CN117582296A - interventional robot - Google Patents

Abstract

The invention discloses an interventional robot, which comprises: the main terminal equipment can acquire input data; the slave end equipment comprises a plurality of execution modules, the execution modules are used for operating the intervention parts, the master end equipment transmits control data to each execution module of the slave end equipment in a wired or wireless mode, and the execution modules control at least one intervention part to perform independent or compound actions of straight line, rotation twisting and bending control based on the control data. The interventional robot controls the master end equipment through doctors, controls each execution module on the slave end equipment in a wired or wireless communication mode, avoids the problems that the requirement on the doctor is high, errors are easy to exist and the possibility of operation failure is high because the doctor needs to control a plurality of interventional instrument equipment for a long time at present, and further achieves the purpose of precisely controlling each execution module to drive the interventional part to move, reduces the injury of the operation to patients and improves the success rate of the operation.

Description

Interventional robot

Technical Field

The invention relates to the field of medical instruments, in particular to an interventional robot.

Background

In the vascular interventional operation, a doctor needs to perform the operation by controlling the movement of a catheter or a guide wire according to the data such as a map before the operation and a map acquired during the operation as references. The prior art has the following technical problems:

(1) The doctor needs to control a plurality of actuating mechanisms for a long time to drive a plurality of guide wires or catheters to move respectively to perform the operation, and the requirements on the doctor are high, errors are easy to exist and the possibility of operation failure is high.

(2) The vessel interventional robots on the market at present are mainly customized, in particular to a customized design of a pointer for specific operation, so that the vessel interventional robots are single in function, difficult to generalize and have different operation equipment required for different operation rooms, thus causing that hospital equipment is expensive to purchase and inconvenient to maintain and replace.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides an interventional robot.

The invention solves the technical problems by the following technical scheme:

an interventional robot, comprising:

the main terminal equipment can acquire input data and generate control data based on the input data;

the slave end equipment comprises a plurality of execution modules, the execution modules are used for operating the intervention parts, the master end equipment transmits the control data to each execution module of the slave end equipment in a wired or wireless mode, and the execution modules control at least one intervention part to perform independent or compound actions of straight line, rotational twisting and bending control based on the control data.

The main end equipment of the interventional robot is one end of operation equipment for doctors, the main end equipment is controlled by the doctors, the control of each execution module on the auxiliary end equipment is realized in a wired or wireless communication mode, the problems that the requirement on the doctors is high, errors are easy to exist and the possibility of operation failure is high due to the fact that the doctors need to control a plurality of interventional instrument equipment for a long time at present are avoided, and then the intervention pieces are accurately controlled to drive the intervention pieces to move, the injury of the operation to patients is reduced, and the success rate of the operation is improved.

Further, the main terminal device comprises a control module and a data input module, wherein the data input module is used for acquiring input data and transmitting the input data to the control module, and the control module generates the control data based on the input data and transmits the control data to the execution module.

The data input module is further arranged so as to acquire and receive input data. Wherein the input data may be obtained in a variety of ways, for example: (1) Input data is obtained by processing the image. Under the condition that input data are obtained by processing images, the sources of the images are diversified, and the images can be CT scanned images or images returned by a camera at the tail end of the operated interventional part; (2) Data entered to control movement of the interventional member via interaction of the physician with the data entry module; (3) data detected and returned by the sensor; (4) data planned by the preoperative map.

Further, the control module and the data input module of the master device have one of the following layout modes with respect to the slave device:

(1) The control module and the data input module are arranged outside the slave terminal equipment;

(2) The control module is arranged inside the slave terminal equipment, and the data input module is arranged outside the slave terminal equipment;

(3) The control module and the data input module are both arranged in the slave terminal equipment.

Further, the main terminal device further comprises a data output module, and the data output module is used for outputting data to a user.

Further, the data input module comprises at least one of a data input interface, an operation handle, a touch screen, a pedal and a button.

For the scheme that the control module and the data input module are arranged on the slave device, the device integration level of the interventional robot can be improved. The scheme that the control module and the data input module are arranged outside the slave end equipment can facilitate the realization of the spatial isolation of the slave end equipment and the master end equipment, and avoid the influence of radiation when a doctor operates the master end equipment to perform operation.

The data output module is used for outputting data to a user in various modes, can output the data in a mode of graphic image display, can output the data in a mode of printing, sound, light indication and the like, and is preferably a mode of graphic image display, and the output purpose can be achieved by adopting a display or a touch screen.

In addition, the data input module can adopt at least one of a data input interface, an operation handle, a touch screen, a pedal and buttons to realize data input. The data input interface is used for being in butt joint with other equipment outside the main terminal equipment to realize data input, and can be particularly used for being in butt joint with a data input cable of a hospital so that external data can be input into the main terminal equipment. And the operation handle, the touch screen, the foot rest and the buttons are used for interacting with operators (doctors), and data input is realized through the operation of on-site operators.

Further, the interventional robot also includes a radiation shield disposed adjacent to the main end device.

Radiation isolation is further achieved by providing a protective cover assembly near the primary end device to protect the operator (physician) operating the primary end device from the radiation.

Further, the interventional robot further comprises a trolley support rack, and the main end equipment is arranged on the trolley support rack.

Meanwhile, the trolley support rack is arranged to bear the main end equipment, so that the main end equipment can be conveniently moved to adjust the position.

Further, the slave device comprises at least one of an operating handle, a touch screen, a pedal and a button.

By setting at least one of the operating handle, the touch screen, the pedal and the button, the man-machine interaction degree with the operator (doctor) is improved.

