WO2024229954A1 - Disassembly/assembly type driving device and interventional operation robot slave end - Google Patents

Abstract

Embodiments of the present application relate to the technical field of medical instruments, and relate to a disassembly/assembly type driving device and an interventional operation robot slave end. The disassembly/assembly type driving device comprises: moving platforms which are slidably mounted at the interventional operation robot slave end; a delivery platform; and a snap-fitting member, comprising a first snap-fitting part and a second snap-fitting part which are matched with each other, wherein one of the first snap-fitting part and the second snap-fitting part is arranged on the end face at the proximal end of the moving platform, and the other one is arranged on the end face at the distal end of the delivery platform. By means of the snap-fitting member, the delivery platform is detachably mounted on the moving platform and can slide at the interventional operation robot slave end along with the moving platform. According to the technical solution provided by the present application, less sterile boxes are used, and the operation cost is reduced. In addition, the present application achieves detachable mounting of the delivery platform and the moving platforms by means of the first snap-fitting part and the second snap-fitting part, so that the delivery platform can be mounted on the moving platform close to the distal end during interventional operation in a one-catheter one-guidewire manner.

Description

A detachable driving device and an interventional surgical robot from the end

This application claims the priority of a Chinese patent application filed on May 11, 2023, with application number 202321149168.X, and invention name “A detachable drive device and an interventional surgical robot slave end”. The entire contents of this Chinese patent application are incorporated into this application by reference.

Technical Field

The present application relates to the field of medical device technology, and more specifically, to a detachable drive device and an interventional surgical robot slave end.

Background Art

Interventional surgery includes two types of procedures: one tube and one wire and two tubes and one wire. The existing interventional surgery robot includes three mobile carts from the end. The two mobile carts near the proximal end are different. The guidewire delivery structure is fixed on the mobile cart at the proximal end, and a sterile box is installed on each cart. The driving mode of the interventional surgery robot is as follows: when using one tube and one wire, the mobile cart at the distal end is used to deliver the catheter, the two mobile carts near the proximal end are close together and combined into one, and the mobile cart in the middle is used to rotate the catheter and deliver the fast delivery, and the mobile cart at the proximal end is used to rotate and deliver the guidewire; when using two tubes and one wire, the mobile cart at the distal end is used to deliver the first catheter, the mobile cart in the middle is used to rotate the first catheter and deliver the second catheter, and the mobile cart at the proximal end is used to rotate the second catheter, rotate the delivery guidewire, and deliver the fast delivery.

However, the above existing structure has the following defects: 1. When performing one-tube-one-wire surgery, the mobile cart at the proximal end also needs to be installed with a sterile box, resulting in a large number of sterile boxes and high surgical costs. 2. Since the two mobile carts near the proximal end are different, the sterile boxes installed on the two mobile carts are also different, resulting in a large variety of sterile boxes, high manufacturing costs, and easy installation errors. 3. The guidewire delivery structure is fixed on the mobile cart at the proximal end. Even if the current mobile cart does not need to use the delivery function, it cannot be disassembled, resulting in the need to combine the two mobile carts near the proximal end into one when performing one-tube-one-wire surgery. The flexibility of use is low, and the length of the guidewire is wasted, further resulting in high surgical costs.

Technical issues

The prior art has the problem of high surgical cost and high manufacturing cost.

Technical Solutions

In order to solve the above technical problems, the embodiment of the present application provides a detachable drive device, which adopts the following technical solution:

A detachable drive device, used for a slave end of an interventional surgery robot, comprising:

A mobile platform, slidably mounted on the slave end of the interventional surgery robot;

Delivery platform;

A docking member, comprising a first docking portion and a second docking portion that match each other, one of which is disposed on the proximal end surface of the mobile platform, and the other is disposed on the distal end surface of the delivery platform;

The delivery platform can be detachably mounted to the mobile platform via the docking piece, and can slide along the end of the interventional surgery robot following the mobile platform.

Furthermore, the first docking portion includes a fixed card slot, and the second docking portion includes a fixed card buckle; when the delivery platform and the mobile platform are installed, the fixed card buckle is slid into the fixed card slot and is engaged with the fixed card slot.

Furthermore, the fixed slot includes an open end and a limit end which are interconnected, and a retaining wall is provided at the slot of the limit end; the open end is used to put in or remove the fixed buckle; when the delivery platform and the mobile platform are installed, the fixed buckle is engaged with the retaining wall.

Furthermore, the first docking portion also includes a guide groove, and the second docking portion includes a guide column, the guide groove and the fixed card slot are spaced apart, and the guide column and the fixed buckle are spaced apart; when the delivery platform and the mobile platform are installed, the guide column is slid into the guide groove.

Furthermore, the guide groove includes an entry and exit end and a tightening end connected to each other, and the entry and exit end is used to put in or remove the guide column; when the delivery platform and the mobile platform are installed, the guide column abuts against the inner wall of the tightening end.

