WO2023050821A1 - 一种可拆装式从端介入手术机器人驱动装置 - Google Patents

一种可拆装式从端介入手术机器人驱动装置 Download PDF

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Publication number
WO2023050821A1
WO2023050821A1 PCT/CN2022/091767 CN2022091767W WO2023050821A1 WO 2023050821 A1 WO2023050821 A1 WO 2023050821A1 CN 2022091767 W CN2022091767 W CN 2022091767W WO 2023050821 A1 WO2023050821 A1 WO 2023050821A1
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WIPO (PCT)
Prior art keywords
detachable
driving device
driving
interventional surgery
surgery robot
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Application number
PCT/CN2022/091767
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English (en)
French (fr)
Inventor
杨良正
欧永红
Original Assignee
深圳市爱博医疗机器人有限公司
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Application filed by 深圳市爱博医疗机器人有限公司 filed Critical 深圳市爱博医疗机器人有限公司
Publication of WO2023050821A1 publication Critical patent/WO2023050821A1/zh

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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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Definitions

  • the present application relates to a device in the field of medical instrument robot, in particular to a detachable drive device for an interventional surgery robot from the end.
  • Intervention therapy is a kind of minimally invasive treatment using modern high-tech means—that is, 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. With the help of the catheter and the guide wire, the doctor's hands are extended. Its incision (puncture point) is only the size of a grain of rice. It can treat many diseases that could not be treated in the past without cutting human tissue. Diseases that require surgical treatment or medical treatment are not effective, such as tumors, hemangiomas, various hemorrhages, etc. Interventional therapy has the characteristics of no surgery, small trauma, quick recovery, and good effect, which is the development trend of future medicine.
  • vascular interventional surgery doctors need to receive X-ray radiation for a long time, so a master-slave vascular interventional surgery robot with remote operation has been developed in engineering.
  • the master-slave vascular interventional surgery robot can work in the environment of strong radiation, so that the doctor can control it outside the radiation environment.
  • the transmission mechanism of the existing surgical robot due to the unreasonable structural design, the overall structure is not flexible enough, and it cannot be quickly replaced. Transmission mechanisms that have been polluted or have different functions bring great inconvenience to users.
  • the driving base includes a shell main body and a functional group.
  • the functional group is used to place a catheter/guide wire.
  • the housing body is provided with a mounting surface, the functional group is arranged on the mounting surface, and the housing body is also provided with a docking groove facing away from the mounting surface, the docking groove is used to accommodate the power seat,
  • the driving base is detachably fastened to the power base through the docking slot, and the power base is detachably engaged with the functional group outside the docking slot to drive the catheter/guide wire placed in the functional group sports.
  • the adapter device located outside the docking slot, and the adapter device is used to transmit the power of the power base to the functional group.
  • the housing body is provided with a stop plate in the docking groove, the power seat is attached to the stop plate, and the power seat and the stop plate are positioned by a positioning mechanism.
  • the positioning mechanism is a magnetic attraction structure, and the stop plate and the power base are fixed by magnetic attraction.
  • the adapter device is located between the stop plate and the installation surface.
  • the adapter device includes an input end, and a power take-off hole is provided on the stop plate, and the power base is engaged with the input end through the power take-off hole.
  • the switching device further includes an output terminal for driving the functional group.
  • the adapter device further includes a connecting shaft connecting the input end and the output end.
  • the housing body is provided with an isolation part, the connecting shaft passes through the isolation part, and the isolation part spatially separates the input end and the output end of the adapter device from each other.
  • the side of the isolating part facing away from the docking groove is recessed from the installation surface toward the direction of the docking groove to form an outer space
  • the input end of the adapter device is set inside the main body of the housing by the isolating part, stop
  • the space formed by the bit plate and the installation surface, the output end of the adapter device is arranged in the outer space of the isolation part.
  • the input end and the output end of the adapter device are respectively a first adapter gear and a second adapter gear installed at both ends of the connecting shaft
  • the power base is provided with a main drive gear
  • the The main drive gear passes through the power take-off hole and meshes with the first transfer gear
  • the functional group is fixed with a Luer connector for connecting the Y valve of the catheter/guide wire
  • the second transfer gear The gear drives the luer connector of the Y-valve to rotate to move the catheter/guidewire connected to the luer connector of the Y-valve.
  • both the first transfer gear and the main drive gear of the power seat are bevel gears.
