体的方向。As shown in Figures 1 to 6, the present invention provides an interventional surgery robot slave end drive device with protection and isolation functions, which is installed on the interventional surgery robot slave end to push elongated medical instruments (guide wires or catheters) ) 100 performs clamping, forward rotation, and reverse operations, and pushes the slender medical device 100, that is, the forward rotation of the guide wire or catheter refers to the direction in which the guide wire or catheter rotates into the patient's body, and the reverse refers to the direction in which the guide wire or catheter enters the patient's body. The catheter is rotated out of the direction of the surgical patient's body.
介入具有防护隔离功能的介入手术机器人从端驱动装置包括机架10、内架20及搓动机构，所述搓动机构装设于内架20上，所述机架10套设于内架20及搓动机构的外侧，让外界与搓动机构隔离。所述搓动机构包括相对设置的两夹持组30、第一驱动组件40及第二驱动组件50，第一驱动组件40驱动两夹持组30沿第一方向靠近或远离，所述第二驱动组件50驱动夹紧导丝导管的两夹持组30沿不同于第一方向的第二方向相互反向运动，搓动导丝导管转动，所述第一方向和所述第二方向相互垂直，所述机架10对导丝或导管进行支撑。Intervention The drive device of the interventional surgery robot with protective isolation function includes a frame 10, an inner frame 20 and a rubbing mechanism. The rubbing mechanism is installed on the inner frame 20, and the frame 10 is sleeved on the inner frame 20. And the outside of the rubbing mechanism, so that the outside world is isolated from the rubbing mechanism. The rubbing mechanism includes two clamping groups 30, a first drive assembly 40 and a second drive assembly 50 which are arranged oppositely. The first drive assembly 40 drives the two clamping groups 30 to approach or move away from each other along the first direction. The driving assembly 50 drives the two clamping groups 30 clamping the guide wire catheter to move in opposite directions along a second direction different from the first direction, rubbing the guide wire catheter to rotate, and the first direction and the second direction are perpendicular to each other , the frame 10 supports the guide wire or catheter.
两所述夹持组30均包括夹持部31、调位部32，所述夹持部31与调位部32呈T形分布，所述夹持部31的底面设有向内延伸的卡槽35，所述调位部32的上端可拆卸地装设于卡槽35内，所述调位部32的外侧面与卡槽35之间形成一间隙，所述调位部32的底部设有向内延伸的若干调位槽。Both clamping groups 30 include a clamping portion 31 and a positioning portion 32, the clamping portion 31 and the positioning portion 32 are distributed in a T-shape, and the bottom surface of the clamping portion 31 is provided with an inwardly extending card. Slot 35, the upper end of the positioning part 32 is detachably installed in the slot 35, a gap is formed between the outer surface of the positioning part 32 and the slot 35, and the bottom of the positioning part 32 is provided There are several adjusting slots extending inward.
所述机架10包括第一壳体11，所述第一壳体11整体呈中空结构设置，所述第一壳体11的顶面凸设有两延伸筒111，每一所述延伸筒上设有沿第二方向 贯穿的穿孔112，并且第一壳体11的一侧位置还凸设有支撑脚113。The frame 10 includes a first housing 11, the first housing 11 is arranged in a hollow structure as a whole, and the top surface of the first housing 11 is protrudingly provided with two extension cylinders 111, and each of the extension cylinders has a A through hole 112 penetrating along the second direction is provided, and a supporting foot 113 protrudes from one side of the first housing 11 .
组装时，将搓动机构的第一驱动组件40、第二驱动组件50及内架20装设于第一壳体11内，所述两夹持组30的调位部32分别穿过第一壳体11上两延伸筒111的穿孔112并通过其调位槽与所述第一驱动组件40上对应第一导杆44配合安装，让整个夹持组30可以沿两第一导杆44在第二方向上往复滑动。由于夹持部31的卡槽35槽深大于延伸筒111的长度，第二驱动组件50带动两夹持组30沿对应第一导杆44滑动过程中，两夹持组30的夹持部31保持包裹在延伸筒111的外侧，保证内部空间与外界的隔离。When assembling, the first driving assembly 40, the second driving assembly 50 and the inner frame 20 of the rubbing mechanism are installed in the first housing 11, and the position adjustment parts 32 of the two clamping groups 30 respectively pass through the first The perforations 112 of the two extension tubes 111 on the housing 11 are installed in cooperation with the corresponding first guide rods 44 on the first drive assembly 40 through their positioning grooves, so that the entire clamping group 30 can move along the two first guide rods 44 Slide back and forth in the second direction. Since the groove depth of the clamping groove 35 of the clamping part 31 is greater than the length of the extension tube 111, the second drive assembly 50 drives the two clamping groups 30 to slide along the corresponding first guide rod 44, and the clamping parts 31 of the two clamping groups 30 Keep wrapped on the outside of the extension tube 111 to ensure the isolation of the inner space from the outside world.
