A split-type vascular interventional surgical robot

Abstract

This invention discloses a split-type vascular interventional surgical robot, comprising a catheter robot and a guidewire robot. The catheter robot and guidewire robot can communicate with each other and need to cooperate to complete surgical actions. Each catheter robot and guidewire robot includes a base device, a torso device, a head and arm device, and a propulsion mechanism. A position sensor device is also fixed on the guidewire robot to detect the direction and distance of movement of the catheter bed, ensuring that both robots perform the same actions while remaining relatively stationary with respect to the catheter bed panel. The surgeon can control the robot's gripper to push the guidewire and catheter into the designated location in the patient's body using a control handle outside the operating room, avoiding the risk of X-ray injury to the surgeon and completing the interventional angiography and treatment procedure. This invention employs a split-type design, achieving the same effect as actual interventional surgery performed by a surgeon within a very small volume.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive vascular interventional surgery, and more specifically, to a split-type vascular interventional surgery robot. Background Technology

[0002] Nearly 30 million people die from cardiovascular and cerebrovascular diseases globally each year, accounting for about 30% of all disease-related deaths. In my country alone, nearly 300 million people suffer from these diseases. Cardiovascular and cerebrovascular diseases have become one of the three leading causes of death worldwide, seriously impacting national health and people's normal lives.

[0003] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is a major treatment method. Compared with traditional surgery, it has significant advantages such as smaller incisions and shorter postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery involves a doctor manually inserting catheters, guidewires, and stents into the patient's body to complete the treatment.

[0004] Interventional surgery presents two main problems. First, during the procedure, the X-rays emitted by DSA (Digital Subtraction Angiography) cause a rapid decline in the surgeon's physical strength, attention, and stability, leading to decreased operational precision and increasing the risk of accidents such as vascular endothelial damage, vascular perforation, and rupture due to improper pushing force, potentially endangering the patient's life. Second, the long-term cumulative damage from ionizing radiation significantly increases the surgeon's risk of developing leukemia, cancer, and acute cataracts. The continuous accumulation of radiation exposure by surgeons during interventional procedures has become a significant issue jeopardizing their professional lives and hindering the development of interventional surgery.

[0005] This problem can be effectively addressed by leveraging robotic technology, which can significantly improve the precision and stability of surgical procedures while effectively reducing radiation exposure to interventional surgeons and lowering the probability of intraoperative accidents. Cardiovascular and cerebrovascular interventional surgical robots are attracting increasing attention and are gradually becoming a key research focus for leading technological nations in the field of medical robotics.

[0006] Currently, there are several problems with guidewire and catheter replacement in interventional surgery: (1) It is impossible to use a robot to control the movement of the guidewire and catheter well, especially after the catheter moves, the guidewire needs to be operated at the end of the catheter and follow the movement of the catheter; (2) It is impossible to achieve auxiliary fixation of the outer sheath; (3) The device is bulky and complex in structure, and is not suitable for actual clinical surgery; (4) The system is inconvenient to install and disassemble.

[0007] Therefore, it is essential to provide a split-type vascular interventional surgical robot that can effectively solve the above-mentioned technical problems. Summary of the Invention

[0008] In view of this, the present invention proposes a split-type vascular interventional surgical robot, which aims to solve the problems of suture entrapment in existing interventional surgeries, reduce the doctor's X-ray intake, affect guidewire control after catheter movement, and address issues such as the robot's complex structure, excessive size making it unsuitable for actual surgical environments, inconvenient installation and dismantling, inconvenient equipment transfer, and lack of external sheath fixation.

[0009] The specific technical solution of this invention is as follows:

[0010] A split-type vascular interventional surgical robot includes a catheter robot and a guidewire robot. The catheter robot and the guidewire robot can communicate with each other and need to cooperate with each other to complete surgical actions. The catheter robot and the guidewire robot each include a base device, a torso device, a head and arm device, and a propulsion mechanism device.

[0011] The base device in both the catheter robot and the guidewire robot includes a control and power supply device and a moving device. The control and power supply device supplies power to the system and serves as the control information processing center for the entire system. The moving device controls the movement of the entire robot. The control and power supply device and the moving device are mounted together on a base plate, and a column for supporting the torso device is installed at each of the four corners of the upper surface of the base plate.

[0012] The torso device in both the catheter robot and the guidewire robot includes a support plate and a lifting device mounted on the support plate. The bottom of the support plate is connected to the top of the column. The lifting device is connected to the head and arm device and is used to raise or lower the height of the head and arm device.

[0013] The head and arm devices in both the catheter robot and the guidewire robot include a head and arm device connecting plate and a head device and an arm device mounted on the head and arm device connecting plate. The head and arm device connecting plate is connected to the lifting device. The head device is the observation and output end of the system. The arm device is used to support and extend the propulsion mechanism.

[0014] The propulsion mechanism is divided into a catheter propulsion mechanism mounted on the catheter robot and a guidewire propulsion mechanism mounted on the guidewire robot; the arm device on the catheter robot is connected to the catheter propulsion mechanism, and the arm device on the guidewire robot is connected to the guidewire propulsion mechanism.

[0015] The guidewire robot is also equipped with a position sensor device to detect the direction and distance of movement of the catheter bed, so that the two robots make the same movements and the two robots and the catheter bed panel remain relatively stationary.

[0016] As can be seen from the above technical solution, compared with the prior art, this invention discloses a split-type vascular interventional surgical robot. This product is used in vascular interventional surgery to control the forward and backward movement of catheters and guidewires, as well as the rotation of catheters and guidewires. The surgeon can control the robot's gripper to push the guidewire and catheter into the designated location in the patient's body through an operating handle outside the operating room, avoiding the risk of X-ray injury to the surgeon, and completing the interventional angiography and treatment procedure. This device adopts a split-type design, achieving the same effect as an actual interventional surgical procedure performed by a surgeon within a very small volume.

[0017] Preferably, the mobile device consists of four sets of identical wheel assemblies. Each wheel assembly includes a wheel, a wheel connecting plate, a first servo motor, and a second servo motor. The wheel connecting plate is right-angled, and its lower vertical plate has a through hole. The first servo motor is fixed in the inner space of the wheel connecting plate, and its motor shaft passes through the through hole to connect with the wheel on the outer side of the lower vertical plate. The first servo motor controls the forward and backward movement of the wheel. A motor mounting hole is provided at each of the four corners of the base plate. The second servo motor is fixed in the corresponding motor mounting hole on the base plate, and its motor shaft passes through the motor mounting hole to connect with the upper horizontal plate of the wheel connecting plate. The second servo motor controls the steering of the wheel. When the system is in surgical mode, the mobile device will be temporarily locked in a direction parallel to the catheter bed.

