WO2025026097A1 - Slave end of interventional surgical robot, and driving apparatus therefor - Google Patents

Abstract

The present application relates to the technical field of medical devices, and relates to a slave end of an interventional surgical robot, and a driving apparatus therefor. A slave end driving apparatus comprises a support, a delivery wheel group, a first driving assembly, a first transmission gear set, a second transmission gear set, and a second driving assembly; the delivery wheel group comprises two delivery wheels distributed in a first direction; the delivery wheels of the same delivery wheel group are used for clamping a long and straight consumable extending in a second direction; the first transmission gear set is arranged on the support and comprises a first main transmission gear and a second main transmission gear that are meshed with each other; the first driving assembly is used for driving the first main transmission gear to rotate; the second main transmission gear is coaxially connected to a first end of one delivery wheel and can drive the delivery wheel to rotate; the second transmission gear set comprises a plurality of auxiliary transmission gears that are meshed and linked, and a second end of each delivery wheel is connected to one auxiliary transmission gear; the second driving assembly is used for driving the support to rotate around an axis extending in the second direction.

Description

Slave end of interventional surgery robot and its driving device

Cross-references

The present disclosure claims priority to Chinese patent application number 202322014271.X filed on July 28, 2013, entitled “Slave end of interventional surgical robot and driving device thereof”, the entire contents of which are incorporated herein by reference in their entirety.

Technical Field

The present application relates to the field of medical device technology, and in particular to a slave end of an interventional surgical robot and a driving device thereof.

Background Art

At present, interventional surgical robots have been used in surgical operations such as vascular intervention, and they control the long straight interventional consumables (including but not limited to: catheters, guidewires, balloons, stents) to perform actions such as introduction and export. However, the existing interventional surgical robots control the movement of long straight interventional consumables in a relatively single way, which is not conducive to improving work efficiency.

It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field.

Summary of the invention

The purpose of the present application is to overcome the deficiencies of the above-mentioned prior art and to provide a slave end of an interventional surgical robot and a driving device thereof, which can control long straight interventional consumables to realize various modes of movement, improve work efficiency, and make the force on the long straight interventional consumables more balanced, less prone to bending, and ensure the reliability of pushing.

According to one aspect of the present disclosure, there is provided a slave end driving device of an interventional surgery robot, comprising:

Support;

At least one delivery wheel set is arranged on the support; the delivery wheel set includes two Delivery wheels distributed in a first direction, and the axes of the two delivery wheels are parallel; the delivery wheels of the same delivery wheel group are used to clamp the long straight interventional consumable extending along the second direction, and can drive the long straight interventional consumable to move along the second direction;

A first driving assembly and a first transmission gear set, wherein the first transmission gear set is disposed on the support and comprises a first main transmission gear and a second main transmission gear meshing with each other; the first driving assembly is used to drive the first main transmission gear to rotate; the second main transmission gear is coaxially connected to a first end of the delivery wheel and can drive the delivery wheel to rotate;

A second transmission gear set is disposed on the support and includes a plurality of meshing and linked auxiliary transmission gears, wherein the second end of each delivery wheel is connected to one of the auxiliary transmission gears;

The second driving assembly is used to drive the support to rotate around an axis extending along the second direction.

In an exemplary embodiment of the present disclosure, the number of the delivery wheel groups is multiple, and includes a first delivery wheel group and a second delivery wheel group distributed along the second direction; the first delivery wheel group includes a first delivery wheel and a second delivery wheel, and the second delivery wheel group includes a third delivery wheel and a fourth delivery wheel; the first delivery wheel and the third delivery wheel are located on the same side of the long straight interventional consumable;

The number of auxiliary transmission gears of the second transmission gear set is five, and includes the first auxiliary transmission gear to the fifth auxiliary transmission gear; the first auxiliary transmission gear is connected to the second end of the first delivery wheel, the second auxiliary transmission gear is connected to the second end of the second delivery wheel, the third auxiliary transmission gear is connected to the second end of the third delivery wheel, and the fourth auxiliary transmission gear is connected to the second end of the fourth delivery wheel; the first auxiliary transmission gear is meshed with the second auxiliary transmission gear, the third auxiliary transmission gear is meshed with the fourth auxiliary transmission gear, and the fifth auxiliary transmission gear is meshed with the first auxiliary transmission gear and the third auxiliary transmission gear at the same time.

In an exemplary embodiment of the present disclosure, the support includes a bottom plate and a top plate that are oppositely disposed and a side plate connecting the bottom plate and the top plate;

The delivery wheel set is rotatably connected between the bottom plate and the top plate; the first transmission gear set is arranged on a side of the bottom plate away from the top plate; and the second transmission gear set is arranged on a side of the top plate away from the bottom plate.

In an exemplary embodiment of the present disclosure, the bottom plate includes a bottom fixing portion and The bottom movable part; the top plate comprises a top fixed part and a top movable part distributed along the first direction; the bottom movable part is slidably arranged on the surface of the bottom fixed part close to the top plate; the bottom fixed part and the top fixed part are fixedly connected by the side plate, and the bottom movable part and the top movable part can move along the first direction; the bottom movable part is arranged opposite to the top fixed part, and the bottom fixed part is arranged opposite to the top fixed part;

The first delivery wheel and the third delivery wheel are rotatably connected between the bottom fixed part and the top fixed part; the second delivery wheel and the fourth delivery wheel are rotatably connected between the bottom movable part and the top movable part.