所述机架10、内架20及搓动机构为非耗材部分，本发明还包括耗材部分，所述耗材部分包括外罩33及缓冲件34，使用时，所述外罩33套设于夹持部31外侧，所述缓冲件34粘接于外罩33上，两夹持组30的缓冲件34呈相对设置，所述缓冲件34具有弹性，可以防止夹持组30对导管或导丝的夹持力过大，损坏导管或导丝，本实施例中，所述缓冲件34的材质为硅胶。The frame 10, the inner frame 20 and the rubbing mechanism are non-consumable parts. The present invention also includes a consumable part. The consumable part includes an outer cover 33 and a buffer member 34. When in use, the outer cover 33 is sleeved on the clamping part 31 outside, the buffer member 34 is bonded to the outer cover 33, and the buffer members 34 of the two clamping groups 30 are arranged oppositely. The buffer member 34 has elasticity, which can prevent the clamping group 30 from clamping the catheter or guide wire If the force is too large, the catheter or guide wire will be damaged. In this embodiment, the buffer member 34 is made of silica gel.
所述耗材部分还包括用于收容第一壳体11的第二壳体12及面盖13，所述第二壳体12包括收容部121及连接于收容部121上端的对接部122，所述收容部121呈中空设置，所述对接部122上端设有一沿第一方向延伸的长形开口123，开口123沿第三方向的边缘位置设有相对设置的两导槽124，所述导槽124呈V形设置，导槽124槽宽由边缘向内逐渐缩小。在本实施例中，所述第三方向与所述第一方向和第二方向相互垂直。The consumable part also includes a second housing 12 and a cover 13 for accommodating the first housing 11, the second housing 12 includes a receiving portion 121 and a docking portion 122 connected to the upper end of the receiving portion 121, the The accommodating portion 121 is hollow, and the upper end of the docking portion 122 is provided with an elongated opening 123 extending along the first direction. The edge position of the opening 123 along the third direction is provided with two guide grooves 124 oppositely arranged. The guide grooves 124 It is arranged in a V shape, and the groove width of the guide groove 124 gradually decreases from the edge to the inside. In this embodiment, the third direction is perpendicular to the first direction and the second direction.
使用时，所述第二壳体12沿第二方向套设于第一壳体11的外侧，第二壳体12、第一壳体11上设有磁铁和/铁块，通过磁性吸合的方法以保证第一壳体11、第二壳体12配合时不易松动，并可以自由拆装，通过设置导槽124，可以更方便地安装导丝导管，并且导槽124可以对导丝导管进行支撑。When in use, the second housing 12 is sheathed on the outside of the first housing 11 along the second direction, and the second housing 12 and the first housing 11 are provided with magnets and/or iron blocks, which are magnetically attracted. The method is to ensure that the first shell 11 and the second shell 12 are not easy to loosen when they are matched, and can be disassembled freely. By setting the guide groove 124, the guide wire catheter can be installed more conveniently, and the guide groove 124 can carry out the guide wire catheter support.
两夹持组30的夹持部31及套设于其上的外罩33和缓冲件34置于第二壳体12上的对接部122的开口123内，其中心位置正对所述两V形导槽124；将面盖13盖在对接部122上，所述面盖13和第二壳体12同样设有磁铁和/铁块，通过磁性吸合的方法让所述面盖13盖合到位并可以从第二壳体12上自由拆装，面盖13上设有卡板131，所述卡板131配合导槽124对导丝或导管进行限位， 让其绕轴线中心转动，并且为了配合的效果更佳，所述卡板131的底部设有避让槽132。The clamping parts 31 of the two clamping groups 30 and the outer cover 33 and the buffer member 34 sleeved thereon are placed in the opening 123 of the butt joint part 122 on the second housing 12, and their central positions are facing the two V-shaped Guide groove 124; cover the face cover 13 on the docking portion 122, the face cover 13 and the second housing 12 are also provided with magnets and/or iron blocks, and the face cover 13 is closed in place by magnetic attraction And it can be freely disassembled from the second housing 12. The cover 13 is provided with a clamping plate 131, and the clamping plate 131 cooperates with the guide groove 124 to limit the guide wire or catheter, allowing it to rotate around the center of the axis, and for The matching effect is better, and the bottom of the clamping plate 131 is provided with an escape groove 132 .
由于组装后的介入具有防护隔离功能的介入手术机器人从端驱动装置在使用过程中，只有耗材部分裸露在外侧，每次使用后中，只需对耗材部分直接进行更换，无需更换整个从端导丝导管搓动装置，降低手术成本。Due to the intervention after assembly, only the consumable part of the interventional surgery robot slave end drive device with protective isolation function is exposed to the outside. After each use, only the consumable part needs to be replaced directly without replacing the entire slave end guide. Wire catheter rubbing device reduces operation cost.