  • the second transfer gear is a spur gear.
  • the Y valve includes a first tube body, a second tube body and a connecting part for installing a catheter/guide wire, the second tube body is connected to one side of the first tube body, and the connection A component is connected to one end of the first pipe body;
  • the first pipe body is provided with a first passage
  • the second pipe body is provided with a second passage
  • the first passage and the second passage communicate with each other;
  • the second transfer gear drives the connecting part to rotate, so that the connecting part can rotate around the axis of the first pipe body.
  • the connecting part is provided with a driving ring
  • the driving ring is provided with locking teeth
  • the locking teeth on the driving ring are distributed around the axis of the first pipe body, and the driving ring extends into The outer space meshes with the second transfer gear.
  • the functional group includes a fixed box device
  • the fixed box device includes a box body and an inner cover installed on the box body
  • the box body is provided with a mounting groove
  • the mounting groove is used to install the
  • the inner cover is pivotally connected to the box main body, and the inner cover is used to limit the position of the Y valve when it is closed on the box main body.
  • the functional group also includes a quick delivery device.
  • the driving seat further includes an outer box, the outer box is rotatably connected to the shell main body and covered outside the quick delivery device and the fixed box device.
  • edge part of the outer box and the main body of the case are magnetically fixed by means of a magnet and a ferrous element or a magnet and a magnetic element.
  • the driving seat of the detachable slave-end interventional surgery robot driving device of this application can be freely disassembled from the power seat, and the power seat provides power for the replaced driving seat.
  • This application can quickly replace the drive seat with the same function. Quickly remove the damaged or polluted drive base from the power base, and also replace the drive base with different functions according to the actual use requirements. The flexibility is good, and it is convenient for doctors to operate according to the operation It needs to be adjusted, has strong practicability, and has strong promotional significance.
  • Fig. 1 is a schematic structural diagram of the assembly of the first drive seat and the power seat of the detachable slave-end interventional surgery robot drive device of the present application;
  • Fig. 2 is a structural schematic diagram of another angle after the assembly of the first driving seat and the power seat shown in Fig. 1;
  • Fig. 3 is a schematic diagram of the structure when the first drive seat and power seat shown in Fig. 2 are assembled;
  • Fig. 4 is a structural schematic diagram of another angle when the first driving seat and the power seat shown in Fig. 3 are assembled;
  • Fig. 5 is an exploded view of the power seat shown in Fig. 4;
  • Fig. 6 is a structural schematic diagram after the outer box of the first driving base of the present application is opened;
  • Fig. 7 is a schematic view of the structure after the outer box and inner cover of the first driving seat shown in Fig. 6 are simultaneously opened;
  • Fig. 8 is the structural representation of Y valve
  • Fig. 9 is a structural schematic view when no Y valve is installed on the first driving seat shown in Fig. 8;
  • Figure 10 is a cross-sectional view of the first drive seat
  • Figure 11 is a schematic structural view of the application when the second driving seat is assembled with the power seat
  • Fig. 12 is a structural schematic diagram of another angle when the second driving seat and the power seat shown in Fig. 11 are assembled;
  • Fig. 13 is a schematic diagram of the structure of the second driving base after the outer box is opened.
  • the present application provides a detachable slave-end interventional surgery robot drive device, which is installed on the slave-end robot to realize the rotation or delivery of medical instruments.
  • the driving device of the type slave-side interventional surgery robot includes a power base 10 and a driving base, and the driving base can be freely disassembled from the power base 10 .
  • the driving seat is removed from the power seat 10, and replaced with a driving seat with the same or different functions, and the driving seat is a disposable consumable and cannot be reused.
  • the driving seat can be the first driving seat 20 or the second driving seat 30 with different functions, and the first driving seat 20 and the second driving seat 30 are provided with different functional groups, and the medical equipment can be different Type of guide wire or catheter (eg, guiding catheter 100, balloon catheter, etc.).
  • the power base 10 includes a support plate 13, a number of drive groups 12 installed between the base and the support plate 13, a cover 11 installed on the support plate 13, and the cover 11 covers the support plate 13 and the drive group. 12, the driving group 12 passes through the support plate 13 and protrudes from the outer cover 11.