Further, the main terminal device sends the control data to a plurality of execution modules, and the execution modules jointly control at least one intervention piece to perform linear, rotational twisting and bending control compound actions based on the control data.

By sending control data to the plurality of execution modules to collectively control the intervention member via the plurality of execution modules, the intervention member is enabled to perform relatively more complex actions.

Further, the slave device further includes:

a substrate module;

the walking modules are in one-to-one correspondence with the executing modules, are respectively arranged on the substrate modules, and can reciprocate on the substrate modules along the horizontal extending direction of the substrate modules;

The main terminal equipment also transmits the control data to the walking module in a wired or wireless mode, and the walking module reciprocates on the substrate module based on the control data;

the electrical connection and/or the mechanical connection between the walking module and the substrate module is detachable fast-assembling connection.

In the scheme, the slave end equipment is provided with a plurality of independently movable walking modules on the substrate module so as to be respectively installed by the execution modules, so that the execution modules can jointly complete the operation on the intervention part. Wherein, through dismouting and change the executive module that is located on the walking module to realize different functions under the removal drive of walking module, satisfy different user demands. The walking module can be disassembled and assembled relative to the base plate module, so that the slave end equipment can adjust the number of the walking modules arranged on the base plate module according to specific operation requirements. And the walking module can be connected with the substrate module in an electric connection and mechanical connection mode, so that the equipment compatibility is better.

Further, the execution modules are detachably connected to the corresponding walking modules respectively;

the execution module comprises a rotation module and/or a bending control module.

At least one of the rotating module and the bending control module is arranged on the executing module to be matched with the walking module together, so that the interventional part is controlled to perform the composite actions of advancing, retreating and rotating or the composite actions of advancing, retreating and bending control.

Further, the control data is sent to the execution module through the walking module in a wired transmission mode;

when the execution module is installed relative to the walking module, the execution module and the walking module form wired transmission connection;

when the execution module is detached relative to the walking module, the execution module and the walking module are disconnected with wired transmission connection.

In the scheme, the physical and wired communication connection of the execution module can be formed simultaneously in the process of dismounting the execution module relative to the walking module through structural arrangement, so that the aim of simplifying the structure is fulfilled.

Further, the slave end device further comprises a fast-assembling mechanism, and the execution module is connected to the walking module through the fast-assembling mechanism.

In this scheme, through adopting the dismouting of quick-mounting connected mode realization execution module relative walking module, compare in other detachable connected modes, have more advantage in dismouting speed and dismouting degree of difficulty. Meanwhile, the slave end equipment has higher cleanliness requirement on the execution module, and in order to avoid pollution to the execution module by the walking module and the substrate module, a diaphragm is arranged between the execution module and the walking module and between the execution module and the substrate module in the use process of the slave end equipment, so that mutual pollution is prevented. The means for realizing the fast assembly mode are various, for example, the fast assembly mode can be realized by means of magnetic attraction, sucking disc adsorption and the like. The magnetic connection mode is further adopted as a non-contact connection scheme, connection can be achieved under the condition that the execution module is separated from the traveling module and the substrate module, and therefore the influence of the substrate module with relatively low purification level and the traveling module on the cleanliness of the execution module is avoided.

Further, the slave end device further comprises a positioning mechanism, the positioning mechanism comprises a positioning pin and a positioning hole, the positioning pin is matched with the positioning mechanism in size, the positioning pin is arranged at the bottom of the execution module and extends downwards, and the positioning hole is formed in the top surface of the walking module.

In this scheme, the relative walking module of execution module further realizes the location with locating pin and locating hole complex mode, compares other positioning scheme, has more advantage in dismouting speed and dismouting degree of difficulty. In addition, the pin hole connection and various quick-assembly connection modes including magnetic attraction can be matched with each other, so that the execution module can be connected to the walking module stably and reliably.

Furthermore, the positioning pins are distributed at four end angle positions of the bottom of the execution module, and the setting position of the quick-mounting mechanism at the bottom of the execution module is located between the two positioning pins.

In this scheme, through setting up locating pin distribution in four end angular positions departments of execution module bottom to provide a relatively stable location connection scheme, make each locating pin receive the effort near in the connection process, guarantee that execution module reliably connects in the walking module.

Further, the slave device further includes a driving mechanism, the driving mechanism includes:

the rack is arranged on the base plate module and is arranged along the horizontal extending direction of the base plate module;

the gear is arranged on each traveling module respectively, the motor is used for driving the gear to rotate, and the gear is meshed with the rack.

In this scheme, compare and adopt other structures to realize the displacement of walking module relative base plate module, the meshing between the rack and pinion is difficult for skidding, and displacement accuracy is high to a plurality of walking modules can share the single rack on the base plate module, simplify the structure. At the same time, the thickness of the substrate module can be further reduced by the structure, so that the intervention part operated by the execution module arranged on the substrate module can be closer to the body of a patient.

Further, the racks are disposed on the base plate module with the tooth surfaces facing upward.

In this scheme, when the base plate module is because of self weight or the execution module weight bending deformation of setting, the rack of setting on the base plate module also can produce deformation thereupon, compares in setting up the flank of tooth of rack towards other directions, sets up the flank of tooth up can effectively reduce the influence that rack bending deformation caused the flank of tooth, and then guarantees the effective meshing with between the gear under the flank of tooth bending condition, avoids the gear to block on the flank of tooth and leads to the transmission inefficacy. At the same time, the thickness of the substrate module can be further reduced by the structure, so that the intervention part operated by the execution module arranged on the substrate module can be closer to the body of a patient.

