CN218572304U

CN218572304U - Slave operation device for surgical robot and surgical robot system

Info

Publication number: CN218572304U
Application number: CN202123392511.7U
Authority: CN
Inventors: 杜雷; 徐成
Original assignee: Peijia Medical Technology Suzhou Co ltd
Current assignee: Zhicheng Medical Technology Jiaxing Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-03-07
Anticipated expiration: 2031-12-30

Abstract

The utility model discloses a slave operation device of a surgical robot and a surgical robot system with the same. A slave-end-effector for delivering and manipulating a catheter includes a base assembly, a slide, an instrument manipulation assembly, and a guide assembly. The slide table is movable relative to the base assembly along a transport direction of the conduit; an instrument operation assembly is fixed to the sliding table and used for receiving and operating a conveyor connected with the guide pipe; the guide assembly is arranged on the base assembly and positioned in front of the instrument operation assembly, and comprises a guide pipe supporting part for supporting the guide pipe, wherein the front end of the guide assembly is fixedly arranged relative to the base assembly, and the rear end of the guide assembly is movable relative to the base assembly along the conveying direction of the guide pipe. When the sliding table moves forwards relative to the base assembly along the conveying direction of the guide pipe, the rear end of the guide assembly moves synchronously with the sliding table. According to the present application, the steering assembly adjusts its length to the length of the portion of the catheter outside the blood vessel to better support the catheter.

Description

Slave operation device for surgical robot and surgical robot system

Technical Field

The utility model discloses relate to surgical robot technical field generally, particularly relate to a surgical robot's from end operating means and surgical robot system.

Background

The interventional operation has the characteristics of small wound, high safety, light pain of patients, quick postoperative recovery, few complications and the like, and becomes an important means for treating cardiovascular diseases. The interventional operation is a new technology for diagnosing and treating cardiovascular diseases, which comprises the steps of puncturing a body surface blood vessel, sending into a heart catheter under the continuous projection of digital subtraction, and carrying out diagnosis and treatment on the cardiovascular diseases through a specific heart catheter operation technology. Including coronary angiography, PTCA + stenting, mitral balloon dilation, radiofrequency ablation, pacemaker implantation, interventional treatment of congenital heart disease, and endoluminal coronary thrombolysis.

However, the conventional interventional operation has the following two problems:

first, during surgery, because DSA emits X-rays, the risk of developing leukemia, cancer and acute cataract is greatly increased by the cumulative damage of ionizing radiation over a long period of time. The long-term cumulative radiation hazard also damages the professional life of the doctor.

Secondly, in the operation process, the traditional intervention operation needs the joint operation of a plurality of operators, which not only causes the cooperative difficulty of the operation, but also increases the risk of the artificial factor of the operation execution and reduces the popularity of the intervention operation.

Therefore, the interventional operation assisting robot is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in various scientific and technological strong countries nowadays.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present application does not imply any attempt to define the essential features and characteristics of the claimed solution, nor does it imply any attempt to determine the scope of the claimed solution.

In order to solve the problems in the background art at least in part, a first aspect of the present invention provides a slave manipulator for a surgical robot for transporting and manipulating a catheter, comprising:

a base assembly;

a slide table movable relative to the base assembly along a conveyance direction of the conduit;

an instrument operation assembly fixed to the sliding table and used for receiving and operating a conveyor connected with a catheter; and

a guide assembly disposed on the base assembly in front of the instrument operation assembly, the guide assembly including a guide tube support for supporting the guide tube, wherein a front end of the guide assembly is fixedly disposed with respect to the base assembly, and a rear end of the guide assembly is movable with respect to the base assembly along a conveying direction of the guide tube,

wherein when the slide table moves forward relative to the base assembly along the conveying direction of the catheter, the rear end of the guide assembly moves synchronously with the slide table.

By using the end-to-end operation device of the utility model, doctors can avoid manually operating the catheter conveyor beside the operating table, thereby avoiding receiving radiation. The telescopic arm adjusts the length according to the length of the part of the catheter which does not enter the blood vessel, so that the catheter supporting part correspondingly adjusts the position of the supporting catheter, the catheter which does not enter the blood vessel is straight as much as possible, and the delivery of the catheter is smoother.

Optionally, the guide assembly further comprises:

a front bracket disposed at a front end of the guide assembly, the front bracket being fixedly disposed with respect to the base assembly,

at least one rear bracket disposed at a rear end of the guide assembly, the rear bracket being movable relative to the base assembly in a delivery direction of the catheter, an

A telescoping arm extending between the front bracket and the rear bracket, the telescoping arm configured to be length-telescoping,

wherein the catheter support is provided to at least one of the front bracket, the rear bracket, and the telescopic arm.

According to the utility model discloses a from end operating means, the simple structure of direction subassembly.