  • the number of the driving groups 12 is at least two groups, each of the driving groups 12 includes a driving motor 122 and a main driving gear 121 connected to the driving motor 122, and the main driving gear 121 is a bevel gear , the main driving gear 121 is arranged on the outer side of the housing 11, the driving motor 122 drives the main driving gear 121 to rotate, and the main driving gear 121 drives the first driving seat 20 or the second driving seat to work during the rotation.
  • the first driving seat 20 includes a shell main body 21, a fast delivery device 24, a fixed box device 23 and an outer box 22.
  • the functional group includes a quick delivery device 24 and a fixed box device 23, and the shell main body 21 faces away from the power
  • the side surface of the base 10 is a mounting surface, and one end of the outer box 22 is pivotally connected to the mounting surface of the shell main body 21 through an external connecting shaft 225 .
  • the outer box 22 rotates around the axis of the outer connecting shaft 225 to open the outer box 22 to expose the fast delivery device 24 and the fixed box device 23, or to make the outer box 22 cover the outside of the quick delivery device 24 and the fixed box device 23, and
  • the edge part of the outer box 22 and the shell main body 21 are magnetically fixed by means of a magnet 221 and a ferrous element or a magnet 221 and a magnetic element.
  • the end of the shell main body 21 that cooperates with the power base 10 is provided with a docking groove 211, and the shell main body 21 is provided with a stop plate 212 in the butt joint groove 211, and the stop plate 212 is provided with a power take-off hole 213,
  • the first driving seat 20 is installed in cooperation with the power seat 10 through the docking groove 211 .
  • the stop plate 212 fits with the power base 10.
  • the stop plate 212 and the power base 10 are also positioned by a positioning mechanism.
  • the positioning mechanism adopts a magnetic attraction structure and a buckle structure.
  • the outer surface of the stop plate 212 and the power base 10 is magnetically fixed by means of a magnet 111 and a ferrous element or a magnet 111 and a magnetic element, and
  • the stop plate 212 is provided with a groove (not shown in the figure), and the outer surface of the power base 10 facing the first driving base 20 is protruded with an alignment buckle 112 , and the alignment buckle 112 fits into the groove.
  • the fast delivery device 24 and the fixed box device 23 are installed on the installation surface of the shell body 21, the side of the fixed box device 23 away from the quick delivery device 24 is pivotally connected to the installation surface through a steering shaft 235, and the fixed box device One side of 23 can rotate around the steering shaft 235, which is convenient for the Y valve 40 to adjust the angle to install medical equipment on the Y valve 40.
  • the fixed box device 23 and the mounting surface are magnetically fixed by means of magnets and ferrous components or magnets and magnetic components.
  • the fixing box device 23 includes a box main body 231 and an inner cover 232 installed on the box main body 231 , and the box main body 231 is provided with an installation groove 233 for installing the Y valve 40 .
  • One side of the inner cover 232 is pivotally connected to the box main body 231 through an inner connecting shaft (not shown in the figure), one side of the inner cover 232 can rotate around the box main body 231, and the inner cover 232 is closed on the box main body 231 by means of magnetic attraction. superior.
  • the inner cover 232 limits the Y valve 40 .
  • the Y valve 40 includes a valve body (not shown in the figure) and a connection end 43 located at one end of the valve body.
  • the valve body includes a first pipe body 41 and a second pipe body 42 connected to one side of the first pipe body 41 .
  • the connecting end 43 is provided with a driving ring 44, the driving ring 44 is provided with locking teeth, and the locking teeth on the driving ring 44 are distributed around the axis of the first pipe body 41, and the connecting end 43 can surround the first pipe body 41
  • the axis of the shaft rotates, and the outer guide tube 100 is installed on the connecting end 43 .
  • a perforation 234 is formed at the bottom of the installation groove 233 .
  • the first pipe body 41 is also provided with a first channel (not shown in the figure), and the second pipe body 42 is provided with a second channel (not shown in the figure), and the first channel and the second channel communicate with each other .
  • the fixed box device 23 also includes an adapter device 25 located outside the docking groove 211, and the adapter device 25 includes a connecting shaft 251, a first adapter gear 252 and a second rotating gear installed at both ends of the connecting shaft 251.
  • the connecting gear 253, the first connecting gear 252 and the second connecting gear 253 are the input end and the output end respectively.
  • the shell main body 21 is recessed toward the docking groove 211 to form a partition 215, and the side of the partition 215 facing away from the docking groove 211 forms an outer space 216, the connecting shaft 251 passes through the partition 215, and the first
  • the transfer gear 252 is a bevel gear, which is arranged inside the shell body 231.