[0018] Preferably, the control and power supply equipment includes a drive unit, a host, a power supply, a transformer, and a switching power supply mounted on the base plate. The drive unit is used to drive each motor; the host is used to receive, store, and process information, and send instructions to each component. The host also has a Bluetooth module and a WiFi module installed; the power supply is used to power the entire system; and the transformer and switching power supply are used to regulate and stabilize the system voltage.

[0019] Preferably, the base plate is equipped with multiple sets of first cameras for detecting the surrounding environment.

[0020] Preferably, the torso device in both the catheter robot and the guidewire robot further includes a torso support, which is fixed to the middle position of the upper surface of the support plate;

[0021] The lifting device includes two sets of lifting device linear guide rails located on both sides of the support plate, with opposite positions and identical structures. Each set of lifting device linear guide rails is mounted on the support plate through a corresponding guide rail bracket, and the sliders that cooperate on the two sets of lifting device linear guide rails are respectively fixed to both sides of the torso bracket.

[0022] The lifting device also includes two lifting device screw motors fixed to the support plate. The lower part of the torso support is provided with two threaded holes. The rotating shaft of the lifting device screw motor is engaged with the corresponding threaded hole on the torso support to drive the torso support to rise or fall.

[0023] The top surface of the torso support is provided with a set of linear guide rails on both sides. The corresponding sliders on the two sets of linear guide rails support and connect the head and arm device connecting plate. A torso support screw motor is fixed in the middle of the top surface of the torso support. The rotating shaft of the torso support screw motor is engaged with the corresponding threaded hole on the bottom surface of the head and arm device connecting plate to realize the extension and retraction of the head and arm device, thereby realizing the extension and retraction of the arm.

[0024] Preferably, the head device includes a head device shaft, a first head device motor, a camera bracket, a second camera, a touch screen, and a second head device motor. A circular groove is formed on the top surface of the head and arm device connecting plate. The bottom end of the head device shaft is mounted in the circular groove via a bearing. A circular support plate is fixed to the top end of the head device shaft. The first head device motor is fixed to the circular support plate via a first head device motor bracket. The motor shaft of the first head device motor is fixed to a circular hole below the camera bracket. The second camera and the touch screen are mounted on the camera bracket. The first head device motor can control the second camera and the touch screen on the head device to move vertically. The second head device motor is fixed to the head and arm device connecting plate via a second head device motor bracket. A gear is fixed on the motor shaft of the second head device motor, which meshes with the gear on the head device shaft. The second head device motor can control the entire head device to rotate horizontally.

[0025] The arm device includes an arm device linear guide rail, an arm device lead screw motor, and a right-angle connecting plate. The arm device linear guide rail comprises two sets arranged in parallel, which are respectively installed on both sides of the top surface of the head and the arm device connecting plate, and are parallel to the linear guide rail of the torso support. Slider blocks corresponding to the two sets of arm device linear guide rails jointly support and connect the upper horizontal plate in the right-angle connecting plate. The arm device lead screw motor comprises two motors, which are respectively fixed to both sides of the top surface of the head and the arm device connecting plate via arm device lead screw motor brackets. The upper horizontal plate of the right-angle connecting plate has threaded holes on both sides. The rotating shaft of the arm device lead screw motor engages with the corresponding threaded holes on the right-angle connecting plate to achieve the extension and retraction of the right-angle connecting plate, thereby achieving the extension and retraction of the arm.

[0026] The lower vertical plate of the right-angle connecting plate on the catheter robot is connected to the catheter propulsion mechanism, and the lower vertical plate of the right-angle connecting plate on the guidewire robot is connected to the guidewire propulsion mechanism.

[0027] Preferably, the second camera is provided in two sets, which are respectively installed on both sides of the camera bracket, and the touch screen is located between the two sets of the second camera.

[0028] Preferably, the right-angle connecting plate on the catheter robot is a first right-angle connecting plate, and the right-angle connecting plate on the guidewire robot is a second right-angle connecting plate;

[0029] The lower vertical plate on the first right-angle connecting plate is located on the side close to the conduit, and there are two of them; one of the lower vertical plates of the first right-angle connecting plate has an electromagnet fixed at its lower end, and the lower end of the electromagnet is connected to an outer sheath clamp that can hold the outer sheath; the lower end of the other lower vertical plate of the first right-angle connecting plate is connected to the conduit pushing mechanism.

[0030] The lower vertical plate on the second right-angle connecting plate is located on the side close to the guide wire, and there is one such plate; the lower end of the lower vertical plate of the second right-angle connecting plate is connected to the guide wire pushing mechanism.

[0031] Preferably, the catheter advancement mechanism includes a sterile catheter box and a catheter execution mechanism; the sterile catheter box is a disposable sterile box.

[0032] An extension rod extends outward from one end of the sterile catheter box. A catheter installation groove is formed on the extension rod along its length. A rotating shaft is fitted on the outside of the extension rod. The rotating shaft is a circular ring with a groove on its outer wall along its length. Rotating the rotating shaft allows the groove to align with the catheter installation groove, enabling the installation of a catheter. The groove and the catheter installation groove are staggered to form a catheter limiting channel. The limiting channel is on the same straight line as the catheter channel inside the sterile catheter box.

[0033] The catheter actuator is arranged vertically, with a platform extending from its front end. The sterile catheter box is located on the platform, and its bottom shell is magnetically connected to the platform.

[0034] The lower end of the vertical plate of the first right-angle connecting plate is rotatably connected to the housing shaft on the outer wall of the conduit actuator.

[0035] Preferably, the position sensor device includes a spring wire, a position sensor, and a guide rail clamp. The spring wire is used to extend the cable; the position sensor is used to detect the direction and distance of movement in space; the guide rail clamp is used to clamp onto the side guide rail of the guide bed; the guide rail clamp and the position sensor are fixed together, and the position sensor and the spring wire are connected together.