Further, the driving mechanism further comprises an adjusting mechanism, the adjusting mechanism is arranged in one-to-one correspondence with the gears, the gears are movably connected with the walking module through the adjusting mechanism, and the adjusting mechanism is used for adjusting the distance between the gears and the walking module so that the gears are meshed with the racks.

In the scheme, the distance between the gear and the traveling module is adjusted by arranging the adjusting mechanism, so that the gear is kept meshed with the rack, and the displacement precision of the traveling module and the executing module is improved.

Further, the adjustment mechanism includes:

one end of the swing rod is hinged to the bottom of the walking module, and the gear is rotatably arranged at the other end of the swing rod;

the elastic piece is arranged between the swing rod and the walking module and is used for applying elastic force away from the walking module to the swing rod.

In this scheme, the one end of pendulum rod articulates in the bottom of walking module, and as the wobbling center, the gear rotation sets up in the other end of pendulum rod, makes the gear can keep compressing tightly on the rack through the elasticity that the elastic component applyed to realize the mesh in the rack all the time of gear with simple reliable structure relatively.

Further, the motor is arranged on the swing rod.

In the scheme, the motor for driving the gear to rotate is also arranged on the swing rod, so that the structure complexity of a transmission mechanism between the motor and the gear is simplified, and the aim of simplifying the structure is fulfilled.

Further, the slave device further includes a guiding mechanism, the guiding mechanism including:

the guide rail is arranged on the base plate module and is arranged along the horizontal extending direction of the base plate module;

the sliding blocks are respectively arranged on the walking modules, and the sliding blocks are positioned on the guide rails in a sliding manner.

In the scheme, each traveling module is guided by arranging the guide rail and the sliding block, so that the traveling module is ensured to precisely move on the substrate module, and a plurality of traveling modules can share a single guide rail on the substrate module for guiding, so that the structure is simplified.

Further, the two guide rails are respectively arranged at two sides of the rack.

In the scheme, the guiding capability of the guide rail and the sliding block to the walking module can be further improved through the structural layout.

Further, the slave end device further comprises drag chains, the number of the drag chains is the same as that of the walking modules, each drag chain is arranged on the base plate template, and the end parts of the drag chains are connected with the corresponding walking modules; and the drag chains are oppositely stacked along the vertical direction.

In the scheme, the drag chain is correspondingly connected with each walking module, so that the control electric signal or electric power is conveniently transmitted to the walking modules from the substrate modules, and meanwhile, the cable winding can be avoided. Meanwhile, a plurality of drag chains are stacked in the vertical direction, so that the structural layout is more compact.

Further, the slave device further includes an electrical connection mechanism, where the electrical connection mechanism includes a first contact and a second contact, the first contact is disposed on the execution module, the second contact is disposed on the walking module, and when the execution module is connected to the walking module, the first contact and the second contact are in contact and electrically connected.

In the scheme, the electric connection between the execution module and the walking module is realized in a contact mode, so that control electric signals or electric power on the walking module is conveniently transmitted to the execution module. Meanwhile, the electric connection is realized through a contact mode, and the circuit can be disconnected in time when the execution module is detached relative to the walking module, so that the disassembly, assembly and use are more convenient.

Further, the slave device further comprises a handheld control module, and the handheld control module is mounted at the end part of the substrate module along the horizontal extending direction of the substrate module;

The handheld control module is electrically connected with the substrate module through an elastic cable.

In this scheme, through the handheld control module of side mount at base plate module, conveniently control from end equipment through handheld control module, wherein, handheld control module relies on elastic cable to realize electric connection with base plate module, and convenience of customers uses under the circumstances of taking down handheld control module.

Further, the interventional robot further includes:

the base can horizontally move;

the displacement adjusting mechanism is connected with the base through the displacement adjusting mechanism, and the displacement adjusting mechanism can drive the slave end equipment to realize at least one of lifting, translation or horizontal rotation relative to the base.

In the scheme, the displacement adjusting mechanism is used for driving the slave end equipment to realize at least one of lifting, translation or horizontal rotation motion relative to the base, and the base horizontally moves, so that the motion direction of the slave end equipment is more flexible, and the intervention part operated by the execution module is closer to the body of a patient by a better adjusting angle.

The invention has the positive progress effects that:

According to the interventional robot, a doctor controls the master end equipment and/or performs operation planning in advance, active control and/or automatic operation of each execution module on the slave end equipment are realized in a wired or wireless communication mode, the problems that the requirement on the doctor is high, errors are easy to exist and the possibility of operation failure is high due to the fact that the doctor needs to control a plurality of interventional instrument equipment for a long time at present are avoided, and then the fact that each execution module drives an interventional part to move is achieved, the injury of the operation to a patient is reduced, and the success rate of the operation is improved.

Drawings

Fig. 1 is a schematic diagram showing the overall structure of an in-coming robot in embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of the control relationship of the in-coming robot in embodiment 1 of the present invention.

Fig. 3 is a schematic overall structure of a master device in embodiment 1 of the present invention.

Fig. 4 is a schematic overall structure of an in-coming robot in embodiment 2 of the present invention.

Fig. 5 is a schematic diagram of the overall structure of the intermediary-robot at the slave-end apparatus in embodiment 3 of the present invention (one).

Fig. 6 is a schematic diagram of the overall structure of the intermediary-robot at the slave-end apparatus in embodiment 3 of the present invention (second).

Fig. 7 is an enlarged schematic view of a portion of fig. 6.

Fig. 8 is a schematic diagram showing an assembled structure of a part of elements of the slave device in embodiment 3 of the present invention.