In an exemplary embodiment of the present disclosure, the side plate includes a connecting side plate and a limiting side plate, the connecting side plate connects the bottom fixing portion and the top fixing portion; the limiting side plate is located on a side of the bottom moving portion and the top moving portion away from the bottom fixing portion and the top fixing portion, and is connected to the connecting side plate;

The slave-end driving device also includes an elastic member, which is arranged between at least one of the bottom movable part and the top movable part and the limiting side plate, and is used to apply a force toward the bottom fixed part and the top fixed part to at least one of the bottom movable part and the top movable part.

In an exemplary embodiment of the present disclosure, the slave end drive device further comprises a bracket; the support is rotatably arranged on the bracket; the first drive assembly comprises a first input assembly, a first input bevel gear, a second input bevel gear, a first transmission bevel gear and a second transmission bevel gear;

The second input bevel gear is rotatably disposed on the bracket and meshes with the first input bevel gear; the first input assembly is used to drive the first input bevel gear to rotate; and the axis of the second input bevel gear extends along the second direction;

The first transmission bevel gear and the second transmission bevel gear are meshed and located between the bottom plate and the top plate; the first transmission bevel gear is coaxially connected to the second input bevel gear, and the second transmission bevel gear is coaxially connected to the first main transmission gear.

In an exemplary embodiment of the present disclosure, the second drive assembly includes a second input assembly and a third input bevel gear and a fourth input bevel gear that mesh with each other; the second input assembly is used to drive the third input bevel gear to rotate, the fourth input bevel gear is rotatably disposed on the bracket and connected to the support, and the axis of the fourth input bevel gear extends along the second direction.

In an exemplary embodiment of the present disclosure, the first input assembly includes a first power device and a first bevel gear and a second bevel gear meshing with each other, the first power device is used to drive the first bevel gear to rotate, and the second bevel gear is coaxially connected to the first input bevel gear;

The second input assembly includes a second power device and a third bevel gear and a fourth bevel gear meshing with each other. The second power device is used to drive the third bevel gear to rotate. The fourth bevel gear is coaxially connected to the third input bevel gear.

In an exemplary embodiment of the present disclosure, a plurality of anti-skid grooves extending along the circumference of the delivery wheel are provided on the outer circumferential surface of the delivery wheel, and the anti-skid grooves are spaced apart along the circumferential direction.

In an exemplary embodiment of the present disclosure, guide rods are provided between the bottom moving part, the top moving part and the limiting side plate, and the elastic members are sleeved outside the guide rods in a one-to-one correspondence.

In an exemplary embodiment of the present disclosure, the first input assembly further includes a first connecting shaft and a second connecting shaft, the second bevel gear is connected to one end of the first connecting shaft, and the first connecting shaft is provided with a mounting hole extending in the axial direction, the first input bevel gear is connected to one end of the second connecting shaft, and the other end of the second connecting shaft is inserted into the mounting hole;

The second input component also includes a third connecting shaft and a fourth connecting shaft, the fourth bevel gear is connected to one end of the third connecting shaft, and the third connecting shaft is provided with a second mounting hole extending axially, the third input bevel gear is connected to one end of the fourth connecting shaft, and the other end of the fourth connecting shaft can be inserted into the second mounting hole.

In an exemplary embodiment of the present disclosure, the slave-end drive device also includes a first rotating bevel gear and a second rotating bevel gear that are meshed with each other, the axis of the second rotating bevel gear is colinear with the axes of the second input bevel gear and the fourth input bevel gear, and the second rotating bevel gear is located on the side of the second input bevel gear away from the fourth input bevel gear.

According to one aspect of the present disclosure, there is provided a slave end of an interventional surgical robot, comprising any one of the slave end driving devices described above.

The slave end and the slave end driving device of the interventional surgical robot of the present application can clamp the long straight interventional consumables through the two delivery wheels of the delivery wheel group, and The wheel group drives a delivery wheel to rotate, and the delivery wheel can drive other delivery wheels to rotate through the second transmission gear group, thereby driving the long straight interventional consumable to move forward or backward in a first direction, that is, to move along the axial direction of the long straight interventional consumable; in this process, the delivery wheels on both sides of the long straight interventional consumable rotate under the drive of the transmission gear, and apply force to the long straight interventional consumable from both sides, so that the force on both sides can be balanced and it is not easy to bend or jam, so that the pushing process is smoother and more reliable; and compared with the transmission method in which only some delivery wheels rotate and other delivery wheels are driven by the long straight interventional consumable, the relative sliding between the long straight interventional consumable and the delivery wheels can be reduced, which is conducive to reducing wear.

In addition, the second drive component can drive the support to rotate, so that the long straight interventional consumables can not only move along the axis, but also rotate around its own axis, realizing multiple movement modes, realizing multiple surgical operations and improving work efficiency.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

FIG1 is a schematic diagram of a non-rotating support in a slave end first embodiment of the interventional surgical robot of the present application.

FIG2 is a schematic diagram of a support after rotation in a slave end first embodiment of the interventional surgery robot of the present application.

FIG3 is a partial schematic diagram of the slave-end drive device of the interventional surgical robot of the present application.

FIG. 4 is a partial side view of the slave-end drive device of the interventional surgical robot of the present application.

FIG5 is a schematic diagram of a bracket and a support of a slave end drive device of the interventional surgical robot of the present application.

FIG6 is a schematic diagram of an open shell cover of a slave end embodiment of the interventional surgery robot of the present application.

FIG. 7 is a schematic diagram of a closed shell cover of a slave end embodiment of the interventional surgery robot of the present application.

