CN121445487A - Long-straight intervention consumable suitable for vascular intervention surgical robot and surgical robot - Google Patents

Abstract

The application discloses a long and straight intervention consumable suitable for a vascular intervention surgical robot and the surgical robot, wherein the long and straight intervention consumable comprises a consumable body, wherein the consumable body is of an elongated structure, a delivery tooth structure extending along the length direction of the consumable body is arranged on the surface of the consumable body, and the delivery tooth structure is used for being meshed and matched with a first driving gear arranged on the vascular intervention surgical robot, so that the driving force applied to the consumable body by the first driving gear is the thrust along the length direction, and the long and straight intervention consumable can overcome the resistance of the distal end of a blood vessel and avoid slipping when delivered to the distal end position in the blood vessel.

Description

Long-straight intervention consumable suitable for vascular intervention surgical robot and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a long straight intervention consumable suitable for a vascular intervention surgical robot and the surgical robot.

Background

Currently, vascular intervention operations are mostly manually operated by doctors, and during the operations, the doctors need to manually deliver long and straight intervention consumables (such as guide wires, catheters, stent pushing rods and the like) to the positions required in the blood vessels one by one. However, manual operation is inefficient, highly dependent on the experience of the physician and prone to delivery problems.

For this reason, a vascular intervention robot for performing a vascular intervention operation instead of a doctor has been proposed in the related art, the vascular intervention robot including a driving device for controlling a linear movement and/or rotation of a long straight intervention consumable, at least one driving device being provided, and the doctor realizing the linear movement and/or rotation of the long straight intervention consumable by manipulating the at least one driving device until the long straight intervention consumable is displaced to an intravascular target position at the time of the operation. Compared with manual operation of doctors, the vascular interventional operation machine can reduce the degree of dependence on experience of doctors, can improve the control accuracy of consumable materials, and further improves the operation efficiency.

However, the related art still has drawbacks in practical use. In the related art, most of driving devices of vascular interventional surgical robots are plate-type or roller-type clamping devices, and when the vascular interventional surgical robot is used, consumable materials are clamped by the plate-type or roller-type clamping devices, positive pressure is applied to the consumable materials, and friction force generated by the positive pressure is utilized to drive the consumable materials to move forwards or backwards. However, since the surface of the consumable is smooth, when the positive pressure applied to the consumable by the clamping device is too large, the driving loss is increased, and the transmission efficiency is reduced, and when the positive pressure applied to the consumable by the clamping device is too small, the consumable is subject to larger resistance at the distal end in the blood vessel, so that the slipping occurs, the reliability is poor, the control precision is reduced, and particularly when the consumable is delivered to the vicinity of the distal end required position (such as a lesion position) in the blood vessel, the blocking force of the consumable body is usually the largest, and the consumable clamped by the flat-plate or roller type clamping device is very easy to slip, so that the consumable is difficult to quickly and accurately reach the required position in the blood vessel.

Disclosure of Invention

Therefore, the application aims to provide a long straight intervention consumable suitable for a vascular intervention surgical robot, so as to solve the problems that in the related art, when a flat-type or roller-type driving device drives the long straight intervention consumable to move, the transmission efficiency is low or slipping is easy to occur.

Based on the above object, a first aspect of the present application provides a long straight intervention consumable adapted to a vascular intervention surgical robot, comprising:

the consumable body is of an elongated structure, a delivery tooth structure extending along the length direction of the consumable body is arranged on the surface of the consumable body, and the delivery tooth structure is used for being meshed and matched with a first driving gear of the vascular surgery robot, so that driving force applied to the consumable body by the first driving gear is thrust along the length direction.

Optionally, the consumable body includes head section, middle section and afterbody section along its length direction, the head section with the middle section is in vascular intervention operation allowed access intravascular, the afterbody section is used for with first drive gear cooperation but not access intravascular in vascular intervention operation, delivery tooth structure set up in the surface of afterbody section.

Optionally, the delivery tooth structure is also arranged on the surface of the middle section, the delivery tooth structure of the middle section completely covers or partially covers the surface of the middle section along the length direction, and/or the delivery tooth structure of the middle section and the delivery tooth structure of the tail section are connected into a whole or are discontinuously arranged.