[0036] The present invention discloses a split-type vascular interventional surgical robot, which has the following beneficial effects:

[0037] 1. This invention discloses a split-type vascular interventional surgical robot, which adopts a vehicle-like structure and can move freely within the catheterization lab, making it suitable for the environment of the catheterization lab. Furthermore, it is designed with multiple cameras to ensure safety and accuracy during vehicle movement.

[0038] 2. The present invention provides a split-type vascular interventional surgical robot with a simple overall structure, good stability, modular design, easy disassembly and assembly, compact structure, and small size, which is very suitable for the surgical environment.

[0039] 3. The present invention provides a split-type vascular interventional surgical robot, which is easy to install and remove, and has no contact with the catheter bed, thus avoiding damage to the catheter bed.

[0040] 4. This invention provides a split-type vascular interventional surgical robot, which is suitable for various catheters and guidewires, has strong versatility, can adjust the guidewire clamping degree at any time to ensure that there is no slippage, facilitates feedback, and can ensure surgical safety. It adopts a disposable sterile box design, which simplifies the sterilization process and facilitates clinical use.

[0041] 5. This invention discloses a split-type vascular interventional surgical robot. The split-type design ensures operational flexibility and accuracy. It is also equipped with monitoring devices that can provide timely alerts to doctors in case of abnormalities. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 A schematic diagram of the split-type vascular interventional surgical robot;

[0044] Figure 2 A top-view schematic diagram of the split-type vascular interventional surgical robot;

[0045] Figure 3A schematic diagram of the base device of a split-type vascular interventional surgical robot;

[0046] Figure 4 A schematic diagram of the explosion of the base device of a split-type vascular interventional surgical robot.

[0047] Figure 5 A schematic diagram of the torso of a split-type vascular interventional surgical robot.

[0048] Figure 6 A schematic diagram of the explosion of the torso unit of a split-type vascular interventional surgical robot.

[0049] Figure 7 This is a schematic diagram of the head and arm components of a split-type vascular interventional surgical robot.

[0050] Figure 8 A schematic diagram of the explosion of the head and arm components of a split-type vascular interventional surgical robot.

[0051] Figure 9 A schematic diagram of the position sensor device for a split-type vascular interventional surgical robot;

[0052] Figure 10 This is a partial enlarged view of the catheter control device and the outer sheath clamping device;

[0053] Figure 11 This is a partial enlarged view of the connection part of the guidewire control device;

[0054] Figure 12 Schematic diagram of the catheter propulsion mechanism

[0055] Figure 13 This is a schematic diagram of the front of the sterile catheter box.

[0056] Figure 14 This is a schematic diagram of the inside of the sterile catheter box;

[0057] Figure 15 This is a schematic diagram of the back of the sterile catheter box;

[0058] Figure 16 Exploded view of the sterile catheter box;

[0059] Figure 17 This is a frontal overall schematic diagram of the catheter actuator;

[0060] Figure 18 This is a schematic diagram of the back of the catheter actuator;

[0061] Figure 19 Exploded view of the conduit actuator;

[0062] In the picture:

[0063] 100-Cassium Traction Robot;

[0064] 200-guidewire robot;

[0065] 201 - Spring wire; 202 - Position sensor; 203 - Guide rail clamp;

[0066] 300-catheter;

[0067] 301 - Outer sheath;

[0068] 400-guidewire;

[0069] 500-Base device;

[0070] 501-Base plate; 502-Column; 503-Wheel; 504-Wheel connecting plate; 505-First servo motor; 506-Second servo motor; 507-Drive device; 508-Main unit; 509-Power supply; 510-Transformer and switching power supply; 511-First camera;

[0071] 600-Torso apparatus;

[0072] 601-Support plate; 602-Tortoise support; 603-Lifting device linear guide rail; 604-Guide rail bracket; 605-Lifting device screw motor; 606-Tortoise support linear guide rail; 607-Tortoise support screw motor;

[0073] 700 - Head and arm device;

[0074] 701-Head and arm device connecting plate; 702-Head device pivot; 703-First head device motor; 704-Camera bracket; 705-Second camera; 706-Touch screen; 707-Second head device motor; 708-First head device motor bracket; 709-Second head device motor bracket; 710-Gear; 711-Arm device linear guide rail; 712-Arm device lead screw motor; 713-Arm device lead screw motor bracket; 714-First right-angle connecting plate; 715-Second right-angle connecting plate; 716-Electromagnet; 717-Outer sheath clip;

[0075] 800 - Catheter propulsion mechanism;

[0076] 801-Cauliflower sterile box; 8011-Flip cover; 8012-Passive support; 8013-Passive friction wheel support; 8014-Extension rod; 80141-Catheter mounting slot; 80142-Extension rod support; 8015-Spindle; 80151-Gate; 8016-Bottom shell; 80161-Elongated sliding hole; 8017-Passive friction wheel; 8018-Plate press; 8019-Passive spindle; 80110-Active wheel support; 80111-Active spindle; 801111-Active friction wheel;

[0077] 802-Conduit actuator; 8021-Propulsion motor; 8022-Propulsion housing; 8023-Second gear; 8024-First gear; 8025-Third gear; 8026-Photoelectric switch; 8027-Busset; 8028-Housing shaft; 8029-Servo motor; 80210-Push rod connector; 80211-Probe rod;

[0078] 900 - Guide wire propulsion mechanism. Detailed Implementation

[0079] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0080] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0081] Example:

[0082] like Figure 1 , 2 As shown, this invention discloses a split-type vascular interventional surgical robot, mainly comprising a catheter robot 100 and a guidewire robot 200. The working environment of the catheter robot 100 and the guidewire robot 200 is an interventional surgical catheterization lab, where they can move freely. The catheter robot 100 and the guidewire robot 200 can communicate with each other and need to cooperate to complete surgical procedures.

[0083] The catheter robot 100 and the guide wire robot 200 each include a base device 500, a torso device 600, a head and arm device 700, and a propulsion mechanism device.

[0084] like Figure 3 , 4As shown, the base device 500 in the catheter robot 100 and guidewire robot 200 is mainly used to realize the movement of the robot. It includes control and power equipment and a moving device. The control and power equipment supplies power to the system and serves as the control information processing center of the entire system; the moving device controls the movement of the entire robot. The control and power equipment and the moving device are mounted together on a base plate 501. At each of the four corners of the upper surface of the base plate 501, a column 502 is installed to support the torso device 600.