  • the first transfer gear 252 is arranged in the space formed by the isolation part 215, the stop plate 212 and the mounting surface inside the case body 21.
  • the second transfer gear The gear 253 is located in the outer space 216 of the isolating portion 215 .
  • the driving ring 44 of the Y valve 40 extends into the outer space 216 of the isolating portion 215 to engage with the second transfer gear 253 .
  • the setting position of the first transfer gear 252 corresponds to the main driving gear 121 of a group of driving groups 12 in the power base 10 .
  • the main drive gear 121 of the power base 10 extends from the power take-off hole 213, the first adapter gear 252 meshes with the main drive gear 121, and the power base 10 is
  • the first drive seat 20 provides power, and then drives the guide tube 100 connected to the Y valve 40 to rotate through the drive ring 44 . Since the isolation part 215 is provided, the Y valve 40 and the power seat 10 are separated from each other, effectively preventing cross-contamination between the polluted Y valve 40 and the power seat 10 .
  • the first channel of the first tube 41 of the Y valve 40 and the guide catheter 100 establish a delivery channel between the surgical patient and the slave robot, and medical instruments (such as guide wires or catheters) can enter the patient through the delivery channel body, and contrast media or other medical agents can enter the patient's body through the second channel of the Y-valve 40 , the guide catheter 100 .
  • medical instruments such as guide wires or catheters
  • contrast media or other medical agents can enter the patient's body through the second channel of the Y-valve 40 , the guide catheter 100 .
  • the quick delivery catheter is first passed through the first passage of the Y valve 40 and placed on the quick delivery device 24, so that the medical equipment introduced from the quick delivery device 24 is passed through the guide catheter 100 passes through and enters the human body close to the lesion.
  • the doctor can quickly replace different types of catheters according to the operation requirements during the operation.