Description of reference numerals:
01. Long straight interventional consumables; 02. Catheter;
1. Support; 11. Bottom plate; 111. Bottom fixed part; 112. Bottom movable part; 12. Top plate;
121, top fixing part; 122, top moving part; 13, side plate; 131, connecting side plate; 132, limiting side plate;
21. first delivery wheel; 22. third delivery wheel;
311, first power device; 312, first bevel gear; 313, second bevel gear; 314,
first connecting shaft; 315, second connecting shaft; 32, first input bevel gear; 33, second input bevel gear; 34, first transmission bevel gear; 35, second transmission bevel gear;
41. First main transmission gear; 42. Second main transmission gear;
51, first auxiliary transmission gear; 52, second auxiliary transmission gear; 53, third auxiliary transmission gear; 54, fourth auxiliary transmission gear; 55, fifth auxiliary transmission gear;
611, second power device; 612, third bevel gear; 613, fourth bevel gear; 614,
The third connecting shaft; 615, the fourth connecting shaft; 62, the third input bevel gear; 63, the fourth input bevel gear;
7. Elastic parts;
8. First rotating bevel gear; 9. Second rotating bevel gear;
10. Shell; 101. Shell; 1011. First flange; 102. Shell cover; 1021. Second flange; 103. Magnet;
14. Bracket; 141. Base frame; 142. Side frame.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed descriptions will be omitted. In addition, the drawings are only for reference. The schematic illustrations of the application are not necessarily drawn to scale.

The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements/components/etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements/components/etc. may exist in addition to the listed elements/components/etc.; the terms "first", "second", etc. are used merely as labels and are not intended to limit the quantity of their objects.

As shown in Figures 1 to 7, the embodiments of the present application provide a slave end drive device of an interventional surgery robot, which can control the movement of a long straight interventional consumable 01 during an interventional surgery, for example, it can control the forward movement, backward movement and rotation of the long straight interventional consumable 01. The slave end drive device may include a support 1, a delivery wheel set, a first drive assembly, a first transmission gear set, a second transmission gear set and a second drive assembly, wherein:

There is at least one delivery wheel set, which is arranged on the support 1; one delivery wheel set includes two delivery wheels distributed along the first direction X, and the axes of the two delivery wheels are parallel; the delivery wheels of the same delivery wheel set are used to clamp the long straight interventional consumable 01 extending along the second direction Y, and can drive the long straight interventional consumable 01 to move along the second direction Y.

The first transmission gear set is arranged on the support 1, and comprises a first main transmission gear 41 and a second main transmission gear 42 meshing with each other; the first driving assembly is used to drive the first main transmission gear 41 to rotate; the second main transmission gear 42 is coaxially connected to the first end of a delivery wheel, and can drive the delivery wheel to rotate;

The second transmission gear set is arranged on the support 1 and includes a plurality of meshing and linked auxiliary transmission gears, and the second end of each delivery wheel is connected to an auxiliary transmission gear. The second driving assembly is used to drive the support 1 to rotate around an axis extending along the second direction Y.

The slave-end driving device of the embodiment of the present application can clamp the long straight interventional consumable 01 through the two delivery wheels of the delivery wheel group, and drive a delivery wheel to rotate through the first driving component and the first transmission gear group, and the delivery wheel can drive other delivery wheels to rotate through the second transmission gear group, thereby driving the long straight interventional consumable 01 to move forward or backward along the first direction X, that is, to move along the axial direction of the long straight interventional consumable 01; in this process, the delivery wheels on both sides of the long straight interventional consumable 01 are driven by the transmission gears to rotate, and the force applied to the long straight interventional consumable 01 from both sides can make the two sides of the long straight interventional consumable 01 balanced in force, and it is not easy to bend or jam; and compared with the method in which only some delivery wheels rotate and other delivery wheels are driven by the long straight interventional consumable 01, the long straight interventional consumable 01 can be reduced. The relative sliding between material 01 and the delivery wheel is beneficial to reduce wear.

In addition, the second driving component can drive the support 1 to rotate, so that the long straight interventional consumable 01 can not only move along the axis, but also rotate around its own axis, realizing multiple movement modes, realizing multiple surgical operations, and improving work efficiency.

The slave drive device of the present application is described in detail below:

As shown in Figures 1 to 5, the support 1, as the base of the slave drive device, can play a bearing role and can be connected by multiple flat plates or connecting rods. There is no special limitation on its structure. The long straight interventional consumable 01 can pass through the support 1; or, it does not pass through the support 1, but crosses the support 1 in space.

In some embodiments of the present application, the support 1 may include a bottom plate 11, a top plate 12, and a plurality of side plates 13, the bottom plate 11 and the top plate 12 are arranged opposite to each other, and the side plates 13 connect the bottom plate 11 and the side plates 13, thereby forming a polyhedral structure. For example, the bottom plate 11 and the top plate 12 are both rectangular flat plate structures, and each side plate 13 can be distributed along the edges of the bottom plate 11 and the top plate 12. When the support 1 is in the shape of a rectangular parallelepiped as a whole, the number of the side plates 13 is less than four, so that the support 1 can be an open structure to facilitate the installation and removal of other structures.

In order to facilitate the installation of the support 1, the slave end driving device may further include a bracket 14, and the support 1 can be rotatably arranged on the bracket 14, and the rotation axis can extend along the second direction Y.

In some embodiments of the present application, the bracket 14 may include a base frame 141 and two side frames 142, wherein the base frame 141 and the side frames 142 may be a flat plate structure or a frame structure, and no special limitation is made to the structures of the two. The two side frames 142 may be connected to the same side of the base frame 141 along the second direction Y, thereby forming a U-shaped structure with the base frame 141. The support 1 may be disposed between the two side frames 142 and rotatably cooperate with the side frames 142, so that the support 1 can rotate between the two side frames 142. Furthermore, at least one side frame 142 and the base frame 141 may be connected in a detachable manner such as a snap connection or a screw connection for easy disassembly and assembly.