Optionally, the base assembly comprises:

at least one carriage rail extending in a conveying direction of the catheter, a front end of the carriage rail being fixed to the front carriage, a rear end of the carriage rail extending through the through-hole of the rear carriage,

a slide table guide rail extending in a conveying direction of the guide pipe, the slide table guide rail being connected to the slide table so that the slide table is movable along the slide table guide rail,

when the distance between the sliding table and the front support is smaller than or equal to a first distance, the rear end of the guide assembly and the sliding table move forwards synchronously.

Further, the slave end operation device includes two rack rails.

According to the utility model discloses a from end operating means, the flexible direction of direction subassembly is the same with the direction of delivery of pipe to can not get into the length change length of vascular part according to the pipe.

Optionally, at least one of the instrument handling assembly, the sled, and the conveyor of the catheter is in contact with the rear mount when the sled is at a distance from the front mount that is less than or equal to a first distance.

According to the utility model discloses a from end operating means, the length change of direction subassembly is because of apparatus operating means, slip table or pipe conveyer contact and promote the direction subassembly in the rear end, and from end operating means simple structure.

Optionally, the catheter support portion comprises a catheter holder disposed on at least one of the anterior stent and the posterior stent, the catheter holder comprising:

a first support fixedly connected to the front bracket or the rear bracket, the first support including a first clamping portion; and

a second support portion for interfacing with the first support portion, the second support portion including a second clamping portion,

wherein at least one of the first support part and the second support part comprises a magnet, when the first support part is butted with the second support part, the first clamping part is butted with the second clamping part for clamping a conduit, and the first support part is in adsorption contact with the second support part.

According to the utility model discloses a from end operating means, pipe strutting arrangement simple structure, effective, the adsorption affinity of magnet can make first clamping part and second clamping part dock steadily to can support the pipe steadily.

Optionally, the first clamping portion is configured as an arc-shaped groove and/or the second clamping portion is configured as an arc-shaped groove.

According to the utility model discloses a from end operating means, the shape of first clamping part and second clamping part is suitable for the centre gripping pipe to easy processing.

Optionally, the catheter holder further comprises a lubrication sleeve,

the lubrication sleeve is secured to the groove of the first clamping portion and/or the lubrication sleeve is secured to the groove of the second clamping portion.

According to the utility model discloses a from end operating means, lubricated cover can protect the pipe to reduce the frictional force that the pipe was carried.

Optionally, the telescopic arm comprises a plurality of bar rods connected end to end in sequence, wherein two adjacent bar rods are pivotally connected by a pivot shaft.

According to the utility model discloses a from end operating means, the simple structure of flexible arm, easy implementation.

Optionally, the conduit support comprises at least one conduit straightener, the conduit straightener being provided at the telescopic arm.

According to the utility model discloses a from end operating means, pipe strutting arrangement sets up at flexible arm to can be according to the length change position of the vascular part of not getting into of pipe, with better support pipe.

Optionally, the catheter straightener comprises:

the first folding part is fixedly connected to the telescopic arm and comprises a first straightening part; and

a second folding portion for interfacing with the first folding portion, the second folding portion including a second straightening portion,

wherein at least one of the first fold and the second fold comprises a magnet, the first straightening portion and the second straightening portion are butted for clamping a conduit when the first fold and the second fold are butted, and the first fold and the second fold are in adsorptive contact.

According to the utility model discloses a from end operating means, pipe strutting arrangement simple structure, effective, the adsorption affinity of magnet can make first portion of straightening and the butt joint of portion of straightening is stabilized to the second to can support the pipe steadily.

Optionally, the first fold is configured as an arc-shaped groove and/or the second fold is configured as an arc-shaped groove.

According to the utility model discloses a from end operating means, the shape of first portion of straightening and second portion of straightening is suitable for the centre gripping pipe to easy processing.

Optionally, the conduit straightener further comprises a lubricating sleeve,

the lubrication sleeve is secured to the groove of the first fold and/or the lubrication sleeve is secured to the groove of the second fold.

Optionally, the telescopic arm comprises:

at least one first grid rod is arranged on the first grid rod,

at least one second grid rod is sequentially and alternately connected with the at least one first grid rod end to end, wherein the adjacent first grid rods are pivotally connected with the second grid rods through first pivot shafts,

a third grid bar, the number of the third grid bar is equal to the number of the first grid bar,

the number of the fourth grid rods is equal to that of the second grid rods, the fourth grid rods and the third grid rods are sequentially connected end to end alternately, the adjacent third grid rods and the fourth grid rods are in pivot connection through second pivot shafts,

the first grid rod is pivotally connected with the third grid rod through a third pivot shaft, and the second grid rod is pivotally connected with the fourth grid rod through a fourth pivot shaft.

According to the utility model discloses a from end operating means, the arm structure is the form of flexible fence, simple structure, effective.

Optionally, the first folding part comprises a mounting pin, and the third pivot shaft or the fourth pivot shaft is a hollow shaft for receiving the mounting pin therein to fix the first folding part to the telescopic arm.