  • the second driving seat 30 structurally also includes a shell main body 31, a fixed box device 33 and an outer box 32.
  • the functional group includes the fixed box device 23, and the second driving seat
  • the shell main body 31 of 30, the fixed box device 33 and the outer box 32 are similar in structure and installation method to the first drive base 20, the main difference between the two is that the second drive base 30 does not have the quick delivery device 24, if the operation The fast delivery device 24 is not needed in the process, and the doctor can choose the second drive base 30 to drive. Since the second drive base 30 does not have the quick delivery device 24, the travel of the medical device can be effectively shortened.
  • the driving base of the detachable slave-end interventional surgery robot driving device of this application can be freely disassembled from the power base 10, and the power base 10 provides power for the replaced driving base.
  • the damaged or polluted drive base with the same function can also be quickly replaced with a drive base with different functions according to the actual use requirements.
  • the flexibility is good, and it is convenient for the doctor to adjust according to the surgical needs during the actual operation.
  • the practicality is strong , which has strong promotional significance.

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

一种可拆装式从端介入手术机器人驱动装置，其包括动力座及驱动座，驱动座包括壳主体及功能组，驱动座通过对接槽可拆卸地扣合于动力座，动力座与位于对接槽外的功能组可拆卸地接合，以将已损坏或者是已被污染的驱动座从动力座上快速取下，或是更换具有不同功能的驱动座，方便医生在实际操作时根据手术需要进行调整。

Description

一种可拆装式从端介入手术机器人驱动装置 技术领域
本申请涉及一种医疗器械机器人领域装置，尤其涉及一种可拆装式从端介入手术机器人驱动装置。
 背景技术
介入治疗是利用现代高科技手段进行的一种微创性治疗--就是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。
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。
而对于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端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，使得医生则在射线环境之外对其控制。
 技术问题
发明人意识到从端手术机器人在执行操作的过程中，需要相应的传动机构带动，然而，对于现有手术机器人的传动机构，由于结构设计不合理，整体结构不够灵活，不能快速更换已损坏、已被污染或者是不同功能的传动机构，给使用者带来极大不便。
 技术解决方案
基于此，有必要针对现有技术中的不足，提供一种新型的可拆装式从端介入手术机器人驱动装置。
本申请给出了一种可拆装式从端介入手术机器人驱动装置，包括动力座及驱动座，所述驱动座包括壳主体及功能组，所述功能组用于放置导管/导丝，所述壳主体上设有安装面，所述功能组设于所述安装面上，所述壳主体还设有背对所述安装面的对接槽，所述对接槽用于容纳所述动力座，所述驱动座通过所述对接槽可拆卸地扣合于动力座，所述动力座与位于所述对接槽外的功能组可拆卸地接合，以驱动放置于所述功能组的导管/导丝运动。