Fig. 9 is a schematic diagram of the structure of the execution module in embodiment 3 of the present invention.

Fig. 10 is a schematic diagram of an assembled structure of a slave device at a traveling module in embodiment 3 of the present invention.

Fig. 11 is a schematic sectional view of the structure of the slave device at the substrate module in embodiment 3 of the present invention.

Fig. 12 is a partially enlarged schematic view at B of fig. 11.

Reference numerals illustrate:

interventional robot 1

Slave device 10

Base 20

Displacement adjusting mechanism 30

A master device 40, a control module 401, a data input module 402

C-arm machine 50

Operating table 60

Radiation shield 70

Execution module 100

Substrate module 200

Walking module 300

Positioning mechanism 400

Locating pin 410

Positioning hole 420

Rack 510

Gear 520

Motor 530

Swing link 541

Slider 620

Drag chain 700

Magnetic attraction mechanism 800

Handheld control module 900

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention, and all other embodiments, based on the embodiments of the present invention, which may be obtained by persons of ordinary skill in the art without inventive effort, are within the scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Example 1

As shown in fig. 1 and 2, the present embodiment provides an interventional robot 1 including a master device 40 and a slave device 10, wherein the master device 40 is capable of acquiring input data and generating control data based on the input data. While on the slave device 10 a plurality of execution modules 100 are provided, which execution modules 100 are used for operating a guide wire or catheter (not shown in the figures).

The master device 40 sends the generated control data to each execution module 100 of the slave device 10 in a wired manner, and the execution modules 100 can control at least a plurality of guide wires and catheters to perform independent or composite actions of straight line, twisting and bending control based on the control data.

The main end device 40 of the interventional robot 1 is one end of operation equipment for doctors, the doctor controls and/or performs operation planning in advance on the main end device 40, active control and/or automatic operation of each execution module on the slave end device 10 are realized in a wired communication mode, the problems that the requirement on the doctor is high, errors are easy to exist and the possibility of operation failure is high due to the fact that the doctor needs to control a plurality of interventional instrument devices for a long time at present are avoided, and then the effects of accurately controlling each execution module to drive interventional parts such as guide wires or catheters to move, reducing injuries of operations on patients and improving the success rate of the operations are achieved. The control scheme of generating control data based on input data to control specific components of the execution module to move and drive the catheter to perform independent or composite actions of straight line, rotary twisting and bending control as required belongs to the category of the prior art, and therefore, the control scheme is not repeated here.

In this embodiment, when the master device 40 controls each execution module 100 on the slave device 10 simultaneously, the master device 40 is provided with a function of simultaneously sending control data to a plurality of execution modules 100, so that the execution modules 100 jointly control the wire or catheter to perform a composite action of straight line, twisting and bending based on the control data, so as to perform a relatively more complex action.

Specifically, as shown in fig. 2, the master device 40 includes a control module 401 and a data input module 402, where the data input module 402 is configured to obtain input data and transmit the input data to the control module 401, and the control module 401 generates control data based on the input data and sends the control data to the execution module 100. By further arranging the data input module 402, input data is facilitated to be acquired and received. The input data received by the data input module 402 includes motion data, sensor data, image data, planning data, etc., and may be obtained in various manners, for example, planning data obtained from a preoperative map, or image data obtained by processing an image, and further, data for controlling movement of a guide wire or catheter may be input by way of interaction between a doctor and the data input module. Under the condition that input data are obtained by processing images, the sources of the images are diversified, and the images can be CT scanned images or images returned by a camera at the tail end of the operated interventional part, and the input data mainly provide a path for the interventional part to move in a patient so as to enable the operation to be carried out smoothly. The means and manner of how to obtain the input data are not described in detail herein, as they fall within the scope of the prior art.

In this embodiment, the data input module 402 refers to a module capable of interacting with a doctor, and specifically includes an operation handle, a touch screen, a pedal, and buttons, so that the doctor can operate and input relevant input data, and in addition, to improve interactivity. Meanwhile, a data input interface is also arranged for interfacing with other devices in the hospital, and a non-user interaction channel is provided for realizing data input. Meanwhile, in order to further improve interactivity, a display is further arranged, a touch screen is used as an auxiliary, and input data is displayed to a user in an image display mode. Of course, the master device 40 further includes a data output module, where the data output module is configured to output data to a user.

In this embodiment, as can be seen in fig. 1, the master end device 40 and the slave end device 10 are separately disposed, and a radiation shield 70 is further disposed near the master end device 40, so as to prevent an operator (doctor) from being affected by radiation when operating the master end device. The data interaction between the master end device 40 and the slave end device 10 is achieved by means of a communication cable connection, so that an operator (doctor) can operate a plurality of execution modules 100 on the slave end device 10 at a relatively remote location from the slave end device 10. If the main end device 40 can be moved away from the radiation source by extending the communication cable, the radiation shield 70 may be omitted so that the operator (doctor) operates the main end device 40 at a location where no radiation is affected. In addition, casters are provided at the bottom of the radiation shield 70 to facilitate movement and adjustment of the position.

Of course, in other embodiments, the relevant modules of the master device 40 may also be partially disposed in the slave device 10, so as to improve the integration effect of the interventional robot. For example, the data input module 402 may be provided outside the slave device 10 as in the present embodiment so that a doctor can perform an operation at a long distance, while integrating the control module 401 in the slave device 10, input data obtained by the data input module 402 is first sent to the control module 401 located in the slave device 10, and each execution module 100 is controlled via the control module 401. In another embodiment, the input module 402 and the control module 401 may be integrated in the slave device 10, so that the interventional robot 1 actually forms a whole, and the integration degree is higher.