According to the utility model discloses a from end operating means, the pivot axle of straightening ware installation to flexible arm is held to the pipe, can save the part to effectively realize that the change of the length of straightening ware position along with the vascular part of not getting into of pipe is held to the pipe.

Optionally, the plurality of bars are located in a horizontal plane, or the plurality of bars are located in a vertical plane.

According to the utility model discloses a from end operating means, when the bars pole of flexible fence extends in vertical plane, can effectively avoid the crooked of the flexible arm that causes because of gravity for flexible arm is better to the support effect of pipe.

Optionally, the guide assembly comprises two rear brackets arranged back and forth along the delivery direction of the catheter, the second rear bracket being located between the front bracket and the first rear bracket,

the telescopic boom comprises a first telescopic boom extending between the second rear bracket and the first rear bracket and a second telescopic boom extending between the second rear bracket and the front bracket,

when the distance between the sliding table and the front bracket is smaller than or equal to the first distance, the first rear bracket and the sliding table synchronously move forwards,

when the distance between the sliding table and the front support is smaller than or equal to a second distance, the first rear support and the second rear support move forwards together with the sliding table synchronously, wherein the second distance is smaller than the first distance.

Further, when the distance between the sliding table and the front support is smaller than or equal to the second distance, the first rear support is in contact with the second rear support, or the first telescopic arm is compressed to the limit.

According to the utility model discloses a from end operating means, flexible arm is decomposed into two sections, and every section weight and length all correspondingly reduce, therefore every section also correspondingly can improve because of the crooked that gravity caused.

Optionally, the base assembly comprises:

a motor for providing a driving force for driving the sliding table to move,

and the transmission assembly is respectively connected to the motor and the sliding table and is used for transmitting the driving force output by the motor to the sliding table, wherein the transmission assembly comprises at least one of a transmission chain, a transmission belt and a lead screw.

According to the utility model discloses a from end operating means, the slip table relies on motor and drive assembly to realize portable.

Optionally, the instrument operation assembly comprises a motor.

According to the utility model discloses a from end operating means, the instrument operation subassembly provides drive power through the motor to can operate the pipe conveyer.

Optionally, the slave end manipulator according to the present invention further comprises a guide wire delivery assembly for delivering a guide wire, the guide wire delivery assembly being disposed behind the instrument manipulation assembly along the delivery direction of the catheter, wherein the guide wire delivery assembly comprises a motor.

Further, the guidewire delivery assembly moves in a delivery direction of the catheter in synchronization with the instrument operation assembly.

According to the utility model discloses a from holding operating means, seal wire conveying component is used for carrying the seal wire to the pipe can overlap and establish outside the seal wire.

A second aspect of the invention provides a surgical robotic system comprising a slave-end effector as described above and a conveyor of a catheter, wherein the conveyor is connected to the instrument handling assembly.

By using the surgical robot system of the utility model, doctors can avoid manually operating the catheter conveyor beside the operating table, thereby avoiding receiving radiation. The telescopic arm adjusts the length according to the length of the part of the catheter which does not enter the blood vessel, so that the catheter supporting part correspondingly adjusts the position of the supporting catheter, the catheter which does not enter the blood vessel is straight as much as possible, and the delivery of the catheter is smoother.

Optionally, the carrier includes a handle connected to the instrument handling assembly and movable relative to the carrier body by the action of the instrument handling assembly.

According to the utility model discloses a surgical robot system, from the handle that end operating means specifically was used for operating the conveyer.

Drawings

The following drawings of the present invention are used herein as part of the present invention for understanding the present invention. There are shown in the drawings embodiments and descriptions thereof for illustrating the principles of the invention.

In the drawings:

fig. 1 is a perspective view of a slave manipulator of a surgical robot according to a preferred embodiment of the present invention;

FIG. 2 is a detailed illustration of the catheter delivery device operated by the slave end effector shown in FIG. 1;

FIG. 3 is a perspective view of a base assembly and a slide table of the slave end effector shown in FIG. 1;

FIG. 4 is a perspective view of a guide assembly of the slave end effector shown in FIG. 1;

FIG. 5 is an exploded view of the telescoping arm shown in FIG. 4;

FIG. 6 is an exploded view of the catheter holder shown in FIG. 4;

FIG. 7 is an exploded view of the catheter straightener shown in FIG. 4;

fig. 8 is a perspective view of yet another embodiment of a guide assembly of a slave manipulator of a surgical robot in accordance with the present invention;

fig. 9 is a perspective view of yet another embodiment of a guide assembly of a slave manipulator of a surgical robot in accordance with the present invention.

