The invention discloses a guiding wire /
catheter operating device at the main end of a
robot for vascular interventional
surgery, which can separately feed back the
axial force and the circumferential force, and can imitate the actual
surgical operation habits of a bionic doctor. The device includes a box body, a brushless
DC motor, a transmission
assembly, an electromagnetic connector and an
axial force feedback
assembly; the brushless
DC motor is connected to the active part of the electromagnetic connector through the transmission
assembly, and its follower is connected to the fixing part of the sleeve telescopic assembly. section, the telescopic section of the sleeve telescopic assembly extends out of the box to connect the guide wire / conduit; when it is necessary to provide circumferential sensing, the active part and the driven part of the electromagnetic connector are attracted, so that the brushless
DC motor drives to the sleeve through the transmission assembly. The telescopic component provides circumferential resistance, and then realizes the circumferential force feedback function; when it is necessary to provide axial sensing, the
positive pressure generating component in the
axial force feedback component generates displacement, and drives the rubber block component and the telescopic section in the sleeve telescopic component to generate an axial force. Friction to provide axial resistance and realize axial force feedback function.