A vascular interventional surgical robot

Abstract

This utility model relates to the field of vascular interventional surgery technology, specifically to a vascular interventional surgery robot. The vascular interventional surgery robot provided by this utility model includes at least two sets of clamping and pushing mechanisms. Each set of clamping and pushing mechanisms includes a movable gripper and an execution arm. The execution arm is used to drive the movable gripper to open or close, and also to drive the movable gripper to move. This utility model uses a fixed clamping mechanism on the worktable to hold the sheath, preventing it from moving erratically and affecting the insertion of the catheter and guidewire. When it is necessary to push the guidewire and catheter simultaneously, the two movable grippers clamp the catheter and guidewire respectively, and the two execution arms work simultaneously. One execution arm drives its corresponding movable gripper to clamp and push the catheter, and the other execution arm drives its corresponding movable gripper to clamp and push the guidewire. Thus, the guidewire and catheter can be pushed simultaneously, resulting in high operational precision and high surgical efficiency.

Description

Technical Field

[0001] This