Furthermore, the first docking portion includes a locking groove, the second docking portion includes a locking piece, the locking groove and the fixed card slot are spaced apart, and the locking piece and the fixed buckle are spaced apart; a stop block is provided in the locking groove, and when the delivery platform and the mobile platform are installed, the stop block abuts against the locking piece.

Further, the locking member includes an elastic member, a connecting member and a locking tongue; the locking tongue includes a fixed end, a locking end and an unlocking end connected in sequence, the locking end and the unlocking end are arranged vertically, and the fixed end is connected to the inner wall of the delivery platform or the mobile platform;

One end of the elastic member is connected to the inner wall of the delivery platform or the mobile platform, the other end of the elastic member is connected to the connecting member, and the end of the connecting member away from the elastic member is connected to the locking end; the locking end protrudes from the end face of the mobile platform or the delivery platform; the unlocking end protrudes from the side wall of the mobile platform or the delivery platform.

Furthermore, a first inclined surface is provided on the locking end, and the first inclined surface is arranged away from the unlocking end; the locking groove includes a sliding end and a locking end, the stopper is arranged between the sliding end and the locking end, and a second inclined surface is provided on the stopper, and the second inclined surface is arranged away from the locking end.

Furthermore, the mobile platform and the delivery platform are provided with end faces of the first docking part and the second docking part, and are also provided with data transmission heads; circuit boards are provided in both the mobile platform and the delivery platform, and the circuit boards are electrically connected to the data transmission heads; when the delivery platform and the mobile platform are installed, the two data transmission heads are plugged in.

In order to solve the above technical problems, the embodiment of the present application further provides an interventional surgery robot slave end, which adopts the following technical solution:

A slave end of an interventional surgical robot comprises: a transport device and a detachable drive device as described above, wherein the mobile platform is slidably mounted on the transport device; the number of the mobile platforms is at least two; each of the mobile platforms is mounted with the delivery platform, or one of the mobile platforms is mounted with the delivery platform.

Beneficial Effects

Compared with the prior art, the embodiments of the present application have the following beneficial effects:

Since the mobile platform near the proximal end does not need to be installed with a sterile box, the use of one sterile box is reduced, thereby reducing the cost of surgery. At the same time, since the delivery platform is closer to the mobile platform near the distal end, the waste of guide wires is reduced, further reducing the cost of surgery. The present application realizes the detachable installation of the delivery platform and the mobile platform through the first docking part and the second docking part, so that the delivery platform can be installed on the mobile platform near the distal end when one tube and one wire are used, thereby reducing the waste of guide wires.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic structural diagram of an interventional surgery robot provided by the utility model of the present application when performing a one-tube-one-wire interventional surgery from the end;

FIG2 is a schematic diagram of the structure of an interventional surgery robot provided by the utility model of the present application when performing a two-tube-one-wire interventional surgery from the end;

FIG3 is a schematic structural diagram of the mobile platform and the first docking portion in FIG1 ;

FIG4 is a schematic diagram of the structure of the delivery platform and the second docking portion in FIG1 ;

FIG5 is a cross-sectional view of FIG4 taken along the length direction;

FIG. 6 is a schematic structural diagram of the locking member in FIG. 4 .

1. Detachable driving device; 2. Mobile platform; 3. Delivery platform; 4. First docking portion; 5. Fixed card slot; 6. Open end; 7. Limit end; 8. Stop wall; 9. Guide slot; 10. Entry and exit end; 11. Tightening end; 12. Locking slot; 13. Sliding end; 14. Locking end; 15. Stop block; 16. Second inclined plane; 17. Second docking portion; 18. Fixed buckle; 19. Guide column; 20. Locking member; 21. Elastic member; 22. Connecting member; 23. Locking tongue; 24. Fixed end; 25. Locking end; 26. First inclined plane; 27. Unlocking end; 28. Data transmission head; 29. Circuit board; 30. Transport device.

Best Mode for Carrying Out the Invention

In the embodiment of the present application, the end close to the patient is the distal end, and the end away from the patient is the proximal end.

The embodiment of the present application provides a detachable driving device 100 for use in an interventional surgical robot slave end. As shown in Figures 1 to 4, the detachable driving device 100 includes: a mobile platform 10, slidably mounted on the interventional surgical robot slave end; a delivery platform 20; a docking piece, including a first docking portion 30 and a second docking portion 40 that match each other, one of which is arranged on the proximal end face of the mobile platform 10, and the other is arranged on the distal end face of the delivery platform 20; through the docking piece, the delivery platform 20 can be detachably mounted to the mobile platform 10, and can follow the mobile platform 10 to slide on the interventional surgical robot slave end.

