WO2023123780A1 - Sterile box and full-protection type interventional surgical robot slave-end driving apparatus having sterile box - Google Patents

Abstract

A sterile box (40), comprising a main body portion (41), a first cover body (42) movably mounted on a first side surface (44) of the main body portion (41), and a second cover body (43) movably mounted on the second side surface (45) of the main body portion (41) opposite to the first side surface (44), wherein the first cover body (42) is opened from the main body portion (41) to mount an elongated medical device (100) and close the first side surface (44) of the main body portion (41); and the second cover body (43) is opened from the main body portion (41) to cover the sterile box outside the other device and close the second side surface (45) of the main body portion (41). A full-protection type interventional surgical robot slave-end driving apparatus comprises the sterile box (40) and a driving mechanism (10) accommodated in the sterile box (40). The present application reduces the surgical cost, reduces the economic burden of a patient, and is compact in overall structure and small in occupied space.

Description

An aseptic box and a fully protected interventional surgery robot with the aseptic box from the end drive device

This application is required to be submitted to the China Patent Office on December 31, 2021. The application number is 202111677650.6, and the invention title is "a kind of aseptic box and a fully protected interventional surgery robot slave end drive device with the same". The priority of the application, the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the field of medical robots, in particular to an aseptic box and a fully protected interventional surgery robot driven device from the end with the aseptic box.

Background technique

Interventional therapy is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.

The application of digital technology in interventional therapy expands the doctor's field of vision and extends the doctor's hands with the help of catheters and guide wires. Its incision (puncture point) is only the size of a grain of rice. Surgical treatment or medical treatment of poor efficacy of disease, such as tumors, hemangiomas, various bleeding and so on. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good results. It is the development trend of future medicine.

For vascular interventional surgery, doctors need to receive X-ray radiation for a long time, so a master-slave vascular interventional surgery robot with remote operation has been developed in engineering. The master-slave vascular interventional surgery robot can work in the environment of strong radiation, so that the doctor can control it outside the radiation environment.

In the process of clamping and delivering the guide wire (or catheter), the slave surgical robot needs to be driven by a corresponding transmission mechanism. The inside of the transmission mechanism is easily exposed to the air or polluted by residual fluid such as blood during the operation. The operation is safe, and the operation is performed in a sterile environment. It is necessary to discard the transmission mechanism after each operation as a consumable to avoid repeated use of the contaminated transmission mechanism. Due to the high precision requirements of the transmission and control of the transmission mechanism, its The corresponding cost is also high, and the transmission mechanism is directly discarded as a consumable, which will undoubtedly increase the medical cost of the patient and increase the economic burden of the patient.

technical problem

Based on this, it is necessary to address the deficiencies in the prior art and provide a new type of aseptic box and a fully protected interventional surgery robot slave end drive device with the aseptic box.

technical solution

An aseptic box, which includes a main body, a first cover movably installed on the first side of the main body, and a second cover movably installed on the second side of the main body opposite to the first side, the The first cover is opened from the main body to install the elongated medical equipment and close the first side of the main body, and the second cover is opened from the main body to allow the aseptic box to be installed to close the second side of the main body.

Further, the first side of the main body is partially recessed near one end to form a stepped surface, and the first cover covers the stepped surface.

Further, the first cover is pivotally mounted on the first side of the main body near the stepped surface.

Further, the second cover is pivotally mounted on the main body near the end.

Further, the pivoting directions of the first cover and the second cover are opposite.

Further, a drop is formed between the first cover and the first side of the main body so that the first cover approaches the second cover.

Further, the main body protrudes on the stepped surface to form a docking portion, and the docking portion is provided with an elongated opening closed by the first cover.

Further, Hall sensors are also included, and the Hall sensors are respectively used to detect whether the first cover and/or the second cover are closed on the main body.

The present application also provides a fully protected interventional surgery robot from the end drive device, which includes the above-mentioned aseptic box and the driving mechanism, the second cover is opened from the main body to cover the driving mechanism in the main body and close the main body the second side of the section.

Further, the driving device of the fully protected interventional surgery robot from the end also includes a clamping group connected to the driving mechanism. When the clamping group clamps the elongated medical equipment, the first cover closes the The clamping group described above.

Beneficial effect

The beneficial effects of the present application are: by setting the aseptic box, which has a first cover and a second cover for aseptically isolating the elongated medical equipment and the drive mechanism, the drive device of the fully protected interventional surgery robot is During use, only the sterile box as a consumable is exposed on the outside. After each use, only the consumable needs to be replaced, and there is no need to replace the entire interventional surgery robot from the drive device, especially the drive mechanism, reducing surgical costs. The economic burden of patients is reduced, and the overall structure is compact, the space occupied is small, the practicability is strong, and it has strong promotional significance.