[0085] Specifically,

[0086] The mobile device consists of four identical wheel assemblies, one of which will be described below. The wheel assembly includes a wheel 503, a wheel connecting plate 504, a first servo motor 505, and a second servo motor 506. The wheel connecting plate 504 is right-angled, with a through hole on its lower vertical plate. The first servo motor 505 is fixed within the inner space of the wheel connecting plate 504, and its motor shaft passes through the through hole to connect with the wheel 503 on the outer side of the lower vertical plate. The first servo motor 505 controls the forward and backward movement of the wheel 503. A motor mounting hole is located at each of the four corners of the base plate 501. The second servo motor 506 is fixed within the corresponding motor mounting hole on the base plate 501, and its motor shaft passes through the mounting hole to connect with the upper horizontal plate of the wheel connecting plate 504. The second servo motor 506 controls the steering of the wheel 503. The cooperation of the first servo motor 505 and the second servo motor 506, along with the movement of all four wheels 503, enables the robot to move in all directions. When the system is in surgery, the mobile device will be temporarily locked in a direction parallel to the catheter bed to ensure the accuracy of the direction during operation and to respond quickly to actions.

[0087] The control and power supply equipment includes a drive unit 507, a main unit 508, a power supply 509, a transformer, and a switching power supply 510, all mounted on the base plate 501. The drive unit 507 is used to drive each motor. The main unit 508 is used to receive, store, and process information, and to send instructions to each component. The main unit 508 is also equipped with a Bluetooth module and a WiFi module, which can realize the transmission and reception of wireless data. The power supply 509 is used to power the entire system, and a lithium battery is generally selected. The transformer and switching power supply 510 are used to regulate and stabilize the system voltage.

[0088] Multiple sets of first cameras 511 are installed on the base plate 501 to detect the surrounding environment. The first cameras 511 are used to detect whether there are obstacles during movement. When an obstacle is encountered, the vehicle can stop moving to ensure the safety of the vehicle's movement. In this embodiment, a set of first cameras 511 is installed on each of the opposite sides of the base plate 501.

[0089] like Figure 5 , 6 As shown, the torso device 600 in the catheter robot 100 and the guide wire robot 200 is mainly used to realize the up and down movement of the robot. It includes a support plate 601 and a lifting device installed on the support plate 601. The bottom of the support plate 601 is connected to the top of the column 502. The lifting device is connected to the head and arm device 700 and is used to raise or lower the height of the head and arm device 700.

[0090] like Figure 1 As shown, a position sensor device is also fixed on the guidewire robot 200 to detect the direction and distance of movement of the catheter bed, so that the two robots perform the same actions and the two robots and the catheter bed panel remain relatively stationary. Figure 9 As shown, the position sensor device includes a spring wire 201, a position sensor 202, and a guide rail clamp 203. The spring wire 201 is used to extend the cable; the position sensor 202 is used to detect the direction and distance of movement in the space; the guide rail clamp 203 is used to clamp on the side guide rail of the guide bed; the guide rail clamp 203 and the position sensor 202 are fixed together, and the position sensor 202 is connected to the spring wire 201.

[0091] Specifically,

[0092] The torso device 600 in both the catheter robot 100 and the guidewire robot 200 also includes a torso support 602, which is fixed to the middle position of the upper surface of the support plate 601.

[0093] The lifting device includes two sets of lifting device linear guide rails 603 located on both sides of the support plate 601, with opposite positions and identical structures. Each set of lifting device linear guide rails 603 is mounted on the support plate 601 through a corresponding guide rail bracket 604, and the sliders that cooperate on the two sets of lifting device linear guide rails 603 are respectively fixed to both sides of the torso bracket 602.

[0094] The lifting device also includes two lifting device screw motors 605 fixed on the support plate 601. The lower part of the torso support 602 is provided with two threaded holes. The rotating shaft of the lifting device screw motor 605 is engaged with the corresponding threaded hole on the torso support 602. The two lifting device screw motors 605 move synchronously, driving the torso support 602 to rise or fall.

[0095] A set of linear guide rails 606 are provided on each side of the top surface of the torso support 602. The corresponding sliders on the two sets of linear guide rails 606 jointly support and connect the head and arm device connecting plate 701. A torso support screw motor 607 is fixed in the middle of the top surface of the torso support 602. The rotating shaft of the torso support screw motor 607 is engaged with the corresponding threaded hole on the bottom surface of the head and arm device connecting plate 701 to realize the extension and retraction of the head and arm device 700, thereby realizing the first-level extension and retraction of the arm.

[0096] like Figure 7 , 8 As shown, the head and arm devices 700 in the catheter robot 100 and guide wire robot 200 are mainly used to complete the functions of system recognition and extension and support of the propulsion mechanism. They both include a head and arm device connecting plate 701 and a head device and an arm device mounted on the head and arm device connecting plate 701. The head and arm device connecting plate 701 is connected to the lifting device. The head device is the observation and output end of the system. The arm device is used to support and extend the propulsion mechanism device.

[0097] Specifically,

[0098] The head unit includes a head unit pivot 702, a first head unit motor 703, a camera bracket 704, a second camera 705, a touchscreen 706, and a second head unit motor 707. A circular groove is formed on the top surface of the head and arm unit connecting plate 701. The bottom end of the head unit pivot 702 is mounted in the circular groove via a bearing. A circular support plate is fixed to the top end of the head unit pivot 702. The first head unit motor 703 is fixed to the circular support plate via a first head unit motor bracket 708. The motor shaft of the first head unit motor 703 is connected to a circular hole below the camera bracket 704. The head assembly is fixed in place. A second camera 705 and a touch screen 706 are mounted on the camera bracket 704. The first head assembly motor 703 can control the second camera 705 and the touch screen 706 on the head assembly to move vertically. The second head assembly motor 707 is fixed to the head and arm assembly connecting plate 701 through the second head assembly motor bracket 709. A gear 710 is fixed on the motor shaft of the second head assembly motor 707. The gear 710 meshes with the gear on the head assembly rotating shaft 702. The second head assembly motor 707 can control the entire head assembly to rotate horizontally.

[0099] In the above, there are two sets of second cameras 705, which are respectively installed on both sides of the camera bracket 704, and the touch screen 706 is located between the two sets of second cameras 705.