The working principle and beneficial effects of a detachable driving device 100 provided in an embodiment of the present application are as follows:

At a position near the proximal end of the interventional surgical robot, a mobile platform 10 with two detachable drive devices 100 is slidably installed, as shown in Figures 1, 3 and 4. When performing a one-tube-one-wire interventional surgery, the delivery platform 20 is installed on one of the two mobile platforms 10 near the distal end through the first docking portion 30 and the second docking portion 40, and a sterile box is installed on the mobile platform 10 to realize rotation of the catheter and quick delivery of the guidewire. The catheter is delivered by sliding the mobile platform 10, and the rotation and/or delivery of the guidewire is realized through the delivery platform 20. Since the mobile platform 10 near the proximal end does not need to be installed with a sterile box, the use of one sterile box is reduced, thereby reducing the cost of surgery. At the same time, since the delivery platform 20 is closer to the mobile platform 10 near the distal end, the waste of guidewire is reduced, further reducing the cost of surgery.

As shown in FIG2 , when performing an interventional surgery with two tubes and one wire, the delivery platform 20 is installed on one of the two mobile platforms 10 near the proximal end through a docking piece, and sterile boxes are installed on both mobile platforms 10. The mobile platform 10 near the distal end is used to rotate the first catheter, and the mobile platform 10 at the proximal end is used to rotate the second catheter. The delivery platform 20 is used to rotate and/or deliver the guidewire and the quick-delivery catheter or guidewire, and the two catheters are delivered by sliding the two mobile platforms 10. Since the sterile boxes used by the two mobile platforms 10 are the same, sterile box installation errors can be avoided, while reducing the cost of sterile box mold opening and manufacturing costs.

In addition, the present application realizes the detachable installation of the delivery platform 20 and multiple mobile platforms 10 through the first docking part 30 and the second docking part 40, so that the delivery platform 20 can be installed on the mobile platform 10 near the distal end when one tube and one wire are used, thereby reducing the waste of guide wires.

Embodiments of the present invention

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

In the embodiment of the present application, the end close to the patient is the distal end, and the end away from the patient is the proximal end.

The embodiment of the present application provides a detachable driving device 100 for use in an interventional surgical robot slave end. As shown in Figures 1 to 4, the detachable driving device 100 includes: a mobile platform 10, slidably mounted on the interventional surgical robot slave end; a delivery platform 20; a docking piece, including a first docking portion 30 and a second docking portion 40 that match each other, one of which is arranged on the proximal end face of the mobile platform 10, and the other is arranged on the distal end face of the delivery platform 20; through the docking piece, the delivery platform 20 can be detachably mounted to the mobile platform 10, and can follow the mobile platform 10 to slide on the interventional surgical robot slave end.

The working principle and beneficial effects of a detachable driving device 100 provided in an embodiment of the present application are as follows:

At a position near the proximal end of the interventional surgical robot, a mobile platform 10 with two detachable drive devices 100 is slidably installed, as shown in Figures 1, 3 and 4. When performing a one-tube-one-wire interventional surgery, the delivery platform 20 is installed on one of the two mobile platforms 10 near the distal end through the first docking portion 30 and the second docking portion 40, and a sterile box is installed on the mobile platform 10 to realize rotation of the catheter and quick delivery of the guidewire. The catheter is delivered by sliding the mobile platform 10, and the rotation and/or delivery of the guidewire is realized through the delivery platform 20. Since the mobile platform 10 near the proximal end does not need to be installed with a sterile box, the use of one sterile box is reduced, thereby reducing the cost of surgery. At the same time, since the delivery platform 20 is closer to the mobile platform 10 near the distal end, the waste of guidewire is reduced, further reducing the cost of surgery.

As shown in FIG2 , when performing an interventional surgery with two tubes and one wire, the delivery platform 20 is installed on one of the two mobile platforms 10 near the proximal end through a docking piece, and sterile boxes are installed on both mobile platforms 10. The mobile platform 10 near the distal end is used to rotate the first catheter, and the mobile platform 10 at the proximal end is used to rotate the second catheter. The delivery platform 20 is used to rotate and/or deliver the guidewire and the quick-delivery catheter or guidewire, and the two catheters are delivered by sliding the two mobile platforms 10. Since the sterile boxes used by the two mobile platforms 10 are the same, sterile box installation errors can be avoided, while reducing the cost of sterile box mold opening and manufacturing costs.

In addition, the present application realizes the detachable installation of the delivery platform 20 and multiple mobile platforms 10 through the first docking part 30 and the second docking part 40, so that the delivery platform 20 can be installed on the mobile platform 10 near the distal end when one tube and one wire are used, thereby reducing the waste of guide wires.

As shown in Fig. 3 and Fig. 4, further, the first docking portion 30 includes a fixed card slot 31, and the second docking portion 40 includes a fixed card buckle 41; when the delivery platform 20 and the mobile platform 10 are installed, the fixed card buckle 41 is slid into the fixed card slot 31 and is engaged with the fixed card slot 31. Through the cooperation of the fixed card buckle 41 and the fixed card slot 31, the movement of the delivery platform 20 in the proximal direction and the distal direction is limited, and the delivery platform 20 and the mobile platform 10 can be quickly disassembled, which is conducive to saving installation time, thereby reducing the operation time and reducing the operation cost.