The slave end driving device can enable the long straight interventional consumable 01 to achieve at least two movements, including movement along its own axis and rotation around its own axis, wherein the axial movement can be achieved by the delivery wheel set, the first transmission gear set, the second transmission gear set and the first driving assembly, as described in detail below:

As shown in FIGS. 1 to 5 , there is at least one delivery wheel set, which is rotatably disposed on the support 1 . One delivery wheel set may include two delivery wheels distributed along the first direction X, and The axes of the two delivery wheels are parallel, and the first direction X may be perpendicular to the forward and backward direction of the long straight interventional consumable 01. The delivery wheels of the same delivery wheel set are used to clamp the long straight interventional consumable 01 extending along the second direction Y, and by rotating at least one delivery wheel, the long straight interventional consumable 01 can be driven to move along the second direction Y, and the second direction Y is the forward and backward direction of the long straight interventional consumable 01. Each delivery wheel may have two ends, namely a first end and a second end.

For example, as shown in Figures 1 to 5, the delivery wheel group can be arranged between the top plate 12 and the bottom plate 11, and each delivery wheel can be rotatably connected to the top plate 12 and the bottom plate 11 through a delivery wheel axle, so that it can rotate in the support 1, and the axis of the delivery wheel can be perpendicular to the bottom plate 11 and the top plate 12. The delivery wheel axle can pass through the top plate 12 and the bottom plate 11, and rotate with the top plate 12 and the bottom plate 11. The delivery wheel axle and the delivery wheel can be an integral structure or an independent structure assembled together. For ease of expression, the first end of the delivery wheel can be defined as the end close to the bottom plate 11, and the second end can be defined as the end close to the top plate 12. Of course, the first end and the second end can also be interchangeable. It should also be noted that the definition of the bottom plate 11 and the top plate 12 is only with reference to the posture of the support 1 shown in FIG1 . However, since the support 1 is rotatable, the positions of the bottom plate 11 and the top plate 12 are also constantly changing. As shown in FIG2 , the bottom plate 11 may be located at the top and the top plate 12 may be located at the bottom. This is only a definition for the convenience of description and is not a restrictive description.

In some embodiments of the present application, there are multiple delivery wheel groups, for example, two delivery wheel groups are used as an example in this embodiment, including a first delivery wheel group and a second delivery wheel group distributed along the second direction Y; the first delivery wheel group and the second delivery wheel group can be arranged between the top plate 12 and the bottom plate 11. The first delivery wheel group includes a first delivery wheel 21 and a second delivery wheel, and the second delivery wheel group includes a third delivery wheel 22 and a fourth delivery wheel; the first delivery wheel 21 and the third delivery wheel 22 are located on the same side of the long straight interventional consumable 01, and the second delivery wheel and the fourth delivery wheel are located on the other side of the long straight interventional consumable 01.

In some embodiments of the present application, the outer circumference of the delivery wheel may be provided with a plurality of anti-skid grooves extending along the axial direction of the delivery wheel, and the anti-skid grooves are spaced apart along the circumference of the delivery wheel, and the moving direction of the long straight interventional consumable 01 may be perpendicular to the axial direction of the delivery wheel. The anti-skid grooves may be formed by depressions on the outer circumference of the delivery wheel, or by convex ridges formed on the outer circumference of the delivery wheel, and the space between the convex ridges is the anti-skid groove. In addition, the outer circumference of the delivery wheel may also be covered with an anti-skid cover made of a flexible material such as silicone. Of course, the outer circumference of the delivery wheel may also be a smooth surface.

As shown in FIGS. 1 to 5 , the first transmission gear set may be disposed on the support 1 and include a first main transmission gear 41 and a second main transmission gear 42 meshing with each other. For example, the first transmission gear set may be disposed on a side of the bottom plate 11 away from the top plate 12. At the same time, the first drive assembly is connected to the first main transmission gear 41 and can drive the first main transmission gear 41 to rotate. The second main transmission gear 42 is coaxially connected to the first end of a delivery wheel. For example, the second main transmission gear 42 may be sleeved on one end connected to a delivery wheel shaft and may be connected by a key connection or the like, so as to drive the delivery wheel to rotate. The axes of the first main transmission gear 41 and the second main transmission gear 42 are parallel, and both may be spur gears, helical gears, etc., and the type of gear is not specifically limited here, as long as it can transmit rotation between parallel axes.

As shown in FIGS. 1 to 5 , the second transmission gear set may be disposed on the support 1, for example, it may be disposed on the side of the top plate 12 away from the bottom plate 11. The second transmission gear set may include a plurality of meshing and linked auxiliary transmission gears, where the linkage here means that when any auxiliary transmission gear rotates, the other gears will be driven to rotate. The second end of each delivery wheel is connected to an auxiliary transmission gear, for example, the delivery wheel shaft may pass through the top plate 12, the auxiliary transmission gear is sleeved on the delivery wheel shaft, and is connected by a key connection or the like.

As shown in Figure 5, when the delivery wheel connected to the second main transmission gear 42 rotates, it will drive the auxiliary transmission gear connected to it to rotate, and the rotation of the auxiliary transmission gear will drive other auxiliary transmission gears to rotate, thereby driving the delivery wheel not connected to the second main transmission gear 42 to rotate, and transmitting the torque output by the first drive component to each delivery wheel, so that the forces on both sides of the long straight interventional consumable 01 are balanced, and it is not easy to wear or slip.