综上所述，本发明具有防护隔离功能的介入手术机器人从端驱动装置通过在夹持组30上设置调位部32及夹持部31，并且在第一壳体11上设置延伸筒111，所述两夹持组30的调位部32分别穿过第一壳体11上两延伸筒111的穿孔112并与所述第一驱动组件40配合安装，导丝或导管在递送过程中，夹持部保持包裹在延伸筒111的外侧，保证内部空间与外界的隔离，使用完后，无需更换整个装置，有效缩减产品的使用成本，减轻患者的经济负担，而且结构紧凑，占用空间较小，实用性强，具有较强的推广意义。To sum up, the interventional surgery robot slave end drive device with protection and isolation function of the present invention sets the positioning part 32 and the clamping part 31 on the clamping group 30, and sets the extension cylinder 111 on the first housing 11, The position adjustment parts 32 of the two clamping groups 30 respectively pass through the perforations 112 of the two extension cylinders 111 on the first housing 11 and are installed in cooperation with the first drive assembly 40. During the delivery process of the guide wire or catheter, clamp The holding part is kept wrapped on the outside of the extension tube 111 to ensure the isolation of the internal space from the outside world. After use, there is no need to replace the entire device, which effectively reduces the cost of use of the product and reduces the economic burden of the patient. It has a compact structure and takes up less space. Strong practicability and strong promotional significance.
以上所述实施例仅表达了发明的一种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离发明构思的前提下，还可以做出若干变形和改进，这些都属于发明的保护范围。因此，发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiment only expresses an implementation mode of the invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the invention, and these all belong to the protection scope of the invention. Therefore, the scope of protection of the invention patent shall be subject to the appended claims.
Claims (19)
- 一种具有防护隔离功能的介入手术机器人从端驱动装置，其装设于介入手术机器人从端上，其特征在于，包括搓动机构及机架，所述搓动机构包括相对设置的两夹持组及驱动所述两夹持组夹持导丝导管的驱动组件，每一所述夹持组包括夹持部、调位部，所述机架包括用于***述驱动组件的第一壳体，所述第一壳体凸设有两延伸筒，每一所述延伸筒上设有贯穿至内部的穿孔，所述两夹持组的调位部分别穿过所述第一壳体的两穿孔并与所述驱动组件配合安装，所述两夹持组的夹持部分别包裹在所述第一壳体的两延伸筒的外侧。A slave end drive device for an interventional surgery robot with a protective isolation function, which is installed on the slave end of the interventional surgery robot, and is characterized in that it includes a rubbing mechanism and a frame, and the rubbing mechanism includes two oppositely arranged clamping Set and drive the driving assembly of the two clamping groups to clamp the guide wire catheter, each of the clamping groups includes a clamping part and a positioning part, and the frame includes a first shell for accommodating the driving assembly body, the first shell is protrudingly provided with two extension tubes, each of which is provided with a perforation through the inside, and the position adjustment parts of the two clamping groups respectively pass through the first shell The two are perforated and installed in cooperation with the drive assembly, and the clamping parts of the two clamping groups are respectively wrapped around the outer sides of the two extension cylinders of the first housing.
- 如权利要求1所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：每一所述夹持组的夹持部与调位部呈T形分布。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 1, wherein the clamping portion and the positioning portion of each clamping group are distributed in a T-shape.
- 如权利要求2所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述夹持部设有向内延伸的卡槽，所述调位部的可拆卸地装设于所述卡槽内。The slave-end drive device for interventional surgery robot with protection and isolation function according to claim 2, characterized in that: the clamping part is provided with a card slot extending inward, and the positioning part is detachably installed on the inside the card slot.
- 如权利要求3所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述调位部的外侧面与所述卡槽之间形成有间隙。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 3, wherein a gap is formed between the outer surface of the positioning part and the locking groove.
- 如权利要求3所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述卡槽的槽深大于所述延伸筒的长度。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 3, wherein the groove depth of the locking groove is greater than the length of the extension cylinder.
- 如权利要求1所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：包括耗材部分及非耗材部分，所述机架及搓动机构为非耗材部分。The slave end drive device of an interventional surgery robot with protection and isolation functions according to claim 1, characterized in that it includes a consumable part and a non-consumable part, and the frame and the rubbing mechanism are non-consumable parts.
- 如权利要求6所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述耗材部分包括外罩，所述外罩套设于夹持部外侧。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 6, wherein the consumable part includes a cover, and the cover is sheathed on the outside of the clamping part.