Description of reference numerals:

10: base assembly

11: sliding table guide rail

13: motor connector

14: electrical machine

15: fixed base

16: support guide rail

20: sliding table

24: guidewire delivery assembly

25: conveyor

26: conveyor body

27: handle (CN)

28: catheter tube

30: instrument operating assembly

40: guide assembly

41: guide assembly front end

42: rear end of guide assembly

43: front support

44: rear support

44a: first rear support

44b: second rear support

45: catheter holder

46: conduit straightening device

47: telescopic arm

47a: first telescopic arm

47b: second telescopic arm

49: catheter support

51: a first supporting part

52: the second supporting part

53: a first clamping part

54: second clamping part

55: magnet

56: lubricating sleeve

57: positioning pin

61: first closing part

62: second closing part

63: first straightening part

64: second straightening part

65: magnet

66: lubricating sleeve

67: positioning projection

68: positioning groove

69: mounting pin

71: first grid rod

72: second grid rod

73: third grid rod

74: fourth grid rod

81: first pivotal axis

82: second pivot axis

83: third pivotal axis

84: the fourth pivotal shaft

91/92: gasket

93/94: clamping ring

100: slave end operating device

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring embodiments of the present invention.

In the following description, a detailed process will be described in order to provide a thorough understanding of embodiments of the present invention. It is apparent that the implementation of the embodiments of the invention is not limited to the specific details known to a person skilled in the art.

In order to solve the technical problem in the background art, a first aspect of the present invention provides a slave operation device for a surgical robot.

As shown in fig. 1, in a preferred embodiment, the end-effector 100 includes a base assembly 10, a ramp 20, an instrument handling assembly 30, and a guide assembly 40.

Instrument operating assembly 30 is used to operate catheter transporter 25 (as shown, for example, in fig. 2). The catheter carrier 25, for example, for delivering and releasing a prosthetic valve, includes a carrier body 26 and a handle 27, the handle 27 being fitted over the carrier body 26, and a catheter 28 extending from the front end of the carrier body 26 into a blood vessel. The handle 27 is movable relative to the carrier body 26, for example, rotatable relative to the carrier body 26, or movable back and forth relative to the carrier body 26 in the conveying direction of the conduit 28. Valve release, catheter bending, etc. functions are accomplished by the internal mechanism of the carrier 25 when the handle 27 is moved relative to the carrier body 26. Instrument operating assembly 30 includes a drive member (e.g., a motor). Instrument operation assembly 30 is configured to receive carrier 25 (e.g., to accommodate at least handle 27 within instrument operation assembly 30), with an opening at the forward end thereof for passage of catheter 28, and to operate carrier 25 via internal mechanisms. For example, the instrument handling assembly 30 may be coupled to the handle 27 such that the handle 27 is movable relative to the carrier body 26 by the instrument handling assembly 30 to perform a corresponding function. Therefore, by using the slave-end operation device 100 according to the present invention, the doctor does not have to manually operate the conveyor 25 at the side of the operation table, and thus can avoid receiving radiation.

Instrument operating assembly 30 is secured to slide 20. The slide table 20 is movable relative to the base assembly 10 in the delivery direction of the catheter 28, and thus the instrument operation assembly 30 is also movable relative to the base assembly 10 in the delivery direction of the catheter 28, to advance the catheter 28 into the blood vessel.

In this application, the direction of delivery of the catheter 28 is also referred to as the anterior-posterior direction, wherein the direction of entry of the catheter 28 into the blood vessel is the anterior or anterior end and the opposite direction is the posterior or posterior end. As ramp 20 moves forward, instrument operating assembly 30 also moves forward so that catheter 28 is advanced into the blood vessel.

The guide assembly 40 is disposed on the base assembly 10 in front of the instrument operation assembly 30. Guide assembly 40 includes a catheter support portion 49 for supporting catheter 28. That is, the guide assembly 40 supports the catheter 28 at a mid-section of the catheter 28. Wherein the front end of the guide assembly 40 is fixedly disposed relative to the base assembly 10 and the rear end of the guide assembly 40 is movable relative to the base assembly 10 along the transport direction of the catheter 28. For example, when the slide table 20 is moved forward relative to the base assembly 10 in the conveying direction of the guide pipe 28, the rear end of the guide assembly 40 moves in synchronization with the slide table 20. Specifically, when the distance between the slide table 20 and the front end of the guide assembly 40 is less than or equal to the first distance, the rear end of the guide assembly 40 moves forward in synchronization with the slide table 20.

As shown in fig. 3, the base assembly 10 includes a fixed base 15, a slide rail 11, a motor 14, and a motor connector 13. The slide table rail 11 extends in the conveying direction of the guide pipe 28. The slide table guide rail 11 is connected to the slide table 20 so that the slide table 20 is movable along the slide table guide rail 11. The motor 14 is used for providing a driving force for driving the sliding table 20 to move. It will be appreciated that the base assembly 10 further includes a transmission assembly (not shown) respectively connected to the motor 14 (e.g., connected to the motor via the motor connector 13) and the slide table 20 for transmitting the driving force output from the motor 14 to the slide table 20. For example, the transmission assembly includes at least one of a transmission chain, a transmission belt and a lead screw, and the slide table 20 includes a structure adapted to the transmission assembly for receiving the driving force transmitted by the transmission assembly. It is understood that the transmission assembly may be constructed in other configurations, and the present application is not limited thereto.