Description of drawings

Figure 1 is a schematic diagram of the structure of the fully protected interventional surgery robot of the present application after the slender medical device is clamped by the drive device at the end;

Fig. 2 is a schematic diagram of the structure of the fully protected interventional surgery robot shown in Fig. 1 after opening the first cover and the second cover from the end drive device;

Fig. 3 is an exploded view of the slave end drive device of the fully protected interventional surgery robot shown in Fig. 2;

FIG. 4 is a structural schematic diagram of the drive mechanism 10 and the clamping group of the slave end drive device of the fully protected interventional surgery robot shown in FIG. 2 after installation.

BEST MODE FOR CARRYING OUT THE INVENTION

In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.

As shown in Figures 1 to 4, the present application provides a fully protected slave end drive device for interventional surgery robots, which is installed on the slave end of the interventional surgery robot to perform In the clamping operation, the interventional surgery robot pushes the clamped elongated medical device 100 from the end, that is, the guide wire or catheter, to be delivered forward or withdrawn backward to enter or exit the body of the surgical patient. In the following description, the direction in which the two clamping groups 30 clamp or loosen the elongated medical device 100 is defined as the first direction, and the direction in which the elongated medical device 100 is delivered forward or withdrawn backward is defined as the second direction. direction, and the direction perpendicular to the first direction and the second direction is defined as the third direction. In the illustration, the first direction and the second direction are perpendicular to each other.

The driving device of the fully protected interventional surgery robot from the end includes a driving mechanism 10, an inner shell 20 covered on the driving mechanism 10, two clamping groups 30 arranged outside the inner shell 20 and connected to the driving mechanism 10, sleeved The jacket 50 on the outside of the clamping group 30, the aseptic box 40 wrapped on the outside of the inner shell 20 and the jacket 50, the drive mechanism 10, the inner shell 20 and the clamping group 30 are non-consumable parts, and the sterile The box 40 and the jacket 50 are consumable parts, wherein the non-consumable part is protected by the consumable part during the operation, and is not exposed to the air or in direct contact with the elongated medical device 100, and can be used repeatedly; Some parts are in direct contact with the elongated medical device 100 or are exposed to the air. After each operation, they need to be taken out from the inner shell 20 and the driving mechanism 10 to replace with new, sterile consumable parts to match the non-consumable parts. use.

The aseptic box 40 includes a main body 41, a first cover 42 movably installed on the first side 44 of the main body 41, and a first cover 42 movably installed on the second side 45 of the main body 41 opposite to the first side 44. Two covers 43. In this embodiment, the first cover 42 and the second cover 43 are pivotally connected with the main body, wherein the first cover 42 is pivotally mounted on the main body. The first side 44 of the portion 41 is close to a stepped surface 414, the second cover 43 is pivotally mounted on the main body 41 near the end, the first cover 42 and the second cover 43 Open in the opposite direction.

The main body 41 is hollow, the first side 44 of the main body 41 is partially recessed near one end to form the stepped surface 414 , the first cover 42 covers the sunken stepped surface 414 , A drop is formed between the first cover 42 and the first side 44 of the main body 41 so that the first cover 42 approaches the second cover 43 . The main body 41 protrudes from the stepped surface 414 to form a docking portion 411, the docking portion 411 is provided with an elongated opening 412 extending along the first direction and closed by the first cover 42, the opening 412 is along the second direction There are two guide grooves 413 opposite to each other at the edge. The guide grooves 413 are arranged in a V shape, and the width of the guide grooves 413 gradually decreases from the edge to the inside. The first cover 42 is provided with through holes 421 opposite to each other. When the first cover 42 covers the main body 41 , the through holes 421 on the first cover 42 are aligned with the guide groove 413 along the second direction.

One side of the first cover 42 can be rotated from the main body 41, so that the first cover 42 is set on the outside of the two clamping groups 30 or opened outward to allow the two clamping groups 30 to be exposed. The first cover 42 The other side of the first cover 42 and the side of the main body 41 that is matched with the first cover 42 are matched with the main body 41 through magnetic attraction or buckle. Among them, one of them is equipped with a magnet, and the other is equipped with a magnet or iron block. By means of magnetic attraction, the first cover 42 can be firmly covered on the main body 41 .

One side of the second cover 43 can be rotated on the main body 41 to open or close the second cover 43 on the main body 41. When the second cover 43 is in an open state on the main body 41, the main body Part 41 exposes the bottom opening 415, and the aseptic box 40 can be freely disassembled on the inner shell 20 as a whole. Make a seal. The other side of the second cover 43 is matched with the main body 41 by means of magnetic attraction or buckle, and the first cover 42 and the second cover 43 can be firmly covered on the main body 41 by means of magnetic attraction. superior. Further, the aseptic box further includes Hall sensors, which are respectively used to detect whether the first cover 42 and/or the second cover 43 are closed on the main body 41 .