Optionally, the outer diameter of the tail section is larger than the outer diameter of the middle section, or the outer diameters of the middle section and the tail section are both larger than the outer diameter of the head section and gradually become larger from the starting end of the middle section to the terminal end of the tail section along the direction from the head section to the tail section, and/or,

The hardness of the tail section is greater than that of the middle section, or the hardness of the middle section and the hardness of the tail section are consistent and are both greater than that of the head section, or the hardness of the head section, the hardness of the middle section and the hardness of the tail section are sequentially increased.

Optionally, the delivery tooth structure extends in a circumferential direction of the consumable body surface.

Optionally, the surface of the consumable body is provided with the delivery tooth structure, or the outer side of the surface of the consumable body is provided with a first fixing piece, and the delivery tooth structure is formed on the surface of the first fixing piece.

Optionally, the surface of consumable body still is equipped with along its circumferencial direction arrangement's rotatory tooth structure, rotatory tooth structure is used for with setting up at vascular surgery robot's second drive gear meshing cooperation, so that the consumable body can rotate under the thrust of second drive gear.

Optionally, the surface of the consumable body is formed with the rotary tooth structure, or a second fixing piece is arranged on the outer side of the surface of the consumable body, the rotary tooth structure is formed on the surface of the second fixing piece, and the second fixing piece and the consumable body are in an integral structure or can be detachably connected.

Optionally, the length ratio of the head soft section, the middle section and the tail section along the length direction is 4:6-5:5-6, and/or the length of the consumable body along the length direction is 136 cm-150 cm.

Optionally, the long straight intervention consumable is a consumable support or a guide wire-like or balloon or a protective umbrella.

The second aspect of the application provides a vascular intervention surgical robot, which comprises a robot body and a first driving device arranged on the robot body, wherein the first driving device comprises a first driving gear which is used for forming meshed fit with a delivery tooth structure of the long straight intervention consumable provided by the first aspect of the application, so that the driving force applied to the consumable body by the first driving gear is a thrust along the length direction of the consumable body.

The long straight intervention consumable material suitable for the vascular intervention operation robot provided by the application has the advantages that the consumable material body with a smooth surface is improved to a non-smooth surface structure with the additionally arranged delivery tooth structure, and the delivery tooth structure is meshed with the first driving gear of the vascular intervention operation robot, so that the matching of the consumable material body and the driving device is improved from friction matching to thrust matching along the length direction, the driving force applied by the driving device can be totally or mostly acted on the consumable material body, the driving force loss of the driving device is reduced, and the transmission efficiency of the driving device is improved;

In the second aspect, as the driving force loss of the driving device is reduced, under the same power, the driving device can apply larger driving force to the consumable body, so that when the consumable body receives larger resistance at the distal end of a blood vessel, the driving device can also apply enough driving force to resist the resistance to avoid the consumable body from slipping, thereby being beneficial to realizing accurate control on the linear movement of the consumable, especially when the consumable body is displaced to the vicinity of the most distal required position (such as a lesion position) in the blood vessel (when the internal resistance of the blood vessel received by the consumable body is usually the largest), the accurate control effect on the linear movement of the consumable is remarkable, and the consumable can quickly and accurately reach the required position;

In the third aspect, as the driving force applied by the driving device can be totally or mostly applied to the consumable body, accurate and real-time acquisition of resistance data received by the consumable body in a blood vessel is facilitated, and effective support is provided for the vascular interventional operation robot to realize a force feedback function;

In the fourth aspect, the delivery tooth structure is additionally arranged on the surface of the consumable body, and the strength of the consumable body can be enhanced, so that deformation is not easy to occur when the consumable body is matched with the driving device, and the directivity of the consumable during linear displacement is improved (the directivity refers to the accuracy in direction control).

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a long straight intervention consumable in the related art;

FIG. 2 is an assembly schematic diagram of a driving device of a long straight interventional consumable and a vascular interventional operation robot in the related art;

Fig. 3 shows a schematic structural diagram of a long straight intervention consumable provided by an embodiment of the application;

FIG. 4 shows a schematic structural diagram of another long straight intervention consumable provided by an embodiment of the present application;

FIG. 5 shows an enlarged view of the mating engagement of the delivery tooth structure with the first drive gear;

fig. 6 shows a schematic structural diagram of a long straight intervention consumable provided by an embodiment of the application;

fig. 7 shows a schematic structural diagram of a long straight intervention consumable provided by an embodiment of the application;

fig. 8 shows a schematic structural diagram of a long straight intervention consumable provided by an embodiment of the application;

FIG. 9 shows a front view and a cross-sectional view along the A-A direction of a long straight insertion consumable with a rotating tooth structure provided by an embodiment of the present application;

FIG. 10 shows an exploded view of the long straight access consumable with rotating tooth structure shown in FIG. 9;

FIG. 11 shows a front view of a robot body of a vascular interventional procedure robot equipped with a long straight interventional consumable provided by an embodiment of the present application;

fig. 12 shows a top view of a robot body of a vascular interventional procedure robot equipped with a long straight interventional consumable, provided by an embodiment of the application.