进一步的，还包括位于所述对接槽外的转接装置，所述转接装置用于将所述动力座的动力传递给所述功能组。
进一步的，所述壳主体于对接槽内设有止位板，所述动力座贴合于所述止位板，所述动力座和所述止位板通过定位机构定位。
进一步的，所述定位机构为磁吸结构，所述止位板与动力座之间采用磁吸方式固定。
进一步的，所述转接装置位于所述止位板和所述安装面之间。
进一步的，所述转接装置包括输入端，所述止位板上设有取力孔，所述动力座穿过取力孔与所述输入端接合。
进一步的，所述转接装置还包括用于驱动所述功能组的输出端。
进一步的，所述转接装置还包括连接所述输入端和输出端的连接轴。
进一步的，所述壳主体上设有隔离部，所述连接轴穿设于所述隔离部，所述隔离部在空间上将所述转接装置的输入端及输出端相互分隔开。
进一步的，所述隔离部背向对接槽的一侧由所述安装面朝向对接槽方向内凹形成一外空间，所述转接装置的输入端设于壳主体内部由所述隔离部、止位板和安装面形成的空间，所述转接装置的输出端设于隔离部的外空间。
进一步的，所述转接装置的输入端和输出端分别为装设于所述连接轴两端的第一转接齿轮及第二转接齿轮，所述动力座上设有主驱动齿轮，所述主驱动齿轮穿过所述取力孔，并与所述第一转接齿轮相互啮合，所述功能组上固定有用于连接导管/导丝的Y阀的鲁尔连接器，所述第二转接齿轮驱动所述Y阀的鲁尔连接器转动，以让连接于Y阀的鲁尔连接器的导管/导丝运动。
进一步的，所述第一转接齿轮和所述动力座的主驱动齿轮均为锥齿轮。
进一步的，所述第二转接齿轮为直齿轮。
进一步的，所述Y阀包括第一管体、第二管体和用于安装导管/导丝的连接部件，所述第二管体连接于所述第一管体的一侧，所述连接部件连接于所述第一管体的一端；
所述第一管体设有第一通道，所述第二管体设有第二通道，所述第一通道和所述第二通道相互连通；
所述第二转接齿轮驱动所述连接部件转动，以使所述连接部件能够环绕所述第一管体的轴心转动。
进一步的，所述连接部件上设有驱动环，所述驱动环上设有卡齿，所述驱动环上的卡齿环绕所述第一管体的轴心分布，所述驱动环伸入至所述外空间内与所述第二转接齿轮啮合。
进一步的，所述功能组包括固定盒装置，所述固定盒装置包括盒主体及装设于盒主体上的内盖，所述盒主体上设有安装槽，所述安装槽用于安装所述Y阀，所述内盖枢接于所述盒主体，所述内盖用于在盖合于所述盒主体上时，对所述Y阀进行限位。
进一步的，所述功能组还包括快交装置。
进一步的，所述驱动座还包括外盒，所述外盒转动连接于所述壳主体并罩设在所述快交装置和所述固定盒装置外侧。
进一步的，所述外盒边缘部分与所述壳主体采用磁铁与含铁元件或者是磁铁与磁性元件的方式磁性固定。
 有益效果
综上所述，本申请可拆装式从端介入手术机器人驱动装置的驱动座可以从动力座上自由拆装，动力座为更换后的驱动座提供动力，本申请既可以快速更换具有相同功能的驱动座，将已损坏或者是已被污染的驱动座从动力座上快速取下，也可以根据实际使用需求，更换具有不同功能的驱动座，灵活性好，方便医生在实际操作时根据手术需要进行调整，实用性强，具有较强的推广意义。
 附图说明
图1为本申请可拆装式从端介入手术机器人驱动装置的第一驱动座与动力座装配后结构示意图；
图2为图1所示第一驱动座与动力座装配后另一角度的结构示意图；
图3为图2所示第一驱动座与动力座装配时的结构示意图；
图4为图3所示第一驱动座与动力座装配时另一角度的结构示意图；
图5为图4所示动力座的分解图；
图6为本申请的第一驱动座的外盒打开后的结构示意图；
图7为图6所示第一驱动座的外盒、内盖同时打开后的结构示意图；
图8为Y阀的结构示意图；
图9为图8所示第一驱动座上未安装Y阀时的结构示意图；
图10为第一驱动座的剖面图；
图11为本申请采用第二驱动座与动力座装配时的结构示意图；
图12为图11所示第二驱动座与动力座装配时另一角度的结构示意图；
图13为第二驱动座的外盒打开后的结构示意图。
 本发明的实施方式
为了使申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释申请，并不用于限定申请。
如图1至图13所示，本申请提供一种可拆装式从端介入手术机器人驱动装置，其装设于从端机器人上，以实现医疗器械执行转动或递送操作，所述可拆装式从端介入手术机器人驱动装置包括动力座10及驱动座，所述驱动座可以从动力座10上自由拆装。根据实际使用需求，将驱动座从动力座10上取下，更换相同或不同功能的驱动座，并且驱动座为一次性使用的耗材，不能重复使用。本实施例中，所述驱动座可为功能不同的第一驱动座20或第二驱动座30，第一驱动座20和第二驱动座30上设有不同的功能组，医疗器械可以为不同类型的导丝或导管（如导引导管100、球囊导管等）。
所述动力座10包括支板13、装设于底座与支板13之间的若干驱动组12、装设于支板13上的外罩11，所述外罩11包覆在支板13及驱动组12的外侧，所述驱动组12穿过支板13并从外罩11上伸出。
本实施例中，所述驱动组12的数量至少为两组，每一所述驱动组12包括驱动电机122及连接于驱动电机122上的主驱动齿轮121，所述主驱动齿轮121为锥齿轮，所述主驱动齿轮121设置在外罩11的外侧，所述驱动电机122带动主驱动齿轮121转动，主驱动齿轮121在转动过程中驱动第一驱动座20或第二驱动座工作。