The inner casing 20 is hollow, and a step is provided on the side of the inner casing 20 facing away from the driving mechanism 10, thereby forming a sunken inner stepped surface 21, and the inner stepped surface 21 is provided with two movable holes 22, so that The movable holes 22 communicate with the internal hollow structure, and each movable hole 22 is provided with a flange 23 on the outer edge of the aperture, and the flanges 23 surround the outer edge of the aperture of the movable hole 22 .

The driving mechanism 10 includes a base 11, two base frames 12 mounted on the base 11, a linkage wheel 13 connected to the two base frames 12 at the same time, and a driver 14 for driving the two base frames 12 to move in opposite directions along a first direction. . The two underframes 12 are arranged opposite to each other. The linkage wheel 13 is placed between the two base frames 12 and makes the two base frames 12 approach or move away from each other synchronously along a first direction. The inner sides of the two base frames 12 are provided with locking teeth, and the outer surface of the linkage wheel 13 is provided with locking teeth, and the linkage wheel 13 is engaged with the two base frames 12 at the same time through the locking teeth. Under the action of the linkage wheel 13, the driver 14 simultaneously drives the two undercarriages 12 to move oppositely along the first direction. The two clamping groups 30 are driven to approach or move away from each other along the first direction, and the two clamping groups 30 are driven to perform clamping or loosening actions. The driver 14 is connected to one of the underframes 12, and the two underframes 12 are provided with connecting rods 121, the connecting rods 121 extend along the third direction, and the connecting rods 121 can move along the first direction in the movable hole 22. For displacement setting, in this embodiment, the driver 14 is an electromagnetic driver.

The side of the clamping group 30 close to the driving mechanism 10 is provided with a fixing groove 31, and the side of the clamping group 30 facing away from the driving mechanism 10 is provided with a mounting hole 32 communicating with the fixing groove 31, the mounting hole 32 The inner space is T-shaped. Among the jacket 50 and the clamping group 30 , one of them is provided with a magnet, and the other is provided with a magnet or an iron block at an opposite position along the first direction. The inner side of the jacket 50 is provided with an auxiliary piece. The auxiliary piece is elastic and can prevent the clamping group 30 from excessively clamping the elongated medical device 100 and damaging the medical device. In this embodiment, the The auxiliary sheet is made of silica gel.

When assembling, first install the inner shell 20 and the drive mechanism 10 together, the inner shell 20 and the base 11 of the drive mechanism 10 enclose a sealed space, and the chassis 12, the linkage wheel 13, and the driver 14 of the drive mechanism 10 are arranged in the sealed space Inside, the connecting rods 121 of the two underframes 12 protrude from the movable holes 22 of the inner shell 20; , the connecting rods 121 of the two underframes 12 extend into the fixing grooves 31 of the corresponding clamping group 30 respectively, and the fixing screws 60 extend into the mounting holes 32 on the side facing away from the driving mechanism 10 and connect with the connecting rods. 121 is locked and fixed, and the flange 23 on the inner shell 20 extends into the fixing groove 31 to further improve the sealing effect. Then the jacket 50 is sleeved on the outside of the clamping group 30 , and the jacket 50 is magnetically fixed to the clamping group 30 along the first direction. Finally, open the second cover 43 of the aseptic box 40 to expose the bottom opening 415 of the aseptic box 40, and then cover the aseptic box 40 on the outside of the inner shell 20, and the inner shell 20 is formed from the bottom of the aseptic box 40. The opening 415 extends in, and the clamping group 30 and the jacket 50 sleeved on the clamping group 30 extend into the elongated opening 412 of the docking part 411, and the center positions of the two clamping groups 30 and the corresponding jacket 50 are in the right position. For the two V-shaped guide grooves 413 and the through holes 421 .

When in use, the driver 14 of the drive mechanism 10 drives the two underframes 12 away from each other, forming an installation gap between the two clamping groups 30 connected to the two underframes 12 and the corresponding jacket 50, and the elongated medical device 100 is placed on the guide groove 413, and then the driver 14 is controlled to drive the two bottom frames 12 to move in opposite directions, so that the clamping group 30 and the corresponding jacket 50 approach the center position, so that the jackets 50 on the two clamping groups 30 are clamped tightly. The elongated medical device 100 is covered with the first cover 42 , and the elongated medical device 100 passes through the through hole 421 . After completing the operation, open the first cover 42, take away the used elongated medical device 100, and open the second cover 43, conveniently remove the jacket 50 and the sterile box 40, and discard them as consumables. Bacteria box 40, before the next operation, reinstall the aseptic consumable parts, such as the newly unpacked jacket 50 and the aseptic box 40.