As shown in FIG. 1, the slave end effector 100 also includes a guidewire delivery assembly 24 for delivering a guidewire. The guidewire delivery assembly 24 is disposed rearward of the instrument operation assembly 30 in the delivery direction of the catheter 28. The guidewire delivery assembly 24 includes a motor for providing the driving force required to deliver the guidewire. Preferably, the guidewire delivery assembly 24 is coupled to the instrument operation assembly 30 so as to be movable in unison with the instrument operation assembly 30 in the delivery direction of the catheter 28. As can be appreciated, when the ramp 20 is moved forward to deliver the catheter 28 into the vessel, the guidewire delivery assembly 24 is configured to pull the guidewire rearward to keep the guidewire straight for better support of the catheter.

As shown in fig. 4, the guide assembly 40 includes a front bracket 43, at least one rear bracket 44, and a telescopic arm 47. The front bracket 43 is disposed at the front end of the guide assembly 40 and is fixedly disposed relative to the base assembly 10. The rear bracket 44 is disposed at the rear end of the guide assembly 40 and is movable relative to the base assembly 10 in the direction of conveyance of the catheter 28. The telescopic arm extends between the front bracket 43 and the rear bracket 44, and the telescopic arm 47 is configured to be telescopic in length. A tube support 49 is provided to at least one of the front bracket 43, the rear bracket 44, and the telescopic arm 47.

Specifically, the base assembly 10 includes at least one rack rail 16, the rack rail 16 extending in a transport direction of the conduit 28. The front end of the carriage rail 16 is fixed to the front carriage 43, and the rear end of the carriage rail extends through the through-hole of the rear carriage 44 so that the rear carriage 44 can move along the carriage rail. Preferably, the base assembly 10 includes two carriage rails 16.

When the slide table 20 is moved to a first distance from the front end of the guide assembly 40 (specifically, the front bracket 43) during the forward movement of the slide table 20, at least one of the instrument operation assembly 30, the slide table 20, and the catheter transporter 25 (which is attached to the instrument operation assembly 30 and extends from the front end of the instrument operation assembly 30) is in contact with the rear bracket 44 at this time. When the slide 20 continues to move forward such that the distance between the slide 20 and the front bracket 43 is smaller than the first distance, the rear bracket 44 will be pushed by the instrument handling assembly 30, the slide 20, or the catheter transport 25 to move forward. It will be appreciated that the rear bracket 44 may also be configured to be fixedly connected to the slide 20, so that the rear bracket 44 always moves with the slide 20.

When the rear bracket 44 moves forward, the telescopic arm 47 contracts, so that the entire length of the guide assembly 40 (the distance from the front bracket 43 to the rear bracket 44) becomes short. Because the guide assembly 40 is provided with the catheter support portion 49 for supporting the catheter 28, the telescoping nature of the guide assembly enables the guide assembly to adjust its length according to the length of the portion of the catheter 28 that is outside the blood vessel to adjust the specific location of the catheter support portion 49 to better support the catheter 28, making the procedure of the catheter 28 into the blood vessel smoother.

Specifically, the telescopic arm 47 includes a plurality of (at least two) bars connected end to end in sequence, wherein two adjacent bars are pivotally connected by a pivot shaft, and the bars at both ends are further connected to the front bracket 43 and the rear bracket 44, respectively, so that when the plurality of bars are pivoted to each other, the angle between the bars is changed, so that the length of the telescopic arm 47 is variable.

As shown in fig. 5, the telescopic arm 47 preferably comprises at least one first bar 71, at least one second bar 72, a third bar 73 and a fourth bar 74. The number of the third grating bars 73 is equal to that of the first grating bars 71, and the number of the fourth grating bars 74 is equal to that of the second grating bars 72. The second bars 72 are connected with the first bars 71 end to end alternately in sequence, and the adjacent first bars 71 and second bars 72 are connected through a first pivot shaft 81. The fourth bars 74 and the third bars 73 are sequentially and alternately connected end to end, and the adjacent third bars 73 and the fourth bars 74 are pivotally connected by a second pivot shaft 82. Meanwhile, the first and third gate levers 71 and 73 are pivotally connected at the middle portion by a third pivot shaft 83, and the second and fourth gate levers 72 and 74 are pivotally connected at the middle portion by a fourth pivot shaft 84. During the relative pivoting of the bars in pairs, the angle between the bars changes, and the length of the telescopic arm changes. It is understood that the telescopic arm 47 may comprise only the first and

second bars

71 and 72, or only the fourth and

third bars

74 and 73.

At the pivotal connection of the two bars,

spacers

91 and 92 are provided between the two bars for lubrication, while

collars

93 and 94 clamp the respective pivot shafts. Preferably, the

gaskets

91 and 92 are nylon gaskets.