As shown in FIGS. 1 to 5 , in some embodiments of the present application, the number of the delivery wheel set is two, including four delivery wheels, such as the first delivery wheel 21 to the fourth delivery wheel mentioned above, and the number of the auxiliary transmission gears of the second transmission gear set is five, including a first auxiliary transmission gear 51, a second auxiliary transmission gear 52, a third auxiliary transmission gear 53, a fourth auxiliary transmission gear 54 and a fifth auxiliary transmission gear 55, wherein:

The first auxiliary transmission gear 51 can be connected to the second end of the first delivery wheel 21, the second auxiliary transmission gear 52 is connected to the second end of the second delivery wheel, the third auxiliary transmission gear 53 is connected to the second end of the third delivery wheel 22, and the fourth auxiliary transmission gear 54 is connected to the second end of the fourth delivery wheel; the first auxiliary transmission gear 51 is meshed with the second auxiliary transmission gear 52, and the third auxiliary transmission gear 53 is meshed with the fourth auxiliary transmission gear 54. At the same time, the first auxiliary transmission gear 51 is meshed with the third auxiliary transmission gear 53. The moving gear 53 is located on one side of the long straight intervention consumable 01 and is not meshed, and the second auxiliary transmission gear 52 is located on the other side of the fourth auxiliary transmission gear 54 and is not meshed. The fifth auxiliary transmission gear 55 is meshed with the first auxiliary transmission gear 51 and the third auxiliary transmission gear 53 at the same time.

As shown in FIGS. 1 to 5 , in some embodiments of the present application, the first drive assembly may include a first input assembly, a first input bevel gear 32 , a second input bevel gear 33 , a first transmission bevel gear 34 , and a second transmission bevel gear 35 , wherein:

The first input bevel gear 32 is meshed with the second input bevel gear 33, and the second input bevel gear 33 is rotatably disposed on the bracket 14, and the axis of the second input bevel gear 33 extends along the second direction Y. At the same time, the first transmission bevel gear 34 and the second transmission bevel gear 35 are meshed and are located between the bottom plate 11 and the top plate 12 of the support 1; the first transmission bevel gear 34 is coaxially fixedly connected with the second input bevel gear 33 (i.e., they can rotate synchronously), and the second transmission bevel gear 35 is coaxially fixedly connected with the first main transmission gear 41.

For example, the second input bevel gear 33 can be connected to the first transmission bevel gear 34 through the same transmission shaft, and the transmission shaft can extend along the second direction Y, pass through the side frame 142 and a side plate 13 of the support 1, and rotate with the side frame 142 and the side plate 13, so that the second input bevel gear 33 and the first transmission bevel gear 34 can rotate synchronously relative to the bracket 14 and the support 1. At the same time, the transmission shaft can be provided with a through hole passing through along the second direction Y, and the long straight interventional consumable 01 can pass through the through hole for movement.

As shown in FIG. 1 to FIG. 5 , in some embodiments of the present application, the first input assembly may include a first power device 311 , a first bevel gear 312 , and a second bevel gear 313 , wherein:

The first power device 311 can drive the first bevel gear 312 to rotate, and the second bevel gear 313 is coaxially connected to the first input bevel gear 32 and meshes with the first bevel gear 312. The first power device 311 can drive the first input bevel gear 32 to rotate. For example, the first power device 311 can be a motor, and the first bevel gear 312 can be connected to the output shaft of the motor and can rotate under the control of the motor. The second bevel gear 313 can mesh with the first bevel gear 312. The first input assembly can also include a first connecting shaft 314 and a second connecting shaft 315. The second bevel gear 313 is connected to one end of the first connecting shaft 314, and the first connecting shaft 314 is provided with a first mounting hole extending in the axial direction. The first input bevel gear 32 is connected to one end of the second connecting shaft 315, and the other end of the second connecting shaft 315 can be inserted into the above-mentioned first mounting hole and can be connected by a spline, etc. The first input bevel gear 32 is connected to the first connecting shaft 314 by a key connection method, thereby connecting the first input bevel gear 32 and the second bevel gear 313 to achieve synchronous rotation.

When controlling the axial movement of the long straight interventional consumable 01, the first power device 311 can drive the first bevel gear 312 to rotate, and the first bevel gear 312 drives the second bevel gear 313 to rotate, so that the second bevel gear 313 drives the first input bevel gear 32 to rotate, and then the second input bevel gear 33 is rotated, and then the first main transmission gear 41 is driven to rotate through the first transmission bevel gear 34 and the second transmission bevel gear 35, and then the first delivery wheel 21 is driven to rotate through the second main transmission gear 42, so that the first input component outputs torque to the delivery wheel, drives the delivery wheel to rotate, and controls the long straight interventional consumable 01 to move along the second direction Y, that is, along the axial movement of the long straight interventional consumable 01. In this process, the rotation speed of the delivery wheel can be controlled by controlling the first power device 311 to achieve stop, fast forward, fast reverse, slow forward, and slow reverse.

The following is a detailed description of the scheme for rotating the long straight interventional consumable 01 around its own axis:

As shown in Figures 1 to 5, the support 1 can be driven by the second driving component to rotate around the axis extending along the second direction Y, driving the delivery wheel to rotate. When the delivery wheel clamps the long straight interventional consumable 01, the long straight interventional consumable 01 can be rotated around its own axis.