In addition, in this embodiment, as shown in fig. 3, a trolley support stand is provided at the bottom of the main end device, so that the main end device can move horizontally as a whole, and the position of the trolley support stand can be adjusted, and the casters of the trolley support stand can also be locked, so as to avoid movement of the main end device during use. Further, the display is also mounted on the carriage support stand, and the height of the display is telescopically adjustable, so that the display can be adjusted to a comfortable position according to the height of an operator (doctor). The operating handle, the touch screen and the buttons are arranged on the table top of the trolley support rack. And the pedals are arranged under the table top of the trolley support rack.

In addition, as shown in fig. 1, the interventional robot further includes a C-arm machine 50 and an operating table 60 to meet the requirements of actual surgery.

According to the interventional robot, through the control of doctors to the main end equipment, the technical problems that in the prior art, the doctor needs to control the interventional instrument for a long time, the requirements on the operating doctor are high, errors are easy to exist, the possibility of operation failure is high are avoided, and then the technical effects of accurately controlling the interventional instrument, reducing the injury of the operation to patients and improving the success rate of the operation are achieved.

Example 2

The present embodiment also provides an interventional robot 1 having substantially the same structure as the interventional robot 1 provided in embodiment 1, except that: as shown in fig. 4, in this embodiment, the slave device 10 and the master device 40 are connected by wireless communication. The wireless communication modes are various, for example, short-distance connection is performed by wifi and bluetooth, and length connection can be realized by radio communication of 4G, 5G and the like. The communication connection between the slave end device 10 and the master end device 40 is realized in a wireless mode, the distance between the slave end device 10 and the master end device 40 can be further pulled, the space isolation between the slave end device 10 and the master end device 40 is realized, and the doctor is prevented from being affected by radiation when the doctor operates the master end device to perform an operation.

Example 3

The present embodiment provides a preferred structural arrangement of the interventional robot 1, mainly for the slave device 10 of the interventional robot 1. As shown in fig. 5 and 6, the interventional robot 1 is further provided with a base 20 and a displacement adjustment mechanism 30 corresponding to the movement of the slave end device 10, wherein the base 20 can be placed on a horizontal plane and can horizontally move relative to the horizontal plane, the displacement adjustment mechanism 30 comprises a vertical section and a horizontal section, one end of the vertical section is connected with the base 20, the other end of the vertical section is connected with one end of the horizontal section, the other end of the horizontal section is connected with the slave end device 10, the vertical section and the horizontal section can freely stretch and retract, and the displacement adjustment mechanism 30 can drive the slave end device 10 to realize at least one of lifting, translation, pitching or horizontal rotation movement relative to the base 20.

Further, as shown in fig. 5 and 6, the slave device 10 includes four execution modules 100, wherein the specific structure of each execution module 100 is not shown in the drawings of the present embodiment, but is replaced by a rectangular block structure.

The four execution modules 100 are used to perform the operation of the catheter, guidewire, guide catheter, and sheath, collectively referred to herein as the operation of the interventional device, but the object delivered from the end device 10 is not limited to the catheter, guidewire, guide catheter, and sheath described above, and any element that can be used for vascular intervention, referred to as an interventional device, can be delivered from the end device 10. In addition, the number of the execution modules 100 in the present embodiment is four, and in other embodiments, the number of the execution modules 100 may be adjusted according to actual needs to satisfy specific functions. The specific internal structure of each execution module 100 and the principle of operating the interventional devices such as the catheter, the guide wire, the guiding catheter and the guiding sheath all belong to the prior art category, and therefore are not described herein again.

As shown in fig. 7 and 8, the slave device 10 further includes a substrate module 200 and four traveling modules 300, the substrate module 200 is a strip-shaped housing structure, two opposite side walls of the substrate module 200 in the extending direction are respectively provided with a strip-shaped opening, the four traveling modules 300 are all disposed in the substrate module 200, when the four traveling modules 300 are disposed in the substrate module 200, two ends of a top plate of the four traveling modules 300 respectively extend out of the strip-shaped openings provided on two side walls of the substrate module 200, the four traveling modules 300 can reciprocate in the substrate module 200 along the horizontal extending direction of the substrate module 200, and the four execution modules 100 are respectively detached from the four traveling modules 300.

With this arrangement, the slave device 10 provides the execution modules 100 with a plurality of independently movable traveling modules 300 on the base plate module 200 for installation, so that the execution modules 100 together perform the operation on the intervention member. Wherein, the execution module 100 on the walking module 300 is disassembled and exchanged to realize different functions under the moving drive of the walking module 300, thereby meeting different use requirements. Since the function of driving the guide wire or catheter forward and backward in the present embodiment is already implemented by the walking module 300, the main function of the execution module 100 is to drive the guide wire or catheter to rotate and control the bending. It should be noted that, for the plurality of execution modules 100 that can jointly implement the operation on the intervention member, the configuration sequence and the functional separation of the execution modules 100 are all in the category of the existing design, and are not described herein.

Further, the walking modules 300 may be detachable from the base plate module 200, so as to adjust the number of the walking modules 300 disposed on the base plate module 200 according to the operation requirement. On this basis, in the process of dismounting each traveling module 300 relative to the substrate module 200, not only the mechanical transmission connection between the traveling module 300 and the substrate module 200, but also the electrical connection between the traveling module 300 and the substrate module 200 can be opened and closed along with the mounting and dismounting. Such a structural arrangement can enable better device compatibility. In particular, how the walking module 300 is electrically connected to the base plate module 200 and mechanically connected to and disconnected from the base plate module can be referred to related technical schemes existing in the prior art.