Preferably, the fixing buckle 41 is provided on the distal end surface of the delivery platform 20, and the fixing slot 31 is provided on the proximal end surface of the mobile platform 10. Since the mobile platform 10 is slidably mounted on the slave end of the interventional surgery robot, the delivery platform 20 is moved relative to the mobile platform 10, which makes it easier to install the delivery platform 20.

Specifically, the number of the fixed card slots 31 is two, and the two fixed card slots 31 are arranged at intervals on the proximal end surface of the mobile platform 10, the number of the fixed buckles 41 is four, and the four fixed buckles 41 are arranged at intervals on the distal end surface of the delivery platform 20, and each fixed card slot 31 corresponds to two fixed buckles 41. Providing multiple fixed buckles 41 and fixed card slots 31 can increase the installation stability of the delivery platform 20 and the mobile platform 10.

In other embodiments, the fixing buckle 41 is disposed on the proximal end surface of the mobile platform 10 , and the fixing slot 31 is disposed on the distal end surface of the delivery platform 20 , which can also realize the installation of the delivery platform 20 and the mobile platform 10 .

As shown in Figures 3 and 4, further, the fixed slot 31 includes an open end 311 and a limit end 312 that are connected to each other, and a retaining wall 313 is provided at the slot of the limit end 312; the open end 311 is used to put in or remove the fixed buckle 41; when the delivery platform 20 and the mobile platform 10 are installed, the fixed buckle 41 is engaged with the retaining wall 313.

In the embodiment of the present application, when installing the delivery platform 20, first insert the fixing buckle 41 into the open end 311, and then push the delivery platform 20 to move in the direction of the limit end 312 until the fixing buckle 41 slides into the limit end 312 and engages with the retaining wall 313, so as to achieve the installation of the delivery platform 20 and the mobile platform 10. When disassembling the delivery platform 20, push the delivery platform 20 to move in the direction of the open end 311 until the fixing buckle 41 is separated from the limit end 312 and enters the open end 311, and finally remove the delivery platform 20 to separate the fixing buckle 41 from the open end 311, so as to achieve the disassembly of the delivery platform 20 and the mobile platform 10. The present application divides the fixed card slot 31 into an open end 311 and a limit end 312, and no retaining wall 313 is set at the open end 311, so as to facilitate the insertion of the fixed buckle 41 into the fixed card slot 31 and reduce the difficulty of operation; setting a retaining wall 313 at the notch of the limit end 312 can prevent the fixed buckle 41 from detaching from the fixed card slot 31, thereby increasing the installation stability of the delivery platform 20 and the mobile platform 10.

Specifically, there are two open ends 311 and two limit ends 312, one limit end 312 is provided between two adjacent open ends 311, and each fixing buckle 41 corresponds to one open end 311 and one limit end 312. When the delivery platform 20 needs to be installed, the four fixing buckles 41 are respectively inserted into the four open ends 311, and then the delivery platform 20 is pushed to move in the direction of the limit end 312 with only one end connected to the open end 311, so that the four fixing buckles 41 are respectively engaged with the retaining walls 313 of the four limit ends 312. When the delivery platform 20 needs to be disassembled, the delivery platform 20 is pushed to move in the direction of the open end 311 with only one end connected to the limit end 312, so that the four fixing buckles 41 are respectively separated from the four limit ends 312.

Preferably, the fixing buckle 41 is an L-shaped buckle to facilitate snapping with the retaining wall 313 .

As shown in Fig. 3 and Fig. 4, further, the first docking portion 30 also includes a guide groove 32, and the second docking portion 40 includes a guide column 42, the guide groove 32 is spaced apart from the fixed card groove 31, and the guide column 42 is spaced apart from the fixed buckle 41; when the delivery platform 20 and the mobile platform 10 are installed, the guide column 42 is slid into the guide groove 32. Through the cooperation of the guide column 42 and the guide groove 32, the movement of the delivery platform 20 in the up and down directions is limited, and the movement restrictions in the proximal and distal directions are separated from the movement restrictions in the up and down directions, which greatly reduces the position accuracy requirements of the fixed buckle 41, avoids jamming due to poor position accuracy of the fixed buckle 41, and increases the installation stability of the delivery platform 20 and the mobile platform 10.

Preferably, the guide post 42 is disposed on the distal end surface of the delivery platform 20 , and the guide groove 32 is disposed on the proximal end surface of the moving platform 10 .

Specifically, the number of the guide groove 32 is one, the number of the guide posts 42 is two, and the two guide posts 42 are arranged at intervals on the distal end surface of the delivery platform 20. Providing multiple guide posts 42 can reduce the position accuracy requirements of the fixing buckle 41 and increase the installation stability of the delivery platform 20 and the mobile platform 10.

In other embodiments, the guide column 42 is disposed on the proximal end surface of the mobile platform 10, and the guide groove 32 is disposed on the distal end surface of the delivery platform 20, so that the installation of the delivery platform 20 and the mobile platform 10 can also be achieved.

Specifically, the guide groove 32 is arranged in parallel with the fixed card groove 31 and spaced apart, so that the guide column 42 and the fixed buckle 41 move in the same direction, so as to facilitate the installation of the delivery platform 20.