In some embodiments of the present application, the second drive assembly may include a second input assembly, a third input bevel gear 62 and a fourth input bevel gear 63, wherein:

The fourth input bevel gear 63 is connected to the support 1, for example, the fourth input bevel gear 63 is rotatably provided on the support 14, for example, the fourth input bevel gear 63 is rotatably connected to the side frame 142 of the support 14 (the side frame 142 connected to a different side frame 142 from the second input bevel gear 33) through a transmission shaft. The fourth input bevel gear 63 can be fixedly connected to a side plate 13 of the support 1, and the axis of the fourth input bevel gear 63 is colinear with the axis of the second input bevel gear 33 mentioned above, and both extend along the second direction Y. At the same time, a through hole extending along the second direction Y for the long straight intervention consumable 01 to pass through is provided at the center of the fourth input bevel gear 63, and the through hole passes through the above-mentioned transmission shaft, and the long straight intervention consumable 01 can pass through the fourth input bevel gear 63, the side frame 142, the support 1 and the second input bevel gear 33.

The third input bevel gear 62 is meshed with the fourth input bevel gear 63, and the second input assembly can drive the third input bevel gear 62 to rotate, thereby driving the fourth input bevel gear 63 to rotate, thereby driving the support 1 and the delivery wheel set, the first transmission gear set and the second transmission gear set on the support 1. The wheels etc. rotate.

As shown in Figures 1-5, in some embodiments of the present disclosure, the second input assembly may include a second power device 611 and a third bevel gear 612 and a fourth bevel gear 613 that are meshed with each other, the second power device 611 is used to drive the third bevel gear 612 to rotate, and the fourth bevel gear 613 is coaxially connected to the third input bevel gear 62.

For example, the second power device 611 can be a motor, and the third bevel gear 612 can be connected to the output shaft of the motor and can rotate under the control of the motor. The fourth bevel gear 613 can mesh with the third bevel gear 612. The second input assembly can also include a third connecting shaft 614 and a fourth connecting shaft 615, the fourth bevel gear 613 is connected to one end of the third connecting shaft 614, and the third connecting shaft 614 is provided with a second mounting hole extending in the axial direction, the third input bevel gear 62 is connected to one end of the fourth connecting shaft 615, and the other end of the fourth connecting shaft 615 can be inserted into the above-mentioned second mounting hole, and can be connected to the third connecting shaft 614 by a key connection method such as a spline, so that the third input bevel gear 62 is connected to the fourth bevel gear 613 to achieve synchronous rotation.

In order to facilitate clamping the long straight interventional consumable 01 between the delivery wheels, as shown in FIGS. 1 to 5 , in some embodiments of the present disclosure, part of the delivery wheels may be configured as a floating structure, specifically:

The bottom plate 11 may include a bottom fixing portion 111 and a bottom movable portion 112. The bottom movable portion 112 is slidably disposed on a surface of the bottom fixing portion 111 close to the top plate 12; the top plate 12 includes a top fixing portion 121 and a top movable portion 122 distributed along a first direction X; the bottom fixing portion 111 and the top fixing portion 121 are fixedly connected by the side plate 13, and the bottom movable portion 112 and the top movable portion 122 can move along the first direction X. The bottom movable portion 112 is disposed opposite to the top fixing portion 121, and the bottom fixing portion 111 and the top fixing portion 121 are disposed opposite to each other, that is, facing each other in a direction perpendicular to the bottom plate 11 and the top plate 12.

The first delivery wheel 21 and the third delivery wheel 22 are rotatably connected between the bottom fixing part 111 and the top fixing part 121, and the second delivery wheel and the fourth delivery wheel are rotatably connected between the bottom moving part 112 and the top moving part 122. For example, the delivery wheel shafts of the first delivery wheel 21 and the third delivery wheel 22 are rotatably arranged through the bottom fixing part 111 and the top fixing part 121, and the delivery wheel shafts of the second delivery wheel and the fourth delivery wheel are rotatably arranged through the bottom moving part 112 and the top moving part 122. By moving the bottom moving part 112 and the top moving part 122 along the first direction X, the second delivery wheel and the fourth delivery wheel can be driven to move synchronously, thereby adjusting the first delivery wheel 21 and the second delivery wheel. and the distance between the third delivery wheel 22 and the fourth delivery wheel.

In order to adjustably clamp the long straight interventional consumable 01, the elastic member 7 can be used to apply a force toward the first delivery wheel 21 and the second delivery wheel to the third delivery wheel 22 and the fourth delivery wheel. The multiple side plates 13 of the support 1 may include a connecting side plate 131 and a limiting side plate 132. The connecting side plates 131 may be two and distributed along the second direction Y, and may connect the bottom fixing portion 111 and the top fixing portion 121. The bottom movable portion 112 and the top movable portion 122 may slide relative to the connecting side plate 131. The second input bevel gear 33 may be provided on one connecting side plate 131, and the fourth input bevel gear 63 may be provided on the other connecting side plate 131.

The limiting side plate 132 may be arranged on a side of the bottom moving part 112 and the top moving part 122 away from the bottom fixing part 111 and the top fixing part 121, and may be detachably connected to the connecting side plate 131 by means of screws or the like. The surface of the support 1 opposite to the limiting side plate 132 may be an open structure so that a delivery wheel or the like may be installed in the support 1. At the same time, an elastic member 7 may be arranged between at least one of the bottom moving part 112 and the top moving part 122 and the limiting side plate 132, for applying a force toward the bottom fixing part 111 and the top fixing part 121 to at least one of the bottom moving part 112 and the top moving part 122 so as to clamp the long straight interventional consumable 01. For example, the number of elastic members 7 may be multiple, and elastic members 7 may be arranged between the bottom moving part 112 and the bottom fixing part 111, and between the top moving part 122 and the top fixing part 121. The elastic member 7 may be a spring, or an elastic element made of an elastic material such as rubber, as long as the above-mentioned force can be applied. In addition, guide rods may be provided between the bottom moving part 112 and the top moving part 122 and the limiting side plate 132, and elastic members, such as springs, may be sleeved outside the guide rods one by one. The guide rods may be slidably disposed through the limiting side plate 132, or may be slidably disposed in the bottom moving part 112 and the top moving part 122.