Further, as shown in fig. 8 and 9, the slave device 10 further includes a quick-mounting mechanism, through which the execution module 100 is connected to the walking module 300. Specifically, the quick-assembling mechanism may be a magnetic mechanism 800, and the bottom of each execution module 100 is provided with two magnetic mechanisms 800 respectively, where the two magnetic mechanisms 800 are disposed opposite to each other, when the execution module 100 is detachably connected to the walking module 300, a top plate of the substrate module 200 exists between the execution module 100 and the walking module 300, so that the main structures of the execution module 100 and the walking module 300 are separated from each other, in this case, the disassembly and assembly of the execution module 100 relative to the walking module 300 are realized by adopting the magnetic connection manner, which is more advantageous in terms of disassembly and assembly speed and disassembly difficulty compared with other detachable connection manners. Of course, in other embodiments, other quick-mounting structures including suction cups may be used to achieve quick mounting of the execution module 100 relative to the walking module 300. Meanwhile, the requirement of the slave device 10 on the cleanliness of the execution module 100 is high, in order to avoid pollution of the walking module 300 and the substrate module 200 to the execution module 100, a protective diaphragm is arranged between the execution module 100 and the walking module 300 and between the execution module 200 and between the execution module 100 and the substrate module 200 in the use process of the slave device 10, so that mutual pollution is prevented.

In addition, as shown in fig. 8, 9 and 10, the specific detachable manner between the execution module 100 and the walking module 300 in this embodiment is that by providing the positioning mechanism 400, the positioning mechanism 400 includes positioning pins 410 and positioning holes 420 with size matching, the positioning pins 410 are distributed at four end angular positions of the bottom of the execution module 100, and the positioning pins 410 extend downward relative to the bottom of the execution module 100. When the traveling module 300 is placed in the base plate module 200, two ends of the top plate of the traveling module 300 respectively extend out of the elongated openings formed on two side walls of the base plate module 200, and four positioning holes 420 are formed on the extending portions. The positioning pins 410 at the four end angle positions are in one-to-one correspondence with the four positioning holes 420 and are mutually connected, so that the execution module 100 and the walking module 300 are detachably connected, the pin hole connection and the magnetic attraction connection can be mutually matched, and the execution module 100 can be stably and reliably connected to the walking module 300. In addition, the positioning between the execution module 100 and the walking module 300 can be realized by the way of matching the positioning pins 410 and the positioning holes 420, and compared with other positioning schemes, the positioning method has the advantages in the aspects of disassembly and assembly speed and disassembly difficulty.

In other embodiments, the positions and the number of the positioning pins 410 and the positioning holes 420 can be adjusted according to actual needs, so long as the positioning connection between the execution module 100 and the walking module 300 can be satisfied. In addition, the magnetic attraction mechanism 800 may be disposed between the two positioning pins 410 at the bottom of the execution module 100, so that the layout is more reasonable.

Further, the slave device 10 further comprises a driving mechanism, wherein the driving mechanism comprises a rack 510, a gear 520 and a motor 530. As shown in fig. 11 and 12, the rack 510 is disposed inside the base plate module 200, and the extending direction of the rack 510 is the same as the horizontal extending direction of the base plate module 200. As shown in fig. 8 and 10, the gear 520 and the motor 530 are disposed at the bottom of the traveling module 300, wherein the gear 520 is engaged with the rack 510, and the motor 530 is used to drive the gear 520 to rotate and roll relative to the rack 510 along the extending direction of the rack 510. By adopting the mode that the racks 510 of the gears 520 are meshed with each other, compared with the mode that other structures are adopted to realize the displacement of the walking module 300 relative to the base plate module 200, the meshing between the gears 520 and the racks 510 is not easy to slip, the displacement precision is high, and a plurality of walking modules 300 can share a single rack 510 on the base plate module 200, so that the structure is simplified. At the same time, such a structural arrangement may further reduce the thickness of the substrate module 200 such that the intervention member operated by the execution module 100 disposed on the substrate module 200 can be brought closer to the patient's body, thereby allowing access to the patient's body at a smaller angle.

In this embodiment, the rack 510 is specifically disposed on the base module 200 in a manner that the tooth surface faces upward, because when the base module 200 is bent and deformed due to its own weight or the weight of the disposed execution module 100, the rack 510 disposed on the base module 200 will also deform accordingly, and compared with the arrangement of the tooth surface of the rack 510 in other directions, the arrangement of the tooth surface faces upward can effectively reduce the influence of the bending deformation of the rack 510 on the tooth surface, thereby ensuring effective engagement with the gear 520 under the condition of bending the tooth surface, and avoiding the transmission failure caused by the jamming of the gear 520 on the tooth surface. Also, such a structural arrangement may further reduce the thickness of the substrate module 200 such that the interventional member operated by the execution module 100 disposed on the substrate module 200 can be brought closer to the patient's body, thereby enabling the interventional member to enter the patient's body at a relatively smaller bending angle.