[0100] The second head unit motor 707 controls the horizontal rotation of the entire head unit, while the first head unit motor 703 controls the vertical movement of the head unit, allowing for flexible movement and enabling the robot to observe objects from various angles. The touchscreen 706 is used for human-computer interaction, allowing users to perform operations while system information is displayed. Two sets of second cameras 705 act as the robot's eyes, observing the surrounding environment, detecting distances, etc., and sending the obtained information to the host computer 508 for analysis and processing.

[0101] The arm device includes an arm device linear guide rail 711, an arm device lead screw motor 712, and a right-angle connecting plate. The arm device linear guide rail 711 includes two sets arranged in parallel. These two sets of guide rails are respectively installed on both sides of the top surface of the head and the arm device connecting plate 701, and are parallel to the torso support linear guide rail 606. The corresponding sliders on the two sets of arm device linear guide rails 711 jointly support the upper horizontal plate in the right-angle connecting plate. The arm device lead screw motor 712 includes two, and is respectively fixed to both sides of the top surface of the head and the arm device connecting plate 701 by the arm device lead screw motor bracket 713. The upper horizontal plate of the right-angle connecting plate has threaded holes on both sides. The rotating shaft of the arm device lead screw motor 712 cooperates with the corresponding threaded hole on the right-angle connecting plate to realize the extension and retraction of the right-angle connecting plate, thereby realizing the secondary extension and retraction of the arm.

[0102] The propulsion mechanism is divided into a catheter propulsion mechanism 800 on the catheter robot 100 and a guide wire propulsion mechanism 900 on the guide wire robot 200; the arm device on the catheter robot 100 is connected to the catheter propulsion mechanism 800, and the arm device on the guide wire robot 200 is connected to the guide wire propulsion mechanism 900.

[0103] Specifically, the lower vertical plate of the right-angle connecting plate of the catheter robot 100 is connected to the catheter propulsion mechanism 800, and the lower vertical plate of the right-angle connecting plate of the guide wire robot 200 is connected to the guide wire propulsion mechanism 900.

[0104] The right-angle connecting plate on the catheter robot 100 is the first right-angle connecting plate 714, and the right-angle connecting plate on the guide wire robot 200 is the second right-angle connecting plate 715. The first right-angle connecting plate 714 and the second right-angle connecting plate 715 have certain structural differences.

[0105] like Figure 8 , 10 As shown, the lower vertical plate on the first right-angle connecting plate 714 is located on the side near the conduit 300, and there are two of them.

[0106] An electromagnet 716 is fixed to the lower end of the vertical plate of one of the right-angle connecting plates 714. The lower end of the electromagnet 716 is connected to an outer sheath clip 717 that can hold the outer sheath 301. The outer sheath clip 717 is a disposable surgical consumable that has been sterilized with ethylene oxide and is replaced after each surgery. The outer sheath clip 717 can hold the outer sheath 301, keeping it stationary during surgery.

[0107] The lower end of the vertical plate of the other first right-angle connecting plate 714 is connected to the guide tube propulsion mechanism 800. The guide tube 300 is placed inside the guide tube propulsion mechanism 800, and the first right-angle connecting plate 714 can extend and retract under the drive of the arm device screw motor 712. The overall arm device is equivalent to having a two-stage extension device, which can reduce the overall size of the device.

[0108] like Figure 11 As shown, the lower vertical plate on the second right-angle connecting plate 715 is located on the side near the guide wire 400, and is provided; the lower end of the lower vertical plate of the second right-angle connecting plate 715 is connected to the guide wire pushing mechanism 900.

[0109] The catheter advancement mechanism 800 in this invention is used in interventional surgery. The robot controls the advancement of the guiding catheter and angiography catheter from the end device, allowing the robot to advance or retract the guiding or angiography catheter under the remote control of the surgeon, thus assisting in the completion of the interventional procedure. The catheter actuator works in conjunction with the sterile catheter cassette above it and the device for controlling the guidewire catheter by the robot, ensuring that the front end of the sterile catheter cassette is aligned with the outer sheath outlet. After the sterile catheter cassette lid is opened, the angiography catheter or guiding catheter can be placed into the sterile catheter cassette. After the sterile catheter cassette lid is closed, the friction wheels are automatically controlled to clamp the angiography catheter or guiding catheter. The surgeon can remotely operate the device outside the operating room to advance and retract the catheter. The direct contact parts for catheter advancement are surgical consumables, using a plug-and-play tool-free installation method for convenient use by the surgeon.

[0110] See appendix Figure 12-19 The catheter propulsion mechanism 800 in this embodiment of the invention specifically includes:

[0111] The catheter sterile box 801 has an extension rod 8014 extending outward from one end. The extension rod 8014 has a catheter mounting groove 80141 along its length. A rotating shaft 8015 is fitted around the extension rod 8014. The rotating shaft 8015 is a circular ring with a slot 80151 on its outer wall along its length. Rotating the rotating shaft 8015 allows the slot 80151 to align with the catheter mounting groove 80141, enabling catheter installation. The slot 80151 and the catheter mounting groove 80141 are staggered to form a catheter limiting channel. The limiting channel is on the same straight line as the catheter channel inside the catheter sterile box 801.

[0112] The catheter actuator 802 is arranged vertically, with a platform extending from its front end. The catheter sterile box 801 is located on the platform, and its bottom shell 8016 is magnetically connected to the platform.

[0113] The lower end of the vertical plate of the first right-angle connecting plate is rotatably connected to the housing shaft on the outer wall of the guide tube actuator 802.

[0114] The groove width of the rotating shaft 8015 is 4mm. The rotating shaft 8015 can rotate on the extension rod 8014. This part is used to place the guiding catheter or angiography catheter, and is used to attach the sterile catheter holder 801 to the patient's outer sheath exit point. After the catheter is placed in the groove of the rotating shaft 8015 and the extension rod 8014, the doctor simply selects the rotating shaft 8015, confining the catheter within the groove. This prevents the catheter from deviating during advancement or withdrawal, achieving a smooth advancement or withdrawal. After the procedure, the rotating shaft 8015 can also be rotated to align the grooves of both, allowing the catheter to be removed.