所述第一驱动座20包括壳主体21、快交装置24、固定盒装置23及外盒22，此处，功能组包括快交装置24和固定盒装置23，所述壳主体21背向动力座10的侧面为安装面，所述外盒22的一端通过一外连接轴225与壳主体21的安装面枢接。外盒22绕外连接轴225的轴心转动，以打开外盒22露出快交装置24和固定盒装置23，或者是使外盒22罩设在快交装置24和固定盒装置23外侧，并且外盒22边缘部分与壳主体21采用磁铁221与含铁元件或者是磁铁221与磁性元件的方式磁性固定。
所述壳主体21与动力座10配合的一端设有对接槽211，并且所述壳主体21于对接槽211内设有止位板212，所述止位板212上设有取力孔213，所述第一驱动座20通过对接槽211与动力座10配合安装。安装后，所述止位板212与动力座10相贴合，为保证止位板212与动力座10配合稳固，止位板212与动力座10还通过定位机构进行定位，本实施例中，所述定位机构采用磁吸结构及卡扣结构，具体地，所述止位板212与动力座10的外表面采用磁铁111与含铁元件或者是磁铁111与磁性元件的方式磁吸固定，并且止位板212设有凹槽（图未示），动力座10朝向第一驱动座20的外表面凸设有对位卡扣112，对位卡扣112与凹槽配合。
所述快交装置24及固定盒装置23装设于壳主体21的安装面上，所述固定盒装置23远离快交装置24的一侧通过一转向轴235与安装面枢接，固定盒装置23一侧可以绕转向轴235转动，方便Y阀40调整角度以在Y阀40上安装医疗器械。并且固定盒装置23及安装面中采用磁铁与含铁元件或者是磁铁与磁性元件的方式磁吸固定。
所述固定盒装置23包括盒主体231及装设于盒主体231上的内盖232，所述盒主体231上设有安装槽233用于安装Y阀40。所述内盖232一侧通过一内连接轴（图未示）与盒主体231枢接，内盖232一侧可以绕盒主体231转动，内盖232通过磁吸的方式盖合在盒主体231上。当所述内盖232盖合在盒主体231上时，内盖232对Y阀40进行限位。
所述Y阀40包括阀主体（图未标）、设于阀主体一端的连接端43，所述阀主体包括第一管体41及连接于第一管体41一侧的第二管体42。连接端43上设有驱动环44，所述驱动环44上设有卡齿，并且驱动环44上的卡齿环绕第一管体41的轴心分布，连接端43可以绕第一管体41的轴心转动，外部的导引导管100安装在连接端43上。所述安装槽233的槽底设有穿孔234，当Y阀40装设于安装槽233上时，所述连接端43上的驱动环44从穿孔234伸入到盒主体231。所述第一管体41上还设有第一通道（图未标），所述第二管体42上设有第二通道（图未标），所述第一通道、第二通道相互连通。
所述固定盒装置23还包括位于所述对接槽211外的转接装置25，所述转接装置25包括连接轴251、装设于连接轴251两端的第一转接齿轮252及第二转接齿轮253，所述第一转接齿轮252及第二转接齿轮253分别为输入端及输出端。壳主体21朝向对接槽211方向内凹形成隔离部215，所述隔离部215背向对接槽211的一侧形成一外空间216，所述连接轴251从隔离部215穿过，所述第一转接齿轮252为锥齿轮，其设于壳主体231内部，第一转接齿轮252设于壳主体21内部由隔离部215、止位板212和安装面形成的空间，所述第二转接齿轮253设于隔离部215的外空间216，Y阀40完成安装后，Y阀40的驱动环44伸入至隔离部215的外空间216内与第二转接齿轮253啮合。该第一转接齿轮252的设置位置与所述动力座10中的一组驱动组12的主驱动齿轮121相对应。当所述第一驱动座20与动力座10配合安装时，动力座10的主驱动齿轮121从取力孔213伸入，第一转接齿轮252与主驱动齿轮121相互啮合，动力座10为第一驱动座20提供动力，进而通过驱动环44带动与Y阀40连接的导引导管100转动。由于设置隔离部215，将Y阀40与动力座10之间相互分隔开，有效防止被污染后的Y阀40与动力座10之间相互交叉污染。
使用时，Y阀40的第一管体41的第一通道与导引导管100建立一手术病人与从端机器人之间的递送通道，医疗器械（如导丝或导管）可以通过递送通道进入病人身体，并且造影剂或其它医疗制剂可通过Y阀40的第二通道、导引导管100进入病人身体。当需要采用快交医疗器械如快交导管时，先将快交导管穿入Y阀40的第一通道并置入快交装置24上，这样从快交装置24引入的医疗器械从导引导管100中穿过并进入到人体内接近病灶位置。通过设置快交装置24，医生在手术过程中，可以根据手术需求，快速更换不同类型的导管。
所述第二驱动座30与第一驱动座20相比，在结构上同样包括壳主体31、固定盒装置33及外盒32，此处，功能组包括固定盒装置23，并且第二驱动座30的壳主体31、固定盒装置33及外盒32在结构及安装方式与第一驱动座20类似，两者的主要区别在于，第二驱动座30上不具有快交装置24，如果在手术过程中不需要用到快交装置24，医生可以选择第二驱动座30进行驱动，由于第二驱动座30不具有快交装置24，可以有效缩短医疗器械的行程。