As shown in Figures 3 and 4, further, the guide groove 32 includes an entry and exit end 321 and a tightening end 322 that are connected to each other, and the entry and exit end 321 is used to put in or remove the guide column 42; when the delivery platform 20 and the mobile platform 10 are installed, the guide column 42 abuts against the inner wall of the tightening end 322.

In the embodiment of the present application, when installing the delivery platform 20, the fixing buckle 41 is inserted into the open end 311, and the guide column 42 is inserted into the access end 321, and then the delivery platform 20 is pushed to move in the direction of the tightening end 322 until the guide column 42 slides into the tightening end 322 and the fixing buckle 41 slides into the inner retaining wall 313 of the limiting end 312 to engage, so as to achieve the installation of the delivery platform 20 and the mobile platform 10. When disassembling the delivery platform 20, the delivery platform 20 is pushed to move in the direction of the access end 321 until the fixing buckle 41 is separated from the limiting end 312 and the guide column 42 is separated from the tightening end 322, and finally the delivery platform 20 is taken away, so that the fixing buckle 41 is separated from the open end 311 and the guide column 42 is separated from the access end 321, so as to achieve the disassembly of the delivery platform 20 and the mobile platform 10. The present application divides the guide groove 32 into an entry/exit end 321 and a tightening end 322 , so that the guide column 42 can abut against the inner wall of the tightening end 322 , thereby reducing the difficulty of operation.

Specifically, there are two inlet and outlet ends 321 and two tightening ends 322, one tightening end 322 is provided between two adjacent inlet and outlet ends 321, and each guide column 42 corresponds to one inlet and outlet end 321 and one tightening end 322. When the delivery platform 20 needs to be installed, the four fixing buckles 41 are respectively inserted into the four open ends 311, and the two guide columns 42 are respectively inserted into the two inlet and outlet ends 321, and then the delivery platform 20 is pushed to move in the direction of the tightening end 322 of which only one end is connected to the inlet and outlet end 321, so that the four fixing buckles 41 are respectively engaged with the retaining walls 313 of the four limiting ends 312, and the two guide columns 42 are respectively abutted against the inner walls of the two tightening ends 322. When the delivery platform 20 needs to be disassembled, the delivery platform 20 is pushed toward the direction of the entrance and exit end 321 having only one end connected to the tightening end 322, so that the four fixing buckles 41 are respectively separated from the four limit ends 312 and the two guide columns 42 are respectively separated from the two tightening ends 322.

Preferably, the inlet and outlet end 321 and the tightening end 322 are transitioned through an inclined surface, so that the guide column 42 can enter the tightening end 322 from the inlet and outlet end 321, thereby reducing the difficulty of installation.

Preferably, the guide post 42 is a cylinder, so that the guide post 42 can enter the tightening end 322 easily.

Preferably, the port of the tightening end 322 protrudes from the port of the limiting end 312; so that when installing the delivery platform 20, the guide column 42 first enters the tightening end 322, and then the fixing buckle 41 enters the limiting end 312 to avoid the fixing buckle 41 and the fixing slot 31 from getting stuck.

As shown in Figures 3 to 5, further, the first docking portion 30 includes a locking groove 33, the second docking portion 40 includes a locking piece 43, the locking groove 33 and the fixed card slot 31 are spaced apart, and the locking piece 43 and the fixed buckle 41 are spaced apart; a stop block 34 is provided in the locking groove 33, and when the delivery platform 20 and the mobile platform 10 are installed, the stop block 34 abuts against the locking piece 43.

When installing the delivery platform 20, first insert the fixing buckle 41 into the open end 311, then push the delivery platform 20 to move in the direction of the limit end 312, and at the same time, the locking member 43 moves in the locking groove 33. As the fixing buckle 41 gradually slides into the limit end 312, the locking member 43 gradually passes over the block 34. When the fixing buckle 41 completely slides into the limit end 312, the locking member 43 completely passes over the block 34 and abuts against the block 34 to achieve the installation of the delivery platform 20 and the mobile platform 10. The present application limits the movement of the delivery platform 20 in the installation direction through the cooperation of the locking member 43, the locking groove 33 and the block 34, realizes the limitation of the proximal, distal and installation directions, and increases the installation stability of the delivery platform 20 and the mobile platform 10.

Preferably, the locking member 43 is disposed on the distal end surface of the delivery platform 20 , and the locking groove 33 is disposed on the proximal end surface of the moving platform 10 .

In other embodiments, the locking member 43 is disposed on the proximal end surface of the mobile platform 10 , and the locking groove 33 is disposed on the distal end surface of the delivery platform 20 , which can also realize the installation of the delivery platform 20 and the mobile platform 10 .

Preferably, the first docking portion 30 includes a fixed card slot 31, a guide slot 32 and a locking slot 33; the second docking portion 40 includes a fixed buckle 41, a guide column 42 and a locking member 43; and the limiting of the proximal and distal directions, the installation direction and the up and down directions is realized.