[0115] See appendix Figure 13-16 The sterile catheter cassette is a disposable consumable that has undergone ethylene oxide sterilization and is replaced with a new one after each surgery. The sterile catheter cassette 801 includes a flip cover 8011, a catheter drive active part, and a catheter drive driven part. One side of the flip cover 8011 is hinged to the bottom shell 8016, and the other side is magnetically connected to the bottom shell 8016, forming a catheter drive space. This drive space contains the catheter drive active part and the catheter drive driven part that cooperate to drive the catheter. Correspondingly arranged uprights forming a catheter channel are located on the inner walls of the flip cover 8011 and the bottom shell 8016. An extension rod 8014 is fixed to the bottom shell 8016 via an extension rod bracket 80142 and is arranged in the direction of the catheter channel extension. The flip cover 8011 is mounted on the bottom shell 8016 and has uprights for pressing the catheter. Magnets are installed on the flip cover 8011, allowing it to attract the bottom shell 8016 and ensuring the catheter does not deviate from the catheter channel.

[0116] The active part of the guide tube drive includes an active wheel bracket 80110, an active rotating shaft 80111, and an active friction wheel 801111. The bottom shell 8016 has a rotating hole extending downward from the bottom of the active rotating shaft 80111. The upper part of the active rotating shaft 80111 is rotatably supported on the bottom shell 8016 through the active wheel bracket 80110, and the active friction wheel 801111 is fixed on it.

[0117] The driven part of the conduit includes a passive support 8012, a passive friction wheel support 8013, a passive rotating shaft 8019, and a passive friction wheel 8017. The passive support 8012 is arranged opposite to the driving wheel support 80110, and a connecting rod extends from the side of the passive support 80110. The passive friction wheel support 8013 has a plug hole through which the connecting rod can be inserted. The passive rotating shaft 8019 rotates inside the passive friction wheel support 8013 and is connected to the passive friction wheel 8017. The bottom of the passive rotating shaft 8019 has an elongated actuation hole 80161 corresponding to the bottom shell 8016.

[0118] In an embodiment of the invention, the sterile catheter housing contains two sets of friction wheels: two active friction wheels and two passive friction wheels, which are connected to the active rotating shaft 80111 and the passive rotating shaft 8019, respectively. The active rotating shaft 80111 engages with the third gear 8025 of the lower propulsion device, and under the action of the propulsion motor, it can drive the friction wheels to rotate. The active and passive friction wheels clamp the catheter under the action of springs (the springs are set on the connecting rod of the passive support 8012), and the rotational friction force can drive the guiding catheter or angiography catheter to move forward or backward. Advantageously, a pressure plate 8018 for pressing a waterproof membrane is provided between the bottom of the passive rotating shaft 8019 and the bottom shell 8016. The passive rotating shaft 8019 is on the pressure plate 8018 and is sleeved on the shaft extending from the push rod connector 80210. Under the action of the servo motor, the passive friction wheels can be opened.

[0119] See appendix Figure 17-19 The duct actuator 802 includes a propulsion motor 8021, a propulsion housing 8022, a drive gear set, a photoelectric switch 8026, a servo motor 8029, a push rod connector 80210, and a probe rod 80211;

[0120] The propulsion housing 8022 is integrally connected to the platform and is arranged in an L-shape. Inside the propulsion housing 8022 is a propulsion motor 8021 with its output end facing downwards. The output end of the propulsion motor 8021 drives a gear set (including a first gear 8024, a second gear 8023, and a third gear 8025). The output end of the propulsion motor 8021 first drives the first gear 8024 to rotate. The first gear meshes with the second gear 8023, which has a larger diameter. The second gear 8023 simultaneously drives the two third gears 8025. Each third gear has a drive tooth at its top to drive the active shaft 80111. Thus, when the propulsion motor rotates, the two sets of third gears can simultaneously drive the two sets of active shafts 80111. The drive shaft 80111 rotates in the same direction, which in turn drives the active friction wheel above it to rotate, thus rotating the active shaft 80111. The push rod connector 80210 is located around the drive wheel assembly and slides on a linear guide rail within the platform. The servo motor 8029 is installed inside the propulsion housing 8022. The rotation of the servo motor's shaft pushes the push rod connector 80210 to move along the linear guide rail, changing the clamping distance between the active friction wheel 801111 and the passive friction wheel bracket 8013. When the servo motor rotates, it can push the connector a certain distance, thereby opening the passive and active friction wheels. When the servo motor returns, the push rod connector 80210 returns to its original position under the action of the spring. One end of the spring is attached to the push rod connector, and the other end is attached to the propulsion housing and fixed with screws.

[0121] Photoelectric switch 8026 and probe 80211 are installed inside the platform to detect the open / closed state of the lid 8011 of the sterile catheter cassette 801. A spring beneath probe 80211 is used to spring it back up. Photoelectric switch 8026 and probe 80211 work together to detect whether the lid of the sterile catheter cassette is closed. When the lid is closed, probe 80211 is pressed down, and a baffle on the probe blocks photoelectric switch 8026, receiving a signal that the lid is closed. When the lid is open, the spring spring causes probe 80211 to spring back up, the baffle on the probe moves away from photoelectric switch 8026, and the system receives a signal that the lid is open.

[0122] See appendix Figure 18 The housing shaft 8028 is fixed to the rear of the propulsion housing 8022, and a bushing 8027 is fitted on it; the housing shaft 8028 is used to allow the catheter actuator 802 to rotate at a certain angle, which is convenient for doctors to position in clinical practice.

[0123] The catheter advancement mechanism 800 in this invention employs automatic initialization for ease of use by doctors. At the start of surgery, firstly, the sterile catheter box is installed onto the catheter actuator. Then, the position of the corresponding arm device is adjusted so that the front end of the sterile catheter box is positioned at the patient's external sheath exit point. Next, the lid of the sterile catheter box is opened, the guiding catheter or angiography catheter is placed in the catheter slot, the pivot at the front end of the sterile catheter box is rotated, and the lid is closed. Then, the procedure is performed remotely outside the operating room under remote control. After the procedure, the lid is opened, the catheter and the sterile catheter box are removed, and then disposed of properly.

[0124] Each catheter sterile box in this invention undergoes sterilization, and a new catheter sterile box is used for each surgery. The catheter sterile box is installed using a tool-free plug-and-play method; during use, the catheter sterile box is simply placed on the advancement device. After the surgery, the catheter sterile box is removed and collected uniformly.