Further, the driving mechanism of the slave device 10 further includes an adjusting mechanism, which is also disposed at the bottom of the walking module 300, and the adjusting mechanism is disposed in one-to-one correspondence with the gears 520, and the gears 520 are movably connected to the walking module 300 through the adjusting mechanism, and the distance between the gears 520 and the walking module 300 is adjusted through the adjusting mechanism, so that the gears 520 can keep engaged with the racks 510, so as to improve the displacement precision of the walking module 300 and the executing module 100. Specifically, as shown in fig. 8 and 10, the adjusting mechanism specifically includes a swing rod 541 and an elastic member (not shown in the drawings), when the walking module 300 is disposed in the base plate module 200, the gear 520 of the driving mechanism is matched with the rack 510 in the base plate module 200, the gear 520 rolls along the extending direction of the rack 510, and likewise, the extending direction of the swing rod 541 at the bottom of the walking module 300 is consistent with the extending direction of the rack 510, the first end of the swing rod 541 is hinged at the bottom of the walking module 300, and the second end of the swing rod 541 can swing about the hinge, where the gear 520 is disposed at the second end of the swing rod 541. The two ends of the elastic member are respectively abutted against the swing rod 541 and the walking module 300, and the first end of the swing rod 541 can apply a force to the gear 520 by using the elastic force of the elastic member to match with the swing of the swing rod 541, so that the gear 520 can be kept pressed on the rack 510, and the purpose that the gear 520 is always meshed with the rack 510 is achieved by a relatively simple and reliable structure. In addition, in this embodiment, the motor 530 is disposed on the swing rod 541 to drive the gear 520 connected with the swing rod 541 to move, so as to simplify the complexity of the transmission mechanism between the motor 530 and the gear 520, and achieve the purpose of simplifying the structure.

Further, the slave end apparatus 10 further includes a guiding mechanism, which includes a guide rail (not shown in the drawings) and a slider 620, as shown in fig. 8 and 10, four sliders 620 are disposed at four corners of the bottom of the traveling module 300, the four sliders 620 are disposed near four positioning holes 420 at the corners, and the sliders 620 are provided with clamping grooves along the extending direction of the substrate module 200. Two guide rails are disposed inside the base plate module 200, the extending directions of the two guide rails are consistent with the extending directions of the base plate module 200, each guide rail is connected with two sliding blocks 620 at the bottom of each traveling module 300, specifically, the guide rails are clamped inside clamping grooves of the sliding blocks 620, and when the traveling modules 300 move relative to the base plate module 200, the sliding blocks 620 can slide on the guide rails.

By arranging the guide rails and the sliding blocks 620 to guide each traveling module 300, the traveling modules 300 can be ensured to precisely move on the substrate module 200, and a plurality of traveling modules 300 can share a single guide rail on the substrate module 200 to guide, so that the structure is simplified. In addition, two guide rails are disposed inside the base plate module 200, the extending direction of the two guide rails is the same as that of the rack 510, and the two guide rails are disposed at two sides of the rack 510, respectively, so that the guiding capability of the guide rails and the slider 620 to the traveling module 300 can be further improved through the structural layout.

Further, as shown in fig. 11, the slave device 10 further includes drag chains 700, the number of drag chains 700 is the same as that of the walking modules 300, and because each walking module 300 has a corresponding cable connected with an external control module, the drag chains 700 are configured to accommodate the cable of each walking module 300, the drag chains 700 corresponding to each walking module 300 are disposed on the base plate module 200, the end portions of the drag chains 700 are connected to the corresponding walking modules 300, and by configuring the drag chains 700 to correspondingly connect the walking modules 300, it is convenient to transmit control electric signals or electric power from the base plate module 200 to the walking modules 300, and meanwhile, it is also possible to avoid cable winding. In addition, the drag chains 700 of the respective walking modules 300 are relatively stacked in the vertical direction, so that the layout inside the base plate module 200 is more compact.

In addition, the insertion device of the present embodiment further includes an electrical connection mechanism (not shown in the drawings), where the electrical connection mechanism includes a first contact and a second contact, the first contact is disposed at the bottom of the execution module 100, the second contact is disposed at the top of the walking module 300, and when the execution module 100 is connected to the walking module 300, the first contact and the second contact can be mutually contacted and electrically connected. The electrical connection between the execution module 100 and the traveling module 300 is realized by a contact mode, so that the control electric signal or power on the traveling module 300 is conveniently transmitted to the execution module 100. Meanwhile, the electric connection is realized through a contact mode, and the circuit can be disconnected in time when the execution module 100 is detached relative to the walking module 300, so that the disassembly, assembly and use are more convenient.

As shown in fig. 7, in this embodiment, a handheld control module 900 is further mounted on the horizontally extending end of the substrate module 200, and the handheld control module 900 is provided with an emergency stop button, a gear switch, an operation button, and the like, and is electrically connected to each execution module 100 to control the execution module 100. Through carrying handheld control module 900 in the side of base plate module 200, conveniently control slave end device 10 through handheld control module 900, wherein, handheld control module 900 relies on the elastic cable to realize electric connection with base plate module 200, and the convenience of customers uses under the circumstances of taking off handheld control module 900.

As shown in fig. 5 and 6, the interventional robot 1 of the present embodiment includes the slave device 10 as described above, so that the slave device 10 can better play a role in the interventional robot 1. As mentioned above, the interventional robot 1 further includes the base 20 and the displacement adjustment mechanism 30, where the base 20 can be placed on a horizontal plane and can move horizontally relative to the horizontal plane, and at least one of lifting, translating or horizontally rotating movement of the slave end device 10 relative to the base 20 can be driven by the displacement adjustment mechanism 30, so that the movement direction of the slave end device 10 is more flexible, and the interventional component operated by the execution module 100 can be closer to the patient body with a better adjustment angle.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims (19)

1. An interventional robot, characterized in that it comprises:

the main terminal equipment can acquire input data and generate control data based on the input data;

the slave end equipment comprises a plurality of execution modules, the execution modules are used for operating the intervention parts, the master end equipment transmits the control data to each execution module of the slave end equipment in a wired or wireless mode, and the execution modules control at least one intervention part to perform independent or compound actions of straight line, rotational twisting and bending control based on the control data.