Specifically, the locking groove 33 and the fixing groove 31 are arranged in parallel and spaced apart, so that the locking member 43 column and the fixing buckle 41 move in the same direction, so as to facilitate the installation of the delivery platform 20.

Specifically, the distal end surface of the delivery platform 20 includes, from top to bottom, a first fixing slot 31 , a locking slot 33 , a guide slot 32 and a second fixing slot 31 .

As shown in Figure 6, further, the locking member 43 includes an elastic member 431, a connecting member 432 and a locking tongue 433; the locking tongue 433 includes a fixed end 434, a locking end 435 and an unlocking end 436 connected in sequence, the locking end 435 and the unlocking end 436 are vertically arranged, and the fixed end 434 is connected to the inner wall of the delivery platform 20 or the mobile platform 10; one end of the elastic member 431 is connected to the inner wall of the delivery platform 20 or the mobile platform 10, the other end of the elastic member 431 is connected to the connecting member 432, and the end of the connecting member 432 away from the elastic member 431 is connected to the locking end 435; the locking end 435 protrudes from the end face of the mobile platform 10 or the delivery platform 20; the unlocking end 436 protrudes from the side wall of the mobile platform 10 or the delivery platform 20.

Preferably, one end of the elastic member 431 is connected to the inner wall of the delivery platform 20 , and the locking end 435 protrudes from the distal end surface of the delivery platform 20 ; the unlocking end 436 protrudes from the side wall of the delivery platform 20 .

In the embodiment of the present application, when installing the delivery platform 20, the fixing buckle 41 is first inserted into the open end 311, the locking end 435 is inserted into the locking groove 33, and then the delivery platform 20 is pushed to move in the direction of the limit end 312. At the same time, the locking end 435 moves in the locking groove 33. As the fixing buckle 41 gradually slides into the limit end 312, the locking end 435 gradually abuts against the stopper 34. Under the action of the stopper 34, the locking end 435 drives the connecting piece 432 and the unlocking end 436 to move. It moves toward the interior of the delivery platform 20, and at the same time the elastic member 431 is deformed; when the fixing buckle 41 completely slides into the limit end 312, the locking end 332 completely passes the block 34, and the block 34 no longer applies force to the locking end 435. Under the action of the elastic potential energy of the elastic member 431, the connecting member 432 drives the locking end 435 and the unlocking end 436 to move away from the delivery platform 20 and abut against the block 34 to realize the installation of the delivery platform 20 and the mobile platform 10.

When disassembling the delivery platform 20, press the unlocking end 436, and drive the connecting piece 432 and the locking end 435 to move toward the inside of the delivery platform 20 through the unlocking end 436, so that the locking end 435 is no longer in contact with the block 34; then push the delivery platform 20 to move in the direction of the open end 311, until the fixing buckle 41 is disengaged from the limiting end 312 and enters the open end 311, and then stop pressing the unlocking end 436. Under the action of the elastic potential energy of the elastic piece 431, the connecting piece 432 drives the locking end 435 and the unlocking end 436 to move away from the delivery platform 20; finally, remove the delivery platform 20, so that the fixing buckle 41 is disengaged from the open end 311, so as to realize the disassembly of the delivery platform 20 and the mobile platform 10.

The present application limits the movement of the delivery platform 20 in the installation direction through the cooperation of the locking piece 43, the locking groove 33 and the block 34, realizes the limitation of the proximal direction, the distal direction and the installation direction, and increases the installation stability of the delivery platform 20 and the mobile platform 10.

Specifically, the elastic member 431 is a tension spring.

As shown in Fig. 3 and Fig. 6, further, the locking end 332 is provided with a first inclined surface 4351, and the first inclined surface 4351 is arranged to face away from the unlocking end 436; the locking groove 33 includes a sliding end 331 and a locking end 332, and the stopper 34 is arranged between the sliding end 331 and the locking end 332, and the stopper 34 is provided with a second inclined surface 341, and the second inclined surface 341 is arranged to face away from the locking end 332. When the delivery platform 20 is installed, the locking end 435 passes over the stopper 34 through the cooperation of the first inclined surface 4351 and the second inclined surface 341, and the first inclined surface 4351 and the second inclined surface 341 are arranged to facilitate the locking end 435 to enter the locking end 332.

As shown in Fig. 3 and Fig. 4, further, the mobile platform 10 and the delivery platform 20 are provided with the end faces of the first docking part 30 and the second docking part 40, and are also provided with a data transmission head 50; a circuit board 60 is provided in both the mobile platform 10 and the delivery platform 20, and the circuit board 60 is electrically connected to the data transmission head 50; when the delivery platform 20 and the mobile platform 10 are installed, the two data transmission heads 50 are plugged in. The delivery platform 20 and the mobile platform 10 are docked through two data transmission heads 50, and the circuit board 60 is integrated into the mobile platform 10 and the delivery platform 20, which reduces the number of docking cables and avoids the entanglement of the docking wires affecting the installation of the delivery platform 20 and the mobile platform 10.