Catheter support 49 includes catheter holder 45. A tube holder 45 is provided in at least one of the front bracket 43 and the rear bracket 44. Preferably, a tube holder 45 is provided at both the front bracket 43 and the rear bracket 44. As shown in fig. 6, the pipe holder 45 includes a first support portion 51 and a second support portion 52. The first support part 51 is fixedly connected to the front bracket 43 or the rear bracket 44. In use, the first support portion 51 and the second support portion 52 are butted against each other. Wherein the first support part 51 comprises a first clamping portion 53, the first clamping portion 53 being configured in the form of a groove. The second support 52 comprises a second clamping portion 54, the second clamping portion 54 also being configured in the form of a groove. The first clamping portion 53 extends in the conveying direction of the conduit 28, and the second clamping portion 54 is provided corresponding to the first clamping portion 53. When the first support 51 is mated with the second support 52, the first clamping portion 53 is also mated with the second clamping portion 54, and the two recesses are mated to form a channel for receiving and clamping the conduit 28. Preferably, the first clamping portion 53 is configured as an arc-shaped groove, and the second clamping portion 54 is also configured as an arc-shaped groove.

In order to keep the first supporting portion 51 and the second supporting portion 52 in a stable abutting state after the abutting, even if the first clamping portion 53 and the second clamping portion 54 form a stable channel, it is preferable that the first supporting portion 51 and the second supporting portion 52 abut in a suction abutting manner. Specifically, at least one of the first support part 51 and the second support part 52 includes a magnet 55 so that the first support part 51 and the second support part 52 can be brought into contact with each other by means of magnetic attraction. For example, one of the first support 51 and the second support 52 includes a magnet 55, and the other of the first support 51 and the second support 52 is made of a magnetic material; alternatively, the first support portion 51 and the second support portion 52 are provided with magnets in correspondence. When the magnetic attraction of the magnet reaches a certain strength, the magnetic attraction can resist an external force with a certain strength, so that the first support part 51 and the second support part 52 are not dislocated or separated from each other.

To protect the conduit 28 and facilitate the fore and aft movement of the conduit 28, the conduit clamp 45 preferably further includes a lubrication sleeve 56, the lubrication sleeve 56 being securable to the groove of the first clamp portion 53, and the lubrication sleeve 56 being securable to the groove of the second clamp portion 54. Preferably, the first clamping portion 53 and the second clamping portion 54 are provided with a lubrication sleeve 56 at the same time. Preferably, the lubrication sleeve 56 is made of a polytetrafluoroethylene material (PTFE). Preferably, the lubrication sleeve 56 is glued to the groove of the first clip 53 and/or the groove of the second clip 54.

Preferably, one of the first and

second support parts

51 and 52 includes a positioning pin 57, and the other of the first and

second support parts

51 and 52 includes a receiving hole (not shown) for receiving the positioning pin 57, so as to guide the second support part 52 to be snapped on the first support part 51 and to further stabilize the butted first and

second support parts

51 and 52 with respect to each other.

The conduit support 49 includes at least one conduit straightener 46. Preferably, the conduit support 49 includes two conduit straighteners 46. The conduit straightener 46 is arranged on a telescopic arm 47. As shown in FIG. 7, similar in construction to catheter holder 45, catheter straightener 46 includes a first fold 61 and a second fold 62. The first closing part 61 is fixedly connected to the telescopic arm 47. In use, the first and

second folding portions

61 and 62 are butted against each other. Wherein the first folded part 61 comprises a first straightening part 63, the first straightening part 63 being configured in the form of a groove. The second fold 62 comprises a second straightening portion 64, the second straightening portion 64 also being configured in the form of a groove. The first straightening portion 63 extends in the conveying direction of the conduit 28, and the second straightening portion 64 is arranged in correspondence with the first straightening portion 63. When the first fold 61 is in abutment with the second fold 62, the first straightening portion 63 is also in abutment with the second straightening portion 64, and the two grooves merge into one channel for receiving and gripping the conduit 28. Preferably, the first straightening portion 63 is configured as an arc-shaped groove, and the second straightening portion 64 is also configured as an arc-shaped groove.

In order to ensure that the first folding part 61 and the second folding part 62 can be stably in a butt joint state after being butted, even if the first straightening part 63 and the second straightening part 64 form a stable passage, preferably, the first folding part 61 and the second folding part 62 are butted in an adsorption butt joint manner. Specifically, at least one of the first closing part 61 and the second closing part 62 includes a magnet 65, so that the first closing part 61 and the second closing part 62 can be brought into contact with each other by means of magnetic attraction. For example, one of the first folding part 61 and the second folding part 62 includes a magnet 65, and the other of the first folding part 61 and the second folding part 62 is made of a magnetic material; or the first folding part 61 and the second folding part 62 are provided with magnets correspondingly. When the magnetic attraction of the magnet reaches a certain strength, the magnetic attraction can resist the external force with a certain strength, so that the first closing part 61 and the second closing part 62 are not dislocated or separated from each other.