2. The interventional robot of claim 1, wherein the host device comprises a control module and a data input module, the data input module for obtaining input data and delivering the input data to the control module, the control module generating the control data based on the input data and sending the control data to the execution module.

3. The interventional robot of claim 2, wherein the control module and the data input module of the master device have one of the following layout with respect to the slave device:

(1) The control module and the data input module are arranged outside the slave terminal equipment;

(2) The control module is arranged inside the slave terminal equipment, and the data input module is arranged outside the slave terminal equipment;

(3) The control module and the data input module are arranged in the slave terminal equipment;

and/or the main terminal equipment further comprises a data output module, wherein the data output module is used for outputting data to a user;

and/or the data input module comprises at least one of a data input interface, an operation handle, a touch screen, a pedal and a button.

4. The interventional robot of claim 1, further comprising a radiation shield disposed adjacent to the host device;

and/or the interventional robot further comprises a trolley support rack, and the main end equipment is arranged on the trolley support rack;

and/or the main end equipment comprises at least one of an operation handle, a touch screen, a pedal and a button.

5. The interventional robot of claim 1, wherein the master device sends the control data to a plurality of the execution modules, the plurality of execution modules collectively controlling at least one interventional member to perform a compound motion of straight line, twist, bend control based on the control data.

6. The interventional robot of any one of claims 1-5, wherein the slave device further comprises:

a substrate module;

the walking modules are in one-to-one correspondence with the executing modules, are respectively arranged on the substrate modules, and can reciprocate on the substrate modules along the horizontal extending direction of the substrate modules;

the main terminal equipment also transmits the control data to the walking module in a wired or wireless mode, and the walking module reciprocates on the substrate module based on the control data;

the electrical connection and/or the mechanical connection between the walking module and the substrate module is detachable fast-assembling connection.

7. The interventional robot of claim 6, wherein the execution modules are detachably connected to the corresponding walking modules, respectively;

The execution module comprises a rotation module and/or a bending control module.

8. The interventional robot of claim 6, wherein the control data is transmitted to the execution module by wired transmission via the walking module;

when the execution module is installed relative to the walking module, the execution module and the walking module form wired transmission connection;

when the execution module is detached relative to the walking module, the execution module and the walking module are disconnected with wired transmission connection.

9. The interventional robot of claim 8, wherein the slave device further comprises a quick-fit mechanism, the execution module being connected to the walking module by the quick-fit mechanism.

10. The interventional robot of claim 9, wherein the slave device further comprises a positioning mechanism comprising a size-adapted positioning pin and a positioning hole, the positioning pin being disposed at the bottom of the execution module and extending downward, the positioning hole being formed on the top surface of the walking module.

11. The interventional robot of claim 10, wherein the positioning pins are distributed at four end angular positions of the bottom of the execution module, and the setting position of the quick-setting mechanism at the bottom of the execution module is located between two of the positioning pins.

12. The interventional robot of claim 7, wherein the slave device further comprises a drive mechanism comprising:

the rack is arranged on the base plate module and is arranged along the horizontal extending direction of the base plate module;

the gear is arranged on each traveling module respectively, the motor is used for driving the gear to rotate, and the gear is meshed with the rack.

13. The interventional robot of claim 12, wherein the racks are disposed on the base plate module with the tooth surfaces facing upwards.

14. The interventional robot of claim 12, wherein the drive mechanism further comprises an adjustment mechanism, the adjustment mechanism being disposed in one-to-one correspondence with the gears, the gears being movably connected to the walking module by the adjustment mechanism, the adjustment mechanism being configured to adjust a spacing between the gears and the walking module so that the gears remain engaged with the racks.

15. The interventional robot of claim 14, wherein the adjustment mechanism comprises:

one end of the swing rod is hinged to the bottom of the walking module, and the gear is rotatably arranged at the other end of the swing rod;

The elastic piece is arranged between the swing rod and the walking module and is used for applying elastic force away from the walking module to the swing rod.

16. The interventional robot of claim 15, wherein the motor is disposed on the pendulum rod.

17. The interventional robot of claim 12, wherein the slave device further comprises a guide mechanism comprising:

the guide rail is arranged on the base plate module and is arranged along the horizontal extending direction of the base plate module;

the sliding blocks are respectively arranged on the walking modules, and the sliding blocks are positioned on the guide rails in a sliding manner.

18. The interventional robot of claim 17, wherein two of the guide rails are arranged on both sides of the rack, respectively.

19. The interventional robot of claim 7, wherein the slave device further comprises drag chains, the number of drag chains being the same as the number of walking modules, each drag chain being arranged on the base plate template, an end of the drag chain being connected to a corresponding walking module; the drag chains are oppositely stacked along the vertical direction;

And/or, the slave device further comprises an electrical connection mechanism, the electrical connection mechanism comprises a first contact and a second contact, the first contact is arranged on the execution module, the second contact is arranged on the walking module, and when the execution module is connected with the walking module, the first contact and the second contact are in contact and are electrically connected;

and/or, the slave end equipment further comprises a handheld control module, wherein the handheld control module is hung at the end part of the substrate module along the horizontal extending direction of the substrate module;

the handheld control module is electrically connected with the substrate module through an elastic cable;

and/or, the interventional robot further comprises:

the base can horizontally move and lock;

the displacement adjusting mechanism is connected with the base through the displacement adjusting mechanism, and the displacement adjusting mechanism can drive the slave end equipment to realize at least one of lifting, translation, pitching or horizontal rotation motion relative to the base.