The beneficial effects of the present application are: by setting the jacket 50 and the aseptic box 40, the jacket 50 and the aseptic box 40 are respectively detachably wrapped on the outside of the clamping group 30 and the inner shell 20, so that the fully protected interventional surgery During the use of the driving device from the end of the robot, only the jacket 50 of the consumable part and the sterile box 40 are exposed to the outside or are in direct contact with the slender medical device 100. After each use, only the consumable part needs to be replaced directly. There is no need to replace the entire interventional surgery robot from the end drive device, reducing the cost of surgery. The economic burden of patients is reduced, and the overall structure is compact, the space occupied is small, the practicability is strong, and it has strong promotional significance.

The above-mentioned embodiment only expresses an implementation mode of the invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the invention, and these all belong to the protection scope of the invention. Therefore, the scope of protection of the invention patent shall be subject to the appended claims.

Claims (20)

An aseptic box, including a main body, a first cover movably installed on the first side of the main body, a second cover movably installed on the second side of the main body opposite to the first side, The first cover is opened from the main body to install elongated medical equipment and close the first side of the main body, and the second cover is opened from the main body to allow the aseptic box to be installed to close the second side of the main body . The aseptic box according to claim 1, wherein: the first side of the main body is partially recessed near one end to form a stepped surface, and the first cover covers the stepped surface. The aseptic box according to claim 2, wherein: the first cover is pivotally mounted on the first side of the main body near the stepped surface. The aseptic box according to claim 3, wherein: the second cover is pivotally mounted on the main body near the end. The aseptic box according to claim 4, wherein: the pivoting directions of the first cover and the second cover are opposite. The aseptic box according to claim 3, wherein: the first cover forms a drop from the first side of the main body so that the first cover approaches the second cover. The aseptic box according to claim 2, wherein: the main body protrudes from the stepped surface to form a docking portion, and the docking portion is provided with an elongated opening closed by the first cover. The aseptic box according to claim 7, wherein: the edge position of the opening is provided with opposite guide grooves; The guide groove is arranged in a V shape, and the width of the guide groove gradually decreases from the edge to the inside. The aseptic box according to claim 1, further comprising Hall sensors for detecting whether the first cover and/or the second cover are closed on the main body. A fully protected interventional surgery robot driving device from the end, including a sterile box and a driving mechanism; The aseptic box includes a main body, a first cover movably installed on the first side of the main body, and a second cover movably installed on the second side of the main body opposite to the first side. A cover is opened from the main body to install the elongated medical equipment and close the first side of the main body, and a second cover is opened from the main body to allow the aseptic box to be installed and close the second side of the main body The second cover is opened from the main body to cover the driving mechanism in the main body and close the second side of the main body. The fully protected interventional surgery robot driving device from the end according to claim 10: wherein: the first side of the main body is partially recessed near one end to form a stepped surface, and the first cover is covered by the step noodle. The fully protected interventional surgery robot driving device from the end according to claim 11, wherein: the first cover is pivotally mounted on the first side of the main body near the stepped surface. The driving device for a fully shielded interventional surgery robot from the end according to claim 12, wherein: the second cover is pivotally mounted on the main body near the end. The fully protected interventional surgery robot driving device from the end according to claim 13, wherein: the pivoting directions of the first cover and the second cover are opposite. The fully protected interventional surgery robot driving device from the end according to claim 12, wherein: the first cover forms a drop from the first side of the main body so that the first cover approaches the first cover Two covers. The fully protected interventional surgery robot driving device from the end according to claim 10, further comprising a clamping group connected to the driving mechanism, when the clamping group clamps the slender medical equipment, the first A cover closes the holding group. The fully protected interventional surgery robot driving device from the end according to claim 16, wherein: the driving mechanism includes a base, two chassis mounted on the base, linkage wheels connected to the two chassis at the same time, driving two Drives for the movement of the undercarriage in opposite directions to each other; One clamping group is arranged on each of the bottom frames to drive the two clamping groups to perform clamping or loosening actions. The fully protected interventional surgery robot slave end driving device according to claim 16, further comprising a replaceable jacket, the jacket is used to sheath the clamping group. The fully protected interventional surgery robot driving device from the end according to claim 18, wherein: an auxiliary piece is provided on the inner side of the jacket, and the auxiliary piece is elastic. The fully protected interventional surgery robot driving device from the end according to claim 19, wherein: the auxiliary sheet is made of silica gel.