[0125] The two sets of mating friction wheels inside the catheter sterile box prevent slippage during catheter insertion. The catheter sterile box has a flip-top cover; when the cover is opened, the insertion device automatically opens the friction wheels. After the catheter is installed, closing the cover automatically tightens the catheter.

[0126] The catheter propulsion mechanism 800 in this invention is specifically designed for catheter propulsion control in interventional surgical robots. It can be used in conjunction with the guidewire propulsion mechanism 900 to achieve automatic following motion. The entire catheter control device is located at the exit of the patient's outer sheath, resulting in higher control stability.

[0127] The catheter advancement mechanism 800 in this invention uses disposable consumables that are easy to install and remove to control catheter advancement, effectively solving the problem of cumbersome device disinfection in actual clinical practice.

[0128] The catheter advancement mechanism 800 of this invention has a simple overall structure, good stability, and adopts a modular approach, which facilitates assembly and debugging. The overall device is small in size, making it convenient for doctors to use.

[0129] The catheter propulsion mechanism 800 in this invention adopts an automatic clamping and opening structure for the catheter, which is very simple and convenient to use, easy to operate, and highly practical.

[0130] The catheter advancement mechanism 800 in this invention can place the catheter directly from top to bottom, which facilitates clinical operation and improves installation efficiency.

[0131] The guide wire propulsion mechanism 900 in this invention adopts the mechanism in the prior art. For details, please refer to the relevant parts of the guide wire propulsion mechanism 900 disclosed in patent number 2020111854379 (disinfection box, propulsion mechanism), and will not be described in too much detail here.

[0132] The entire device of this invention can move within the interventional surgical catheterization chamber, enabling control of the guidewire and catheter during surgery. The guidewire robot 200 and catheter robot 100 can move automatically, and a second camera 705 is installed in the head unit to observe the surrounding environment. Through machine learning, they can become familiar with the operating room environment and move more effectively. The guidewire robot 200 and catheter robot 100 can communicate wirelessly and cooperate with each other. During normal use, the guidewire robot 200 and catheter robot 100 move to one side of the catheter bed, with catheter robot 100 in front (patient's head facing forward, feet behind) and guidewire robot 200 behind, specifically at the Y-valve connector at the catheter's tail end. After initial positioning, the guide rail clamp 203 on the guidewire robot 200 is clamped onto the guide rail of the catheter bed. Then, the two robots extend their arms to place the guidewire 400 and catheter 300 onto the guidewire sterile box (corresponding to the sterilization box in patent number 2020111854379) and catheter sterile box 801, respectively, ensuring the catheters are as straight as possible. After placing the sterile boxes and the guidewire and catheter onto the robots, the doctor goes to the control room to operate the robots and complete the surgery. When controlling the catheter to move forward or backward, the guidewire robot 200 receives catheter movement distance information from the catheter robot 100 and automatically controls its wheels to move forward or backward a uniform distance, ensuring the guidewire robot 200 and the catheter's tail end remain relatively stationary at all times. When the catheter bed moves, the position sensor 202 on the guidewire robot 200 detects the direction and distance of movement. Then, after receiving this information, both robots synchronously perform the same actions as the catheter bed, with synchronized movement direction and distance. For example, as the catheter bed moves forward, the wheels of the guidewire robot 200 and the catheter robot 100 rotate forward synchronously; as the catheter bed moves left and right, the arms of the guidewire robot 200 and the catheter robot 100 extend and retract accordingly; as the catheter bed moves up and down, the arms of the guidewire robot 200 and the catheter robot 100 raise and lower accordingly. Through the coordinated movements of the two robots, excellent control of the catheter and guidewire can be achieved during the surgery, ensuring the catheter remains in a straight line at all times. The guidewire advancement mechanism 900 and the catheter advancement mechanism 800 work together to control the advancement and rotation of the guidewire and catheter. After the surgery, the sterile box is uniformly collected and disposed of, and the guidewire robot 200 and the catheter robot 100 automatically move to a corner of the operating room, without affecting the patient's getting on and off the bed or being transported.

[0133] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0134] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A split-type vascular interventional surgical robot, characterized in that, The device includes a catheter robot and a guidewire robot, which can communicate with each other and need to cooperate to complete surgical procedures. The catheter robot and the guidewire robot each include a base device, a torso device, a head and arm device, and a propulsion mechanism device. The base device in both the catheter robot and the guidewire robot includes a control and power supply device and a moving device. The control and power supply device supplies power to the system and serves as the control information processing center for the entire system. The moving device controls the movement of the entire robot. The control and power supply device and the moving device are mounted together on a base plate, and a column for supporting the torso device is installed at each of the four corners of the upper surface of the base plate. The torso device in both the catheter robot and the guidewire robot includes a support plate and a lifting device mounted on the support plate. The bottom of the support plate is connected to the top of the column. The lifting device is connected to the head and arm device and is used to raise or lower the height of the head and arm device. The head and arm devices in the catheter robot and the guidewire robot each include a head and arm device connecting plate and a head device and an arm device mounted on the head and arm device connecting plate. The head and arm device connecting plate is connected to the lifting device. The head unit serves as the system's observation and output end; the arm unit is used to support and extend the propulsion mechanism. The propulsion mechanism is divided into a catheter propulsion mechanism mounted on the catheter robot and a guidewire propulsion mechanism mounted on the guidewire robot; the arm device on the catheter robot is connected to the catheter propulsion mechanism, and the arm device on the guidewire robot is connected to the guidewire propulsion mechanism. The guidewire robot is also equipped with a position sensor device to detect the direction and distance of movement of the catheter bed, so that the two robots make the same movements and the two robots and the catheter bed panel remain relatively stationary.

2. The split-type vascular interventional surgical robot according to claim 1, characterized in that, The mobile device consists of four identical wheel assemblies. Each wheel assembly includes a wheel, a wheel connecting plate, a first servo motor, and a second servo motor. The wheel connecting plate is right-angled, and its lower vertical plate has a through hole. The first servo motor is fixed in the inner space of the wheel connecting plate, and its motor shaft passes through the through hole to connect with the wheel on the outer side of the lower vertical plate. The first servo motor controls the forward and backward movement of the wheel. A motor mounting hole is provided at each of the four corners of the base plate. The second servo motor is fixed in the corresponding motor mounting hole on the base plate, and its motor shaft passes through the motor mounting hole to connect with the upper horizontal plate of the wheel connecting plate. The second servo motor controls the steering of the wheel. When the system is in surgical mode, the mobile device will be temporarily locked in a direction parallel to the catheter bed.