Reference numerals illustrate:

1. Long straight insertion consumable material, 11, consumable material body, 12, delivery tooth structure, 13, rotary tooth structure, 131, rotary sleeve, 132, key, 133, first key slot, 132, second key slot, 14, head section, 15, middle section, 16, tail section;

2. The robot comprises a robot body, a first driving device, a first driving gear, a roller clamping device, a driving roller and a driving gear, wherein the robot body comprises a first driving device, a first driving gear, a roller clamping device and a driving roller.

Detailed Description

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, it should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, as well as, for example, fixedly coupled, detachably coupled, or integrally coupled, unless otherwise specifically indicated and defined. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present application described below may be combined with each other as long as they do not collide with each other.

The long straight intervention consumable 1 is a consumable suitable for vascular intervention operation. The vascular intervention operation is a minimally invasive treatment by using modern high-tech means, and is a minimally invasive operation for diagnosing and locally treating intravascular lesions by introducing a special catheter, a guide wire and other precise long straight intervention consumable 1 into a human body blood vessel under the guidance of medical imaging equipment.

Currently, vascular intervention operations are mostly manually performed by a doctor, and during the operations, the doctor needs to manually deliver a long and straight intervention consumable 1 (which may be a guide wire, a catheter, a stent pushing rod, etc. according to actual needs) to a desired position (for example, a lesion position) in a blood vessel. However, the manual operation is low in efficiency, the experience dependence on doctors is high, and the problem of delivery failure easily occurs.

For this reason, a vascular intervention robot for performing a vascular intervention operation instead of a doctor has been proposed in the related art, the vascular intervention robot including driving means for controlling the linear movement and/or rotation of the long straight intervention consumable 1, at least one of the driving means being provided, and the linear delivery and/or rotation of the long straight intervention consumable 1 being achieved by the at least one driving means during the operation until the long straight intervention consumable 1 is displaced to an intravascular target position. The vascular intervention operation robot improves the operation efficiency of vascular intervention operation and reduces the degree of dependence on doctor experience.

Fig. 1 is a schematic structural diagram of a long straight intervention consumable 1 in the related art, and fig. 2 is a schematic matching diagram of a driving device of a vascular intervention operation robot in the related art and the long straight intervention consumable 1 shown in fig. 1.

However, the related art still has drawbacks in practical use. In the related art, most of driving devices of vascular interventional surgical robots are plate-type or roller-type clamping devices 23, and when the vascular interventional surgical robot is used, consumable materials are clamped by the plate-type or roller-type clamping devices, positive pressure is applied to the consumable materials, and friction force generated by the positive pressure is utilized to drive the consumable materials to advance or retract. Taking the roller-type clamping device 23 as an example, as shown in fig. 2, the roller-type clamping device 23 includes at least one pair of driving rollers 231, the consumable 1 is clamped between the driving rollers 231, the driving rollers 231 apply positive pressure to the consumable body 11, but due to the smooth surface of the consumable, when the positive pressure applied to the consumable body by the clamping device is too large, the driving loss is increased, the transmission efficiency is reduced, when the positive pressure applied to the consumable body by the clamping device is too small, slipping occurs due to the fact that the consumable is subjected to larger resistance at the distal end in the blood vessel, reliability is reduced, and control accuracy is reduced, particularly when the consumable is delivered near the distal end required position (for example, lesion position) in the blood vessel, at this time, the blocked force of the consumable is usually maximum, and the consumable clamped by the driving rollers is very easy to slip, so that the consumable body 11 is difficult to quickly and accurately reach the required position (for example, lesion position) in the blood vessel.

The above problems are also present with flat plate clamping devices.

For this purpose, the present application provides a long straight intervention consumable 1 adapted to a vascular intervention robot and a vascular intervention robot, so as to solve or reduce the above-mentioned drawbacks.

Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings.

Example 1

Fig. 3 shows a schematic structural view of a long and straight insertion consumable 1 provided in this embodiment, fig. 4 shows a schematic structural view of another long and straight insertion consumable 1 provided in this embodiment, and as shown in fig. 3 and 4, a long and straight insertion consumable 1 includes a consumable body 11 having an elongated structure, a delivery tooth structure 12 extending along a length direction of the consumable body 11 is provided on a surface of the consumable body 11, and the delivery tooth structure 12 is used for meshing engagement with a first driving gear 211 provided on a vascular surgery robot, so that a driving force applied to the consumable body 11 by the first driving gear 211 is a driving force along the length direction.

An enlarged view of the mating engagement of the delivery tooth structure 12 with the first drive gear 211 is shown in fig. 5.

Compared with the related art, the long straight insertion consumable 1 of the embodiment has the advantages that the consumable body 11 with a smooth surface is improved to a non-smooth surface structure with the delivery tooth structure 12, and the delivery tooth structure 12 is meshed with the first driving gear 211 of the vascular surgery robot, so that the matching of the consumable body 11 and the driving device is improved from friction matching to thrust matching along the length direction, and the driving force applied by the driving device can be exerted on the consumable body 11 completely or mostly, so that the driving force loss of the driving device is reduced, and the driving efficiency of the driving device is improved; in the second aspect, the driving force loss of the driving device is reduced, the driving device can apply larger driving force to the consumable body 11 under the same power, so that when the consumable body 11 receives larger resistance at the distal end of a blood vessel, the driving device can also apply enough driving force to resist the resistance to avoid slipping of the consumable body 11, thereby being beneficial to realizing accurate control on the linear movement of the consumable, especially when the consumable body 11 is displaced to the vicinity of the most distal required position (such as a lesion position) in the blood vessel (the internal resistance of the blood vessel is usually the largest) and having obvious effect on the accurate control on the linear movement of the consumable, being beneficial to the consumable to quickly and accurately reach the required position, in the third aspect, the driving force applied by the driving device can fully or mostly act on the consumable body 11, being beneficial to accurately and timely acquiring the resistance data received by the consumable body 11 in the blood vessel, and providing effective support for the vascular intervention operation robot, in the fourth aspect, the additional delivery tooth structure 12 is added on the surface of the consumable body 11, the strength of the consumable body 11 can be enhanced, so that deformation is not easy to occur when the consumable body 11 is matched with a driving device, and the directivity (directivity refers to the accuracy in direction control) of the consumable during linear displacement is improved.

Further, the consumable body 11 comprises a head section 14, a middle section 15 and a tail section 16 along its length.

In this context, "head section 14" and "middle section 15" refer to the portions that are allowed to access the interior of a vessel during vascular intervention, and "tail section 16" refers to the portions that are required to cooperate with (i.e., be driven by) the vascular intervention robot during vascular intervention, but are not allowed to access the interior of the vessel.

When the vascular surgical robot performs a vascular interventional procedure, the driving device firstly drives the middle section 15 of the consumable body 11 to enable the consumable body 11 to linearly displace and/or rotate according to a preset path, when the consumable body 11 is displaced to the vicinity of a desired position (such as a lesion position) in a blood vessel, the position matched with the driving device is the tail section 16, and at the moment, the intravascular resistance to which the consumable body 11 is subjected is usually the largest, so that in some embodiments, the surface of the tail section 16 is provided with a delivery tooth structure 12, so that the first driving gear 211 of the driving device can apply enough thrust to the tail section 16 to resist the intravascular resistance, thereby enabling the consumable body 11 to quickly and accurately reach the desired position (such as the lesion position).

It should be noted that, the length of the delivery tooth structure 12 disposed on the tail section 16 along the length direction is not limited in this embodiment, and the delivery tooth structure 12 may be disposed on the entire tail section 16 along the length direction as in the example of fig. 3, or may cover only a part of the tail section 16, so long as the first driving gear 211 can form a meshing engagement with the tail section 16 near a desired position in a blood vessel.

Further, considering that the drive device also risks slipping when it is engaged with the middle section 15 of the consumable body 11 during the "middle period" of performing vascular intervention, the surface of the middle section 15 is also provided with the delivery tooth structure 12 in some embodiments. The delivery tooth structure 12 is identical to the delivery tooth structure 12 of the tail section 16 above. In this way, the drive means can also form a meshing engagement with the delivery tooth structure 12 during an "intermediate period" before the consumable body 11 is brought into the desired position during the vascular intervention, so as to avoid slipping of the consumable body 11 during this period.