To protect the conduit 28 and facilitate fore-aft movement of the conduit 28, preferably, the conduit straightener 46 further comprises a lubrication sleeve 66, the lubrication sleeve 66 may be secured to the groove of the first straightening portion 63, and the lubrication sleeve 66 may also be secured to the groove of the second straightening portion 64. Preferably, the first straightening portion 63 and the second straightening portion 64 are provided with a lubricating sleeve 66 at the same time. Preferably, lubrication sleeve 66 is made from a polytetrafluoroethylene material (PTFE). Preferably, lubrication sleeve 66 is bonded to the groove of first straightening portion 63 and/or the groove of second straightening portion 64.

Preferably, one of the first folding part 61 and the second folding part 62 comprises a positioning protrusion 67, and the other of the first folding part 61 and the second folding part 62 comprises a positioning groove 68 for accommodating the positioning protrusion 67, so as to guide the second folding part 62 to be buckled on the first folding part 61 and make the butted first folding part 61 and second folding part 62 more stable relative to each other.

In order to facilitate the mounting of the catheter straightener 46 to the telescopic arm 47, the first fold 61 preferably comprises a mounting pin 69, and at least one of the third pivot shaft 83 and the fourth pivot shaft 84 is configured as a hollow shaft, i.e. comprises a through hole in the axial direction for receiving the mounting pin 69. The mounting pin 69 is inserted into the third pivot shaft 83 or the fourth pivot shaft 84, and is fixed to the third pivot shaft 83 or the fourth pivot shaft 84 by interference fit, screw connection, snap connection, or the like, which is not particularly limited in the present application.

In the embodiment shown in fig. 4, the bars of the telescopic arm 47 lie in a horizontal plane. In the embodiment shown in fig. 8, the bars of the telescopic arm 47 are located in a vertical plane. It can be understood that, compared with the embodiment shown in fig. 4, the embodiment shown in fig. 8 effectively avoids the bending of the bars due to gravity, so as to ensure that the conduit 28 has better horizontal straightness and make the delivery of the conduit 28 smoother.

Since the conduit straightener 46 is provided on the telescopic arm 47, the conduit straightener 46 changes position as the telescopic arm 47 is telescopic. Because the telescopic system of the telescopic arm 47 is caused by the continuous entering of the catheter 28 into the blood vessel, the position of the catheter straightening device 46 and the catheter holder 45 arranged on the rear bracket 44 can be adjusted according to the length of the part of the catheter 28 which does not enter the blood vessel, so that the catheter which does not enter the blood vessel is straightened as much as possible, and the delivery of the catheter 28 is smoother.

In the embodiment shown in fig. 9, the guide assembly 40 includes two rear legs, a first rear leg 44a and a second rear leg 44b, disposed fore and aft in the delivery direction of the catheter 28. Wherein the second rear bracket 44b is located between the front bracket 43 and the first rear bracket 44 a. The telescopic arm 47 includes a first telescopic arm 47a and a second telescopic arm 47b, wherein the first telescopic arm 47a extends between the second rear bracket 44b and the first rear bracket 44a, and the second telescopic arm 47b extends between the second rear bracket 44b and the front bracket 43.

As described above, when the distance between the slide table 20 and the front bracket 43 is smaller than or equal to the first distance, the first rear bracket 44a will be pushed by the instrument handling assembly 30, the slide table 20, or the catheter transport 25 to move forward. As the slide table 20 continues to move forward, the first rear bracket 44a also continues to move forward, and the length of the first telescopic arm 47a becomes shorter. When the distance between the slide table 20 and the front bracket 43 is the second distance (the second distance is smaller than the first distance), the first rear bracket 44a will contact the second rear bracket 44b, or the first telescopic arm 47a is compressed to the limit. When the slide table 20 continues to move forward again, the second rear bracket 44b will be pushed by the first rear bracket 44a or the first telescopic arm 47a to move forward.

In the embodiment shown in fig. 9, front brace 43, first rear brace 44a, and second rear brace 44b are each provided with a catheter holder 45, and no catheter straightener 46. It will be appreciated that the catheter holder 45 provided on the second rear bracket 44b functions in the same manner as the catheter straightener 46. In the embodiment shown in fig. 9, the telescopic arm 47 is broken into two sections, each of which has a correspondingly reduced weight and length, so that the bending of each section due to gravity is correspondingly improved.

In summary, the end-of-line device according to the invention makes it possible for the doctor not to have to manually operate the catheter transport device next to the operating table, thus avoiding the radiation exposure. The telescopic arm adjusts the length according to the length of the part of the catheter which does not enter the blood vessel, so that the catheter supporting part correspondingly adjusts the position of the supporting catheter, the catheter which does not enter the blood vessel is straight as much as possible, and the delivery of the catheter is smoother.

A second aspect of the present invention provides a surgical robot system, comprising a slave end operation device and a control device according to the present invention, wherein the control device controls the operation of the slave end operation device.