综上所述，本申请可拆装式从端介入手术机器人驱动装置的驱动座可以从动力座10上自由拆装，动力座10为更换后的驱动座提供动力，本申请既可以快速更换具有相同功能的、已损坏或者是已被污染的驱动座，也可以根据实际使用需求，快速更换具有不同功能的驱动座，灵活性好，方便医生在实际操作时根据手术需要进行调整，实用性强，具有较强的推广意义。
以上所述实施例仅表达了申请的一种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离申请构思的前提下，还可以做出若干变形和改进，这些都属于申请的保护范围。因此，申请专利的保护范围应以所附权利要求为准。

Claims (19)

  1. 一种可拆装式从端介入手术机器人驱动装置，其中：包括动力座及驱动座，所述驱动座包括壳主体及功能组，所述功能组用于放置导管/导丝，所述壳主体上设有安装面，所述功能组设于所述安装面上，所述壳主体还设有背对所述安装面的对接槽，所述对接槽用于容纳所述动力座，所述驱动座通过所述对接槽可拆卸地扣合于动力座，所述动力座与位于所述对接槽外的功能组可拆卸地接合，以驱动放置于所述功能组的导管/导丝运动。
  2. 如权利要求1所述的可拆装式从端介入手术机器人驱动装置，其中：还包括位于所述对接槽外的转接装置，所述转接装置用于将所述动力座的动力传递给所述功能组。
  3. 如权利要求2所述的可拆装式从端介入手术机器人驱动装置，其中：所述壳主体于对接槽内设有止位板，所述动力座贴合于所述止位板，所述动力座和所述止位板通过定位机构定位。
  4. 如权利要求3所述的可拆装式从端介入手术机器人驱动装置，其中：所述定位机构为磁吸结构，所述止位板与动力座之间采用磁吸方式固定。
  5. 如权利要求3所述的可拆装式从端介入手术机器人驱动装置，其中：所述转接装置位于所述止位板和所述安装面之间。
  6. 如权利要求5所述的可拆装式从端介入手术机器人驱动装置，其中：所述转接装置包括输入端，所述止位板上设有取力孔，所述动力座穿过取力孔与所述输入端接合。
  7. 如权利要求6所述的可拆装式从端介入手术机器人驱动装置，其中：所述转接装置还包括用于驱动所述功能组的输出端。
  8. 如权利要求7所述的可拆装式从端介入手术机器人驱动装置，其中：所述转接装置还包括连接所述输入端和输出端的连接轴。
  9. 如权利要求8所述的可拆装式从端介入手术机器人驱动装置，其中：所述壳主体上设有隔离部，所述连接轴穿设于所述隔离部，所述隔离部在空间上将所述转接装置的输入端及输出端相互分隔开。
  10. 如权利要求9所述的可拆装式从端介入手术机器人驱动装置，其中：所述隔离部背向对接槽的一侧由所述安装面朝向对接槽方向内凹形成一外空间，所述转接装置的输入端设于壳主体内部由所述隔离部、止位板和安装面形成的空间，所述转接装置的输出端设于隔离部的外空间。
  11. 如权利要求8所述的可拆装式从端介入手术机器人驱动装置，其中：所述转接装置的输入端和输出端分别为装设于所述连接轴两端的第一转接齿轮及第二转接齿轮，所述动力座上设有主驱动齿轮，所述主驱动齿轮穿过所述取力孔，并与所述第一转接齿轮相互啮合，所述功能组上固定有用于连接导管/导丝的Y阀的鲁尔连接器，所述第二转接齿轮驱动所述Y阀的鲁尔连接器转动，以让连接于Y阀的鲁尔连接器的导管/导丝运动。
  12. 如权利要求11所述的可拆装式从端介入手术机器人驱动装置，其中：所述第一转接齿轮和所述动力座的主驱动齿轮均为锥齿轮。
  13. 如权利要求11所述的可拆装式从端介入手术机器人驱动装置，其中：所述第二转接齿轮为直齿轮。
  14. 如权利要求11所述的可拆装式从端介入手术机器人驱动装置，其中：所述Y阀包括第一管体、第二管体和用于安装导管/导丝的连接部件，所述第二管体连接于所述第一管体的一侧，所述连接部件连接于所述第一管体的一端；
    所述第一管体设有第一通道，所述第二管体设有第二通道，所述第一通道和所述第二通道相互连通；
    所述第二转接齿轮驱动所述连接部件转动，以使所述连接部件能够环绕所述第一管体的轴心转动。
  15. 如权利要求14所述的可拆装式从端介入手术机器人驱动装置，其中：所述连接部件上设有驱动环，所述驱动环上设有卡齿，所述驱动环上的卡齿环绕所述第一管体的轴心分布，所述驱动环伸入至所述外空间内与所述第二转接齿轮啮合。
  16. 如权利要求12所述的可拆装式从端介入手术机器人驱动装置，其中：所述功能组包括固定盒装置，所述固定盒装置包括盒主体及装设于盒主体上的内盖，所述盒主体上设有安装槽，所述安装槽用于安装所述Y阀，所述内盖枢接于所述盒主体，所述内盖用于在盖合于所述盒主体上时，对所述Y阀进行限位。
  17. 如权利要求16所述的可拆装式从端介入手术机器人驱动装置，其中：所述功能组还包括快交装置。
  18. 如权利要求17所述的可拆装式从端介入手术机器人驱动装置，其中：所述驱动座还包括外盒，所述外盒转动连接于所述壳主体并罩设在所述快交装置和所述固定盒装置外侧。
  19. 如权利要求18所述的可拆装式从端介入手术机器人驱动装置，其中：所述外盒边缘部分与所述壳主体采用磁铁与含铁元件或者是磁铁与磁性元件的方式磁性固定。
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