- 如权利要求7所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述耗材部分还包括缓冲件，所述缓冲件粘接于外罩上。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 7, wherein the consumable part further includes a buffer, and the buffer is bonded to the outer cover.
- 如权利要求8所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述缓冲件的材质为硅胶。The slave-end driving device of an interventional surgery robot with protection and isolation functions according to claim 8, wherein the buffer member is made of silica gel.
- 如权利要求7所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述耗材部分还包括用于收容第一壳体的第二壳体，所述第二壳体包括收容部及连接于收容部一端的对接部，所述收容部呈中空设置，所述对接部上端设有一开口，两夹持组的夹持部及外罩置于第二壳体上的对接部 的开口内。The slave-end driving device for an interventional surgical robot with protection and isolation functions according to claim 7, wherein the consumable part further includes a second housing for accommodating the first housing, and the second housing includes The receiving part and the docking part connected to one end of the receiving part, the receiving part is hollow, the upper end of the docking part is provided with an opening, the clamping part and the outer cover of the two clamping groups are placed on the docking part of the second housing inside the opening.
- 如权利要求10所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述开口的边缘位置设有相对设置的两导槽。As claimed in claim 10, the interventional operation robot slave end driving device with protection and isolation function is characterized in that: the edge position of the opening is provided with two opposite guide grooves.
- 如权利要求11所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述导槽呈V形设置，导槽槽宽由边缘向内逐渐缩小。The slave-end drive device for an interventional surgery robot with protection and isolation functions according to claim 11, wherein the guide groove is arranged in a V shape, and the width of the guide groove gradually decreases from the edge to the inside.
- 如权利要求11所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述耗材部分还包括可从第二壳体上自由拆装的面盖，所述面盖盖在对接部上。The slave-end drive device for interventional surgery robot with protection and isolation function according to claim 11, characterized in that: the consumable part further includes a cover that can be freely disassembled from the second housing, and the cover is in the on the docking part.
- 如权利要求13所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述面盖与所述第二壳体通过磁性吸合的方式固定。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 13, wherein the face cover and the second housing are fixed by magnetic attraction.
- 如权利要求13所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述面盖上设有卡板，所述卡板配合导槽对导丝或导管进行限位。As claimed in claim 13, the interventional surgery robot slave end drive device with protection and isolation function is characterized in that: said cover is provided with a clamping plate, and said clamping plate cooperates with a guide groove to limit the position of the guide wire or catheter.
- 如权利要求15所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述卡板的底部设有避让槽。As claimed in claim 15, the interventional operation robot slave end driving device with protection and isolation function is characterized in that: the bottom of the clamping plate is provided with an avoidance groove.
- 如权利要求10所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述第二壳体与第一壳体通过磁性吸合的方式固定。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 10, wherein the second housing and the first housing are fixed by magnetic attraction.
- 如权利要求1所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：还包括内架，所述搓动机构装设于所述内架上，所述机架套设于所述内架及所述搓动机构的外侧。The slave-end driving device of an interventional surgery robot with protection and isolation functions according to claim 1, further comprising an inner frame, the rubbing mechanism is installed on the inner frame, and the frame is sleeved on the inner frame. The outer side of the inner frame and the rubbing mechanism.
- 如权利要求1所述的具有防护隔离功能的介入手术机器人从端驱动装置，其特征在于：所述第一壳体的一侧位置还凸设有支撑脚。The slave end driving device of an interventional surgery robot with protection and isolation functions according to claim 1, wherein a supporting foot is protruded from one side of the first housing.
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| CN202110912452.7 | 2021-08-10 | ||
| CN202110912452 | 2021-08-10 | ||
| CN202111018209.7A CN113749782B (en) | 2021-08-10 | 2021-08-31 | From end drive arrangement of intervention operation robot with protection isolation function |
| CN202111018209.7 | 2021-08-31 |
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| WO2023016121A1 true WO2023016121A1 (en) | 2023-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/CN2022/102252 WO2023016121A1 (en) | 2021-08-10 | 2022-06-29 | Interventional surgical robot slave end driving device with protective isolation function |
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| CN113749782B (en) * | 2021-08-10 | 2023-05-16 | 深圳市爱博医疗机器人有限公司 | From end drive arrangement of intervention operation robot with protection isolation function |
| CN114391965B (en) * | 2021-12-31 | 2024-03-01 | 深圳爱博合创医疗机器人有限公司 | Aseptic box and have full protection formula of this aseptic box to intervene surgical robot from end drive arrangement |
| CN115281746B (en) * | 2022-07-04 | 2023-10-31 | 中国科学院自动化研究所 | Flexible end-controllable medical instrument feeding system and feeding method |
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| CN113749782B (en) | 2023-05-16 |
| CN113749782A (en) | 2021-12-07 |
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