The middle section 15 is provided with a delivery tooth structure 12 including, but not limited to, the following:

as in the example of fig. 6, the delivery tooth structure 12 is distributed lengthwise over the entire surface of the middle section 15;

Or the delivery tooth structure 12 covers only a part of the middle section 15 in the length direction;

Or the delivery tooth structure 12 of the middle section 15 is integrally connected with the delivery tooth structure 12 of the tail section 16;

Or the delivery tooth arrangement 12 of the middle section 15 is spaced apart from, i.e. intermittently disposed from, the delivery tooth arrangement 12 of the tail section 16.

It should be noted that, when the first driving gear 211 is disposed at a portion of the surface of the consumable body 11 where the delivery tooth structure is not disposed, the consumable body 11 can still be driven to advance or retract by friction fit as in the driving roller 231 in the related art.

In this embodiment, each of the raised portions of the delivery tooth structure 12 for engagement is a tooth, the space between adjacent teeth is a tooth slot, the top of the tooth is a tooth tip, and the bottom of the tooth slot is a tooth root. With the smooth surface of the consumable body 11 as a reference surface, the arrangement of the delivery tooth structure 12 compared to the reference surface includes, but is not limited to, the following:

as in the example of fig. 3, the root of the delivery tooth structure 12 is below the datum level and the tip is flush with the datum level;

Or as in the example of fig. 4, the root of the delivery tooth structure 12 is flush with the datum surface above which the tip is located;

Or the tooth root of the delivery tooth structure 12 is below the datum level and the tooth tip is above the datum level (not shown).

In addition, the formation of the delivery tooth structure 12 on the surface of the consumable body 11 includes, but is not limited to, the following:

As in the example of fig. 3 and 4, the delivery tooth structure 12 is formed on the consumable body 11.

Alternatively, the delivery tooth structure 12 may be formed on the consumable body 11, but a first fixing member may be disposed on the outer side of the surface of the consumable body 11, and the delivery tooth structure 12 may be formed on the surface of the first fixing member. The first fixing member may be a fixing sleeve sleeved on the outer side of the consumable body 11, and the surface of the fixing sleeve is provided with the delivery tooth structure 12. The connection mode of the fixing sleeve and the consumable body 11 can be bonding, welding and the like, and the form is not limited.

The present embodiment is not particularly limited in the manner of machining the delivery tooth structure 12, and may use a forming method such as milling teeth with a disk-shaped modulus milling cutter or a finger milling cutter, or forming grinding teeth, or may use a generating method such as gear shaping or generating grinding teeth.

Further, considering that the engagement portion of the consumable body 11 with the first driving gear 211 of the driving device may be displaced in the circumferential direction thereof when the driving device drives the consumable body 11 to displace in the length direction, the delivery tooth structure 12 extends in the circumferential direction of the surface of the consumable body 11 in some embodiments. Thus, when the mating portion of the consumable body 11 and the first drive gear 211 is shifted in the circumferential direction, the first drive gear 211 can still be engaged with the delivery tooth structure. A preferred embodiment is that the delivery tooth structure 12 is distributed over the entire circumference of the surface of the consumable body 11, so that on the one hand the first drive gear 211 can cooperate with the delivery tooth structure 12, and on the other hand it is easy to machine, regardless of how angular the consumable body 11 is displaced. Of course, the present embodiment also does not limit the arrangement of the delivery tooth structure 12 at intervals along the circumferential direction of the surface of the consumable body 11, and is allowed as long as the first drive gear 211 is not affected to form a meshing engagement with the delivery tooth structure 12.