Specifically, the data transmission head 50 includes a male docking pin and a female docking pin, the male docking pin is arranged on the mobile platform 10, and the female docking pin is arranged on the delivery platform 20. Since the delivery platform 20 moves relative to the mobile platform 10, the female docking pin is arranged on the delivery platform 20, which is more convenient for the female docking pin to be plugged into the male docking pin.

An embodiment of the present application also provides an interventional surgical robot slave end, as shown in Figures 1 and 2, the interventional surgical robot slave end includes: a transportation device 200 and a detachable driving device 100 as described above, the mobile platform 10 is slidably installed on the transportation device 200; the number of the mobile platforms 10 is at least two; each of the mobile platforms 10 is installed with the delivery platform 20, or one of the mobile platforms 10 is installed with the delivery platform 20.

The working principle and beneficial effects of an interventional surgical robot from the end provided by the embodiment of the present application are as follows: at a position near the proximal end of the transport device 200, a mobile platform 10 with two detachable drive devices 100 is slidably installed, as shown in FIG1 , when performing a one-tube-one-wire interventional surgery, the delivery platform 20 is installed on one of the two mobile platforms 10 near the distal end through the first docking portion 30 and the second docking portion 40, and a sterile box is installed on the mobile platform 10 to realize rotation of the catheter and quick delivery, and the delivery platform 20 is used to realize rotation and delivery of the guide wire; since the mobile platform 10 near the proximal end does not need to be installed with a sterile box, the use of one sterile box is reduced, and the cost of surgery is reduced. At the same time, since the delivery platform 20 is closer to the mobile platform 10 near the distal end, the waste of the guide wire is reduced, and the cost of surgery is further reduced;

As shown in FIG2 , when performing a two-tube and one-wire interventional surgery, the delivery platform 20 is installed on one of the two mobile platforms 10 near the proximal end through a docking piece, and sterile boxes are installed on both mobile platforms 10. The mobile trolley near the distal end is used to rotate the first catheter and deliver the second catheter, and the mobile trolley at the proximal end is used to rotate the second catheter, rotate the delivery guidewire, and deliver the guidewire. Since the sterile boxes used by the two mobile platforms 10 are the same, installation errors of the sterile boxes can be avoided, while the cost of opening a mold for the sterile box is reduced, and the manufacturing cost is reduced.

In addition, the present application realizes the detachable installation of the delivery platform 20 and multiple mobile platforms 10 through the first docking part 30 and the second docking part 40, so that the delivery platform 20 can be installed on the mobile platform 10 near the distal end when one tube and one wire are used, thereby reducing the waste of guide wires.

Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims (20)