A third aspect of the present invention provides a surgical robotic system comprising a slave end manipulator and a catheter feeder according to the present invention. In particular embodiments, catheter carrier 25 is mounted to instrument handling assembly 30, and handle 27 of catheter carrier 25 is connected to instrument handling assembly 30 such that handle 27 is moved relative to carrier body 26 by the action of instrument handling assembly 30 to perform the corresponding function.

Because according to the utility model discloses a surgical robot system includes according to the utility model discloses a from end operating means, consequently according to the utility model discloses a surgical robot system includes according to the utility model discloses a from end operating means's whole characteristics and technological effect.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present invention has been described in terms of the above embodiments, but it is to be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. Those skilled in the art will appreciate that numerous variations and modifications are possible in light of the teachings of the present invention, and are within the scope of the invention as claimed.

Claims

1. A slave-end effector of a surgical robot for delivering and manipulating a catheter, comprising:

a base assembly;

an instrument operation assembly fixed to the sliding table and used for receiving and operating a conveyor connected with a guide pipe; and

2. The slave end effector as claimed in claim 1, wherein the guide assembly further comprises:

at least one rear bracket disposed at a rear end of the guide assembly, the rear bracket being movable relative to the base assembly along a delivery direction of the catheter, and

3. The slave end effector of claim 2, wherein the base assembly comprises:

a slide guide rail extending in a conveying direction of the guide pipe, the slide guide rail being connected to the slide so that the slide is movable along the slide guide rail,

4. The slave end effector as claimed in claim 3, wherein the slave end effector comprises two carriage rails.

5. The end-effector of claim 3, wherein at least one of the instrument manipulation assembly, the ramp, and the delivery device of the catheter is in contact with the rear mount when the ramp is at a distance from the front mount that is less than or equal to a first distance.

6. The slave end effector of claim 2, wherein the catheter support includes a catheter holder disposed on at least one of the front mount and the rear mount, the catheter holder comprising:

7. The slave end effector as claimed in claim 6, characterized in that the first gripping portion is configured as an arcuate groove and/or the second gripping portion is configured as an arcuate groove.

8. The slave end operation device of claim 7, wherein the catheter holder further comprises a lubrication sleeve,

9. The slave end effector as claimed in claim 2, wherein the telescoping arm includes a plurality of bars connected end to end in sequence, with two adjacent bars being pivotally connected by a pivot shaft.

10. The device of claim 9, wherein the conduit support portion comprises at least one conduit straightener disposed at the telescoping arm.

11. The slave end effector of claim 10, wherein the conduit straightener comprises:

a second folded portion for abutting the first folded portion, the second folded portion including a second straightening portion,

12. The device as claimed in claim 11, characterized in that the first fold is configured as an arc-shaped groove and/or the second fold is configured as an arc-shaped groove.

13. The slave end effector of claim 12, wherein the conduit straightener further comprises a lubrication sleeve,

14. The slave end effector of claim 11, wherein the telescoping arm comprises:

at least one first grid rod is arranged on the first grid rod,

a third grid bar, the number of the third grid bars being equal to the number of the first grid bars,

15. A device as claimed in claim 14, wherein the first fold comprises a mounting pin, and the third or fourth pivot is a hollow shaft for receiving the mounting pin therein to secure the first fold to the telescopic arm.

16. The slave end operation device of claim 9, wherein the plurality of gate rods are in a horizontal plane or the plurality of gate rods are in a vertical plane.

17. The slave end operation device of claim 3,

the guide assembly comprises two rear brackets which are arranged in the front and back direction of the delivery direction of the catheter, the second rear bracket is positioned between the front bracket and the first rear bracket,

18. The slave end operation device according to claim 17, wherein when the distance of the slide table from the front bracket is less than or equal to the second distance, the first rear bracket is in contact with the second rear bracket, or the first telescopic arm is compressed to the limit.

19. The slave end effector of any of claims 1-18, wherein the base assembly comprises:

a motor for providing a driving force for driving the sliding table to move,

and the transmission assembly is respectively connected to the motor and the sliding table and is used for transmitting the driving force output by the motor to the sliding table, and the transmission assembly comprises at least one of a transmission chain, a transmission belt and a lead screw.

20. The slave end effector of any of claims 1-18, wherein the instrument operation assembly comprises a motor.

21. The device of any of claims 1-18, further comprising a guidewire delivery assembly for delivering a guidewire, the guidewire delivery assembly being disposed rearward of the instrument operation assembly in a delivery direction of the catheter, wherein the guidewire delivery assembly includes a motor.

22. The tip end effector of claim 21, wherein the guidewire delivery assembly moves in a delivery direction of the catheter in synchronization with the instrument operation assembly.

23. A surgical robotic system comprising a slave end effector and a carrier for a catheter according to any of claims 1-22, wherein the carrier is connected to the instrument handling assembly.

24. A surgical robotic system as claimed in claim 23, wherein the carrier includes a handle connected to the instrument handling assembly and movable relative to the carrier body under the action of the instrument handling assembly.