The first driving gears 211 are usually arranged in pairs, a threading gap for the long straight insertion consumable 1 to pass through is formed between the two first driving gears 211, so that in order to improve the clamping stability of the consumable body 11 by the two first driving gears 211, the following settings can be performed on the consumable body 11:

As in the example of fig. 7, the outer diameter of the tail section 16 is greater than the outer diameter of the middle section 15. In some embodiments, the middle section 15 still maintains the outer diameter dimension of the middle section 15 of the conventional long straight access consumable 1 currently on the market, while the tail section 16 is thickened such that the outer diameter of the tail section 16 is greater than the outer diameter of the middle section 15. By the arrangement that the outer diameter of the tail section 16 is larger than that of the middle section 15, the contact area of the first driving gear 211 and the tail section 16 is larger than that of the first driving gear 211 and the middle section 15, and therefore the clamping stability of the first driving gear 211 to the tail section 16 is improved;

Or as shown in the example of fig. 8, the outer diameters of the middle section 15 and the tail section 16 are larger than the outer diameter of the head section 14, and the outer diameter of the consumable body 11 is gradually increased from the initial end of the middle section 15 to the terminal end of the tail section 16 along the direction of the head section 14 pointing to the tail section 16, namely, the consumable body 11 is gradually thickened from the initial end of the middle section 15 to the terminal end of the tail section 16;

or the middle section 15 and the tail section 16 are of the same outer diameter and are each larger than the outer diameter of the head section 14.

Considering that the long straight insertion consumable 1 currently used in the market is softer, there is a problem of poor directivity in practical use (i.e. the accuracy of the driving device on the direction control of the long straight insertion consumable 1 is poor), in this embodiment, the hardness of the tail section 16 is greater than that of the middle section 15. In some embodiments, the middle section 15 still maintains the hardness of the long straight access consumable 1 currently in use on the market, while the tail section 16 is stiffened such that the tail section 16 has a hardness greater than the hardness of the middle section 15. Through this setting, can promote the directionality of consumable body 11 when first drive gear 211 cooperates with afterbody section 16, because the directionality requirement to consumable body 11 is higher when being close required position (for example pathological change position), consequently be favorable to satisfying the directionality requirement to consumable body 11 when being close required position through the stiffening to afterbody section 16.

Further, the middle section 15 and the tail section 16 are consistent in hardness and are both greater than the head section 14. By this arrangement, the directionality of the consumable body 11 for the vascular intervention operation "intermediate period" can be improved.

Of course, this embodiment does not exclude that the hardness of the head section 14, the middle section 15 and the tail section 16 are set to increase in sequence.

Regarding the hardening method, this is achieved by, but not limited to, coating the surface of the consumable body 11 with a hardening material or using a material having higher hardness.

In the related art, the driving device can independently control the linear displacement or rotation of the long and straight insertion consumable 1 along the length direction or the rotation of the consumable or the linear displacement of the consumable while rotating, wherein the control of the rotation of the long and straight insertion consumable 1 is realized through a multi-stage gear, the multi-stage gear has low transmission efficiency due to the fact that the transmission times are large, in addition, under the driving of the multi-stage gear, the driving roller clamps the consumable by using friction force to drive the consumable to rotate together, and slipping is easy to occur due to unstable clamping, and the reliability is low.

For this purpose, in this embodiment, the surface of the consumable body 11 is further provided with a rotary tooth structure 13 disposed along the circumferential direction thereof, and the rotary tooth structure 13 is configured to be engaged with a second driving gear provided on the vascular surgical robot, so that the consumable body 11 can rotate under the thrust of the second driving gear.

On the one hand, compared with multi-stage gear transmission, the second driving gear and the rotary tooth structure of the embodiment are only one-stage transmission, so that transmission loss is low, and transmission efficiency is high, on the other hand, the second driving gear and the rotary tooth structure of the embodiment are meshed and matched, and belong to a mechanical matching structure.

In some embodiments, the outer side of the surface of the consumable body 11 is provided with a second fixing member, and the rotary tooth structure 13 is formed on the surface of the second fixing member, and the second fixing member and the consumable body 11 are in an integral structure or can be detachably connected. Preferably, as shown in fig. 9 and 10, the second fixing member is a rotary sleeve 131, a first key 132 groove is formed on the rotary sleeve 131, a second key groove 132 is formed at a corresponding portion of the consumable body 11, the rotary sleeve 131 and the consumable body 11 are connected by inserting the key 132 into the first key 132 groove and the second key groove 132, and a rotary tooth structure 13 is formed on the surface of the rotary sleeve 131. When in use, when accurate rotation control is needed for the consumable body 11, the key 132 is inserted into the first key 132 groove and the second key groove 132 to enable the rotary sleeve 131 to be connected with the key 132 of the consumable body 11, and then the rotary tooth structure 13 on the rotary sleeve 131 is driven through the second driving gear, so that accurate control for the consumable body 11 is realized.