A detachable drive device, used for a slave end of an interventional surgery robot, characterized by comprising: A mobile platform, slidably mounted on the slave end of the interventional surgery robot; Delivery platform; A docking member, comprising a first docking portion and a second docking portion that match each other, one of which is disposed on the proximal end surface of the mobile platform, and the other is disposed on the distal end surface of the delivery platform; The delivery platform can be detachably mounted to the mobile platform via the docking piece, and can slide along the end of the interventional surgery robot following the mobile platform. The detachable drive device according to claim 1, characterized in that the first docking portion comprises a fixed slot, and the second docking portion comprises a fixed buckle; When the delivery platform and the mobile platform are installed, the fixing buckle is slidably mounted in the fixing slot and is engaged with the fixing slot. The detachable drive device according to claim 2 is characterized in that the fixed slot comprises an open end and a limit end which are connected to each other, and a retaining wall is provided at the notch of the limit end; The open end is used for inserting or removing the fixing buckle; when the delivery platform and the mobile platform are installed, the fixing buckle is engaged with the retaining wall. The detachable drive device according to claim 2 is characterized in that the first docking portion further comprises a guide groove, the second docking portion comprises a guide column, the guide groove is spaced apart from the fixed card slot, and the guide column is spaced apart from the fixed buckle; When the delivery platform and the moving platform are installed, the guide column is slidably mounted in the guide groove. The detachable drive device according to claim 4 is characterized in that the guide groove includes an entry and exit end and a tightening end that are connected to each other, and the entry and exit end is used to put in or remove the guide column; when the delivery platform and the mobile platform are installed, the guide column abuts against the inner wall of the tightening end. The detachable drive device according to claim 5 is characterized in that the entry and exit end and the tightening end are transitioned through an inclined surface, and the port of the tightening end protrudes from the port of the limiting end. The detachable drive device according to any one of claims 2 to 6, characterized in that the first docking portion comprises a locking groove, the second docking portion comprises a locking piece, the locking groove and the fixed card slot are spaced apart, and the locking piece and the fixed buckle are spaced apart; A stopper is provided in the locking groove, and when the delivery platform and the moving platform are installed, the stopper abuts against the locking member. The detachable drive device according to claim 7 is characterized in that the locking member comprises an elastic member, a connecting member and a locking tongue; the locking tongue comprises a fixed end, a locking end and an unlocking end connected in sequence, the locking end is vertically arranged with respect to the unlocking end, and the fixed end is connected with the inner wall of the delivery platform or the mobile platform; One end of the elastic member is connected to the inner wall of the delivery platform or the mobile platform, the other end of the elastic member is connected to the connecting member, and the end of the connecting member away from the elastic member is connected to the locking end; the locking end protrudes from the end face of the mobile platform or the delivery platform; the unlocking end protrudes from the side wall of the mobile platform or the delivery platform. The detachable drive device according to claim 8, characterized in that a first inclined surface is provided on the locking end, and the first inclined surface is arranged facing away from the unlocking end; The locking groove comprises a sliding-in end and a locking end, the stopper is arranged between the sliding-in end and the locking end, and a second inclined surface is arranged on the stopper, and the second inclined surface is arranged facing away from the locking end. The detachable drive device according to claim 1 is characterized in that the mobile platform and the delivery platform are provided with end surfaces of the first docking portion and the second docking portion, and are also provided with a data transmission head; The mobile platform and the delivery platform are both provided with a circuit board, and the circuit board is electrically connected to the data transmission head; When the delivery platform and the mobile platform are installed, the two data transmission heads are plugged in. A slave end of an interventional surgical robot, characterized in that it comprises: a transport device and a detachable drive device, wherein the detachable drive device comprises a mobile platform, a delivery platform and a docking piece; The mobile platform is slidably mounted on the transport device; The number of the mobile platforms is at least two; each of the mobile platforms is equipped with the delivery platform, or one of the mobile platforms is equipped with the delivery platform; The docking member comprises a first docking portion and a second docking portion that match each other, one of which is arranged on the proximal end surface of the mobile platform and the other is arranged on the distal end surface of the delivery platform; The delivery platform can be detachably mounted to the mobile platform via the docking piece, and can slide along the end of the interventional surgery robot following the mobile platform. The interventional surgical robot slave end according to claim 11, characterized in that the first docking portion includes a fixed card slot, and the second docking portion includes a fixed buckle; When the delivery platform and the mobile platform are installed, the fixing buckle is slidably mounted in the fixing slot and is engaged with the fixing slot. The interventional surgical robot slave end according to claim 12, characterized in that the fixed slot comprises an open end and a limit end which are interconnected, and a retaining wall is provided at the slot of the limit end; The open end is used for inserting or removing the fixing buckle; when the delivery platform and the mobile platform are installed, the fixing buckle is engaged with the retaining wall. The interventional surgical robot slave end according to claim 12, characterized in that the first docking portion further comprises a guide groove, the second docking portion comprises a guide column, the guide groove is spaced apart from the fixed card slot, and the guide column is spaced apart from the fixed buckle; When the delivery platform and the moving platform are installed, the guide column is slidably mounted in the guide groove. The interventional surgical robot slave end according to claim 14 is characterized in that the guide groove includes an entry and exit end and a tightening end that are connected to each other, and the entry and exit end is used to put in or remove the guide column; when the delivery platform and the mobile platform are installed, the guide column abuts against the inner wall of the tightening end. The interventional surgical robot slave end according to claim 15 is characterized in that the entry and exit end and the tightening end are transitioned through an inclined surface, and the port of the tightening end protrudes from the port of the limiting end. The interventional surgical robot slave end according to any one of claims 12 to 16, characterized in that the first docking portion comprises a locking groove, the second docking portion comprises a locking member, the locking groove is spaced apart from the fixed card slot, and the locking member is spaced apart from the fixed buckle; A stopper is provided in the locking groove, and when the delivery platform and the moving platform are installed, the stopper abuts against the locking member. The interventional surgical robot slave end according to claim 17 is characterized in that the locking member comprises an elastic member, a connecting member and a locking tongue; the locking tongue comprises a fixed end, a locking end and an unlocking end connected in sequence, the locking end is vertically arranged with respect to the unlocking end, and the fixed end is connected with the inner wall of the delivery platform or the mobile platform; One end of the elastic member is connected to the inner wall of the delivery platform or the mobile platform, the other end of the elastic member is connected to the connecting member, and the end of the connecting member away from the elastic member is connected to the locking end; the locking end protrudes from the end face of the mobile platform or the delivery platform; the unlocking end protrudes from the side wall of the mobile platform or the delivery platform. The interventional surgical robot slave end according to claim 18, characterized in that a first inclined surface is provided on the locking end, and the first inclined surface is arranged facing away from the unlocking end; The locking groove comprises a sliding-in end and a locking end, the stopper is arranged between the sliding-in end and the locking end, and a second inclined surface is arranged on the stopper, and the second inclined surface is arranged facing away from the locking end. The interventional surgical robot slave end according to claim 11 is characterized in that the mobile platform and the delivery platform are provided with end surfaces of the first docking portion and the second docking portion, and are also provided with a data transmission head; The mobile platform and the delivery platform are both provided with a circuit board, and the circuit board is electrically connected to the data transmission head; When the delivery platform and the mobile platform are installed, the two data transmission heads are plugged in.