3. The split-type vascular interventional surgical robot according to claim 2, characterized in that, The control and power supply equipment includes a drive unit, a host, a power supply, a transformer, and a switching power supply mounted on the base plate. The drive unit is used to drive each motor. The host is used to receive, store, and process information, and send instructions to each component. The host also has a Bluetooth module and a WiFi module installed. The power supply is used to power the entire system. The transformer and switching power supply are used to regulate and stabilize the system voltage.

4. The split-type vascular interventional surgical robot according to claim 3, characterized in that, Multiple sets of first cameras for detecting the surrounding environment are installed on the base plate.

5. The split-type vascular interventional surgical robot according to claim 1, characterized in that, The torso device in both the catheter robot and the guidewire robot also includes a torso support, which is fixed to the middle position of the upper surface of the support plate. The lifting device includes two sets of lifting device linear guide rails located on both sides of the support plate, with opposite positions and identical structures. Each set of lifting device linear guide rails is mounted on the support plate through a corresponding guide rail bracket, and the sliders that cooperate on the two sets of lifting device linear guide rails are respectively fixed to both sides of the torso bracket. The lifting device also includes two lifting device screw motors fixed to the support plate. The lower part of the torso support is provided with two threaded holes. The rotating shaft of the lifting device screw motor is engaged with the corresponding threaded hole on the torso support to drive the torso support to rise or fall. The top surface of the torso support is provided with a set of linear guide rails on both sides. The corresponding sliders on the two sets of linear guide rails support and connect the head and arm device connecting plate. A torso support screw motor is fixed in the middle of the top surface of the torso support. The rotating shaft of the torso support screw motor is engaged with the corresponding threaded hole on the bottom surface of the head and arm device connecting plate to realize the extension and retraction of the head and arm device, thereby realizing the extension and retraction of the arm.

6. A split-type vascular interventional surgical robot according to claim 5, characterized in that, The head unit includes a head unit shaft, a first head unit motor, a camera bracket, a second camera, a touch screen, and a second head unit motor. A circular groove is formed on the top surface of the head and arm unit connecting plate. The bottom end of the head unit shaft is mounted in the circular groove via a bearing. A circular support plate is fixed to the top end of the head unit shaft. The first head unit motor is fixed to the circular support plate via a first head unit motor bracket. The motor shaft of the first head unit motor is fixed to a circular hole below the camera bracket. The second camera and the touch screen are mounted on the camera bracket. The first head unit motor can control the vertical movement of the second camera and the touch screen on the head unit. The second head unit motor is fixed to the head and arm unit connecting plate via a second head unit motor bracket. A gear is fixed to the motor shaft of the second head unit motor, which meshes with the gear on the head unit shaft. The second head unit motor can control the horizontal rotation of the entire head unit. The arm device includes an arm device linear guide rail, an arm device lead screw motor, and a right-angle connecting plate. The arm device linear guide rail comprises two sets arranged in parallel, which are respectively installed on both sides of the top surface of the head and the arm device connecting plate, and are parallel to the linear guide rail of the torso support. Slider blocks corresponding to the two sets of arm device linear guide rails jointly support and connect the upper horizontal plate in the right-angle connecting plate. The arm device lead screw motor comprises two motors, which are respectively fixed to both sides of the top surface of the head and the arm device connecting plate via arm device lead screw motor brackets. The upper horizontal plate of the right-angle connecting plate has threaded holes on both sides. The rotating shaft of the arm device lead screw motor engages with the corresponding threaded holes on the right-angle connecting plate to achieve the extension and retraction of the right-angle connecting plate, thereby achieving the extension and retraction of the arm. The lower vertical plate of the right-angle connecting plate on the catheter robot is connected to the catheter propulsion mechanism, and the lower vertical plate of the right-angle connecting plate on the guidewire robot is connected to the guidewire propulsion mechanism.

7. A split-type vascular interventional surgical robot according to claim 6, characterized in that, The second camera is provided in two sets, which are respectively installed on both sides of the camera bracket, and the touch screen is located between the two sets of the second camera.

8. A split-type vascular interventional surgical robot according to claim 6, characterized in that, The right-angle connecting plate on the catheter robot is the first right-angle connecting plate, and the right-angle connecting plate on the guidewire robot is the second right-angle connecting plate; The lower vertical plate on the first right-angle connecting plate is located on the side close to the conduit, and there are two of them; one of the lower vertical plates of the first right-angle connecting plate has an electromagnet fixed at its lower end, and the lower end of the electromagnet is connected to an outer sheath clamp that can hold the outer sheath; the lower end of the other lower vertical plate of the first right-angle connecting plate is connected to the conduit pushing mechanism. The lower vertical plate on the second right-angle connecting plate is located on the side close to the guide wire, and there is one such plate; the lower end of the lower vertical plate of the second right-angle connecting plate is connected to the guide wire pushing mechanism.

9. A split-type vascular interventional surgical robot according to claim 8, characterized in that, The catheter propulsion mechanism includes a sterile catheter cartridge and a catheter actuator. An extension rod extends outward from one end of the sterile catheter box. A catheter installation groove is formed on the extension rod along its length. A rotating shaft is fitted on the outside of the extension rod. The rotating shaft is a circular ring with a groove on its outer wall along its length. Rotating the rotating shaft allows the groove to align with the catheter installation groove, enabling the installation of a catheter. The groove and the catheter installation groove are staggered to form a catheter limiting channel. The limiting channel is on the same straight line as the catheter channel inside the sterile catheter box. The catheter actuator is arranged vertically, with a platform extending from its front end. The sterile catheter box is located on the platform, and its bottom shell is magnetically connected to the platform. The lower end of the vertical plate of the first right-angle connecting plate is rotatably connected to the housing shaft on the outer wall of the conduit actuator.

10. A split-type vascular interventional surgical robot according to claim 1, characterized in that, The position sensor device includes a spring wire, a position sensor, and a guide rail clamp. The spring wire is used to extend the cable. The position sensor is used to detect the direction and distance of movement in space. The guide rail clamp is used to clamp onto the side guide rail of the guide bed. The guide rail clamp and the position sensor are fixed together, and the position sensor is connected to the spring wire.

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