It should be noted that, the present embodiment is not limited to the arrangement of the rotary tooth structure 13 by the second fixing member, and in other embodiments, the rotary tooth structure 13 may be formed on the surface of the consumable body 11.

Furthermore, as a preferred embodiment, the rotary tooth arrangement 13 is arranged at the trailing end position of the trailing section 16 of the consumable body 11. On the basis of the drive device of the related art, a delivery module is added, which is provided with a second drive gear, specifically for driving the rotary tooth structure 13 of the tail section 16.

In addition, in the present embodiment, the teeth of the delivery tooth structure 12 and the rotary tooth structure 13 are preferably non-standard-modulus teeth, and since the external diameter of the long and straight insertion consumable 1 is particularly small, typically less than 1mm, the modulus of the teeth disposed on the surface of the consumable body 11 is also particularly small, which is much smaller than the standard modulus at present.

In addition, the shape of the teeth is not particularly limited, and may be trapezoidal teeth, involute teeth, circular arc teeth or square teeth.

In addition, in this embodiment, the overall length of the long and straight insertion consumable 1 along the length direction is preferably 136cm to 150cm. The length ratio of the head section 14, the middle section 15 and the tail section 16 is preferably 4:6-5:5-6 along the length direction.

In addition, according to actual operation needs, the long straight intervention consumable 1 is a consumable support or a guide wire-like or balloon or a protective umbrella. The long and straight interventional consumable 1 can also be one of a stent pushing rod (a self-expanding stent pushing rod and a balloon expanding stent pushing rod), a catheter (including but not limited to a contrast catheter for contrast, a guide catheter for constructing a passage, a distal passage catheter, a suction catheter balloon catheter for ischemic diseases, a stent microcatheter for releasing a stent, a releasable microcatheter and a floating microcatheter for adapting to liquid embolic material), a guide wire (including but not limited to a 0.035 loach guide wire, a 0.018 guide wire and a 0.014/0.010/0.008 guide wire carrying a microcatheter for carrying a contrast catheter, a releasable spring ring for embolizing blood vessels and aneurysms, a releasable balloon, a self-expanding intra-aneurysmal embolic system for protecting a distal blood vessel from embolic shedding).

Example 2

Fig. 11 shows a front view of a robot body of a vascular intervention surgical robot provided by the present embodiment, and fig. 12 shows a top view of a robot body of a vascular intervention surgical robot provided by the present embodiment.

The application provides a vascular intervention surgical robot, which comprises a mechanical arm, a robot body 2 and at least one first driving device 21, wherein the robot body is arranged on the mechanical arm, the at least one first driving device 21 is movably arranged on a track of the robot body, the first driving device 21 comprises a first driving gear 211, and the first driving gear 211 is used for forming meshed fit with a delivery tooth structure 12 of a long straight intervention consumable 1 in embodiment 1, so that the driving force applied by the first driving gear 211 to the consumable body 11 is a driving force along the length direction of the consumable body 11.

Specifically, as shown in fig. 11 and 12, three first driving devices 21 are provided on the track of the robot body 2 (in other examples, the first driving devices 21 may be provided as one, two, four, etc.), and the first driving devices 21 may reciprocate along the track of the robot body under the driving of the robot body, thereby completing the delivery of the long and straight insertion consumable 1 mounted on the delivery device. Each driving device comprises a consumable box and a consumable box driving mechanism, at least one pair of first driving gears 211 are arranged in the consumable box, a threading gap for penetrating the long and straight insertion consumable 1 is formed between each pair of first driving gears 211, at least one pair of first driving gears 211 are arranged on a gear frame, a multistage gear structure for driving the gear frame provided with at least one pair of first driving gears to integrally rotate is further arranged in the consumable box, and linear displacement, rotation, simultaneous rotation of linear displacement and simultaneous linear displacement control of the long and straight insertion consumable 1 can be achieved through control of the multistage gear structure and the at least one pair of driving gears.

In some embodiments, the first driving device 21 may use the structure of the driving device of the related art, only the driving roller 231 of the driving device of the related art is replaced with the first driving gear 211.

The vascular intervention surgical robot of the present embodiment further comprises a second driving device provided on the robot body 2, the second driving device comprising a second driving gear for meshing engagement with the rotary tooth structure 13 of the surface of the consumable body 11.