As shown in Fig. 1 to Fig. 5, in some embodiments of the present disclosure, the long straight interventional consumable 01 can be used for the guide wire of the interventional surgery, and the slave end driving device can also include a first rotating bevel gear 8 and a second rotating bevel gear 9 meshing with each other, the axis of the second rotating bevel gear 9 is colinear with the axis of the second input bevel gear 33 and the fourth input bevel gear 63, and the second rotating bevel gear 9 is located on the side of the second input bevel gear 33 away from the fourth input bevel gear 63. A catheter 02 can be arranged along the second direction Y through the second rotating bevel gear 9 and the second input bevel gear 33, and fixedly connected to at least one of the second rotating bevel gear 9 and the second input bevel gear 33, so that the catheter 02 can be driven to rotate synchronously, and the guide wire can pass through the catheter 02.

The following is a brief description of the various modes in which the slave drive device drives the long straight intervention consumable 01. To explain:

Single linear movement mode: The long straight interventional consumable 01 is driven to move linearly along the second direction Y by the first drive assembly, the first transmission gear set, the second transmission gear set and the delivery wheel set. The specific transmission process has been described in detail above and will not be repeated here. The specific control in this mode is as follows: the second drive assembly is turned off and the support 1 does not rotate. For example, the rotation speed output by the first power device 311 is not zero, while the rotation speed output by the second power device 611 is zero.

Single rotation mode: The second drive assembly, the support 1 and the delivery wheel group drive the long straight interventional consumable 01 to rotate around its own axis, that is, around the rotation axis of the support 1. The specific transmission process has been described in detail above and will not be repeated here. The specific control in this mode is as follows: the first drive assembly can be started at the same time, and the rotation speed of the second input bevel gear 33 is the same as the rotation speed of the first transmission bevel gear 34, the second transmission bevel gear 35 and the first transmission gear group to achieve offset and avoid axial movement of the long straight interventional consumable 01. For example, the rotation speeds output by the first power device 311 and the second power device 611 are equal and not zero.

Linear movement + rotation mode: By independently controlling the first drive component and the second drive component so that the output rotation speeds of the two are different, a mode in which linear movement and rotation coexist can be achieved. In special cases, the output rotation speed of the first power device 311 can be zero, as long as the output rotation speed of the second power device 611 is not zero.

As shown in Figures 6 and 7, the present application also provides a slave end of an interventional surgical robot, which may include a slave end drive device of any of the above-mentioned embodiments, and the structure and beneficial effects of the slave end drive device are not described in detail here. The slave end may also include a housing 10, the slave end drive device may be disposed in the housing 10, the bracket 14 may be fixedly connected to the housing 10, or at least a portion of the bracket 14 may also be integrally formed with the housing 10; or, the support 1 may be directly rotatably disposed on the inner wall of the housing 10 without specifically arranging the bracket 14.

The long straight interventional consumable 01 can pass through the housing 10 along the second direction Y. In some embodiments of the present disclosure, the housing 10 may include a shell 101 and a shell cover 102, the slave end drive device may be disposed in the shell 101, and the shell 101 has an open end, and the shell cover 102 may be connected to the shell 101 in an openable manner so as to open or close the open end, for example, the shell cover 102 may be hinged to the shell 101, or detachably connected by a snap connection or the like. The number of shell covers 102 may be multiple, and they may be distributed along the second direction Y, and each shell cover 102 may be opened or closed independently. Of course, there may also be only one shell cover 102, and the open end may be closed.

Further, as shown in Fig. 5-Fig. 6, at least a portion of the edge of the open end of the housing 101 may be provided with a first flange 1011, and the housing cover 102 is provided with a second flange 1021 at a position corresponding to the first flange 1011. When the housing cover 102 is closed, the first flange 1011 and the second flange 1021 fit together. At the same time, the first flange 1011 and the second flange 1021 are provided with magnets 103 that attract each other so as to tighten the housing cover 102.

Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

Claims (13)