In some embodiments, the rotary tooth structure 13 is arranged at the trailing end position of the trailing section 16 of the consumable body 11, and correspondingly, the second driving means is arranged on the robot body in the trailing direction of the plurality of first driving means 21, which comprises at least one pair of second driving gears. When the consumable 1 is required to be precisely rotationally controlled, the first driving devices 21 are firstly released from the consumable 1, then the keys 132 are inserted into the first key grooves 133 and the second key grooves 132 on the surfaces of the rotary sleeve 131 and the consumable body 11 to connect the rotary sleeve 131 with the consumable body 11, and then at least one pair of second driving gears of the second driving devices are engaged with the rotary tooth structure 13 of the consumable body 11, so that precise rotational control of the consumable is realized.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the application.

Claims (11)

1. A long straight intervention consumable adapted to a vascular intervention surgical robot, comprising:

the consumable body is of an elongated structure, a delivery tooth structure extending along the length direction of the consumable body is arranged on the surface of the consumable body, and the delivery tooth structure is used for being meshed and matched with a first driving gear of the vascular surgery robot, so that driving force applied to the consumable body by the first driving gear is thrust along the length direction.

2. The long straight intervention consumable adapted to a vascular intervention robot according to claim 1, wherein the consumable body comprises a head section, a middle section and a tail section along its length direction, the head section and the middle section allowing access into a blood vessel during vascular intervention, the tail section being adapted to cooperate with the first drive gear but not to access into a blood vessel during vascular intervention, the delivery tooth structure being provided on a surface of the tail section.

3. The long straight intervention consumable adapted to a vascular intervention surgical robot according to claim 2, wherein the surface of the middle section is also provided with the delivery tooth structure, the delivery tooth structure of the middle section fully or partially covers the surface of the middle section in the length direction, and/or the delivery tooth structure of the middle section and the delivery tooth structure of the tail section are integrally or discontinuously connected.

4. A long straight intervention consumable adapted for a vascular intervention robot according to claim 2 or 3,

The outer diameter of the tail section is larger than that of the middle section, or the outer diameters of the middle section and the tail section are both larger than that of the head section and gradually become larger from the starting end of the middle section to the terminal end of the tail section along the direction from the head section to the tail section, and/or,

The hardness of the tail section is greater than that of the middle section, or the hardness of the middle section and the hardness of the tail section are consistent and are both greater than that of the head section, or the hardness of the head section, the hardness of the middle section and the hardness of the tail section are sequentially increased.

5. A long straight access consumable adapted for a vascular access surgical robot according to claim 2 or 3, characterized in that the delivery tooth structure extends in the circumferential direction of the consumable body surface.

6. The long straight intervention consumable adapted to a vascular intervention surgical robot according to any of claims 1-3, wherein the surface of the consumable body is formed with the delivery tooth structure, or a first fixing piece is arranged on the outer side of the surface of the consumable body, and the delivery tooth structure is formed on the surface of the first fixing piece.

7. A long straight intervention consumable adapted for a vascular intervention robot according to any of claims 1-3, wherein the surface of the consumable body is further provided with a rotating tooth structure arranged in its circumferential direction for meshing engagement with a second drive gear provided at the vascular intervention robot, such that the consumable body is rotatable under the thrust of the second drive gear.

8. The long straight intervention consumable adapted to a vascular intervention surgical robot according to claim 7, wherein the surface of the consumable body is provided with the rotary tooth structure, or a second fixing piece is arranged on the outer side of the surface of the consumable body, the rotary tooth structure is formed on the surface of the second fixing piece, and the second fixing piece and the consumable body are integrally structured or detachably connected.

9. The long straight intervention consumable adapted to a vascular intervention surgical robot according to claim 2 or 3, wherein the length ratio of the head soft section, the middle section and the tail section along the length direction is 4:6-5:5-6, and/or the length of the consumable body along the length direction is 136 cm-150 cm.

10. A long straight intervention consumable adapted for a vascular intervention robot according to any of the claims 1-3, wherein the long straight intervention consumable is a consumable holder or a guidewire-like or balloon or a protective umbrella.

11. A vascular interventional surgical robot comprising a robot body and a first drive means arranged on the robot body, the first drive means comprising a first drive gear for forming a meshing engagement with a delivery tooth structure of a long straight interventional consumable according to any one of claims 1-10, such that the driving force applied by the first drive gear to the consumable body is a thrust along the length direction of the consumable body.