A slave end driving device of an interventional surgical robot, characterized by comprising: Support; At least one delivery wheel set is disposed on the support; one delivery wheel set includes two delivery wheels distributed along a first direction, and the axes of the two delivery wheels are parallel; the delivery wheels of the same delivery wheel set are used to clamp the long straight interventional consumable extending along a second direction, and can drive the long straight interventional consumable to move along the second direction; A first driving assembly and a first transmission gear set, wherein the first transmission gear set is disposed on the support and comprises a first main transmission gear and a second main transmission gear meshing with each other; the first driving assembly is used to drive the first main transmission gear to rotate; the second main transmission gear is coaxially connected to a first end of the delivery wheel and can drive the delivery wheel to rotate; A second transmission gear set is disposed on the support and includes a plurality of meshing and linked auxiliary transmission gears, wherein the second end of each delivery wheel is connected to one of the auxiliary transmission gears; The second driving assembly is used to drive the support to rotate around an axis extending along the second direction. The slave-end driving device according to claim 1, characterized in that the delivery wheel set comprises a first delivery wheel set and a second delivery wheel set distributed along the second direction; The first delivery wheel set includes a first delivery wheel and a second delivery wheel, and the second delivery wheel set includes a third delivery wheel and a fourth delivery wheel; the first delivery wheel and the third delivery wheel are located on the same side of the long straight interventional consumable; The number of auxiliary transmission gears of the second transmission gear set is five, and includes the first auxiliary transmission gear to the fifth auxiliary transmission gear; the first auxiliary transmission gear is connected to the second end of the first delivery wheel, the second auxiliary transmission gear is connected to the second end of the second delivery wheel, the third auxiliary transmission gear is connected to the second end of the third delivery wheel, and the fourth auxiliary transmission gear is connected to the second end of the fourth delivery wheel; the first auxiliary transmission gear is meshed with the second auxiliary transmission gear, the third auxiliary transmission gear is meshed with the fourth auxiliary transmission gear, and the fifth auxiliary transmission gear is meshed with the first auxiliary transmission gear and the third auxiliary transmission gear at the same time. The slave end driving device according to claim 2, characterized in that the support comprises a bottom plate and a top plate arranged opposite to each other and a side plate connecting the bottom plate and the top plate; The delivery wheel set is rotatably connected between the bottom plate and the top plate; the first transmission gear set is arranged on a side of the bottom plate away from the top plate; and the second transmission gear set is arranged on a side of the top plate away from the bottom plate. The slave-end driving device according to claim 3 is characterized in that the bottom plate includes a bottom fixed portion and a bottom movable portion; the top plate includes a top fixed portion and a top movable portion distributed along the first direction; the bottom movable portion is slidably arranged on a surface of the bottom fixed portion close to the top plate; the bottom fixed portion and the top fixed portion are fixedly connected by the side plate, and the bottom movable portion and the top movable portion can move along the first direction; the bottom movable portion is arranged opposite to the top fixed portion, and the bottom fixed portion is arranged opposite to the top fixed portion; The first delivery wheel and the third delivery wheel are rotatably connected between the bottom fixed part and the top fixed part; the second delivery wheel and the fourth delivery wheel are rotatably connected between the bottom movable part and the top movable part. The slave end driving device according to claim 4 is characterized in that the side plate comprises a connecting side plate and a limiting side plate, the connecting side plate connects the bottom fixing part and the top fixing part; the limiting side plate is located on a side of the bottom moving part and the top moving part away from the bottom fixing part and the top fixing part, and is connected to the connecting side plate; The slave-end driving device also includes an elastic member, which is arranged between at least one of the bottom movable part and the top movable part and the limiting side plate, and is used to apply a force toward the bottom fixed part and the top fixed part to at least one of the bottom movable part and the top movable part. The slave end drive device according to claim 3 is characterized in that the slave end drive device further comprises a bracket; the support is rotatably arranged on the bracket; the first drive assembly comprises a first input assembly, a first input bevel gear, a second input bevel gear, a first transmission bevel gear and a second transmission bevel gear; The second input bevel gear is rotatably disposed on the bracket and meshes with the first input bevel gear; the first input assembly is used to drive the first input bevel gear to rotate; and the axis of the second input bevel gear extends along the second direction; The first transmission bevel gear and the second transmission bevel gear are meshed and located between the bottom plate and the top plate; the first transmission bevel gear is coaxially connected to the second input bevel gear, and the second transmission bevel gear is coaxially connected to the first main transmission gear. The slave-end driving device according to claim 6, characterized in that the second The driving assembly includes a second input assembly and a third input bevel gear and a fourth input bevel gear meshing with each other; The second input assembly is used to drive the third input bevel gear to rotate. The fourth input bevel gear is rotatably disposed on the bracket and connected to the support. The axis of the fourth input bevel gear extends along the second direction. The slave end drive device according to claim 7, characterized in that the first input assembly comprises a first power device and a first bevel gear and a second bevel gear meshing with each other, the first power device is used to drive the first bevel gear to rotate, and the second bevel gear is coaxially connected to the first input bevel gear; The second input assembly includes a second power device and a third bevel gear and a fourth bevel gear meshing with each other. The second power device is used to drive the third bevel gear to rotate. The fourth bevel gear is coaxially connected to the third input bevel gear. The slave-end drive device according to any one of claims 1 to 8 is characterized in that the outer circumferential surface of the delivery wheel is provided with a plurality of anti-skid grooves extending along the circumference of the delivery wheel, and the anti-skid grooves are spaced apart along the circumference. According to the slave end driving device according to claim 5, it is characterized in that guide rods are provided between the bottom moving part and the top moving part and the limiting side plate, and the elastic members are sleeved outside each of the guide rods in a one-to-one correspondence. The slave end drive device according to claim 8 is characterized in that the first input assembly further comprises a first connecting shaft and a second connecting shaft, the second bevel gear is connected to one end of the first connecting shaft, and the first connecting shaft is provided with a mounting hole extending in the axial direction, the first input bevel gear is connected to one end of the second connecting shaft, and the other end of the second connecting shaft is inserted into the mounting hole; The second input component also includes a third connecting shaft and a fourth connecting shaft, the fourth bevel gear is connected to one end of the third connecting shaft, and the third connecting shaft is provided with a second mounting hole extending axially, the third input bevel gear is connected to one end of the fourth connecting shaft, and the other end of the fourth connecting shaft can be inserted into the second mounting hole. The slave end drive device according to claim 7 is characterized in that the slave end drive device further comprises a first rotating bevel gear and a second rotating bevel gear meshing with each other, the axis of the second rotating bevel gear being aligned with the second input bevel gear and the fourth input bevel gear. The axes of the wheels are collinear, and the second rotating bevel gear is located on a side of the second input bevel gear away from the fourth input bevel gear. A slave end of an interventional surgical robot, characterized by comprising the slave end driving device according to any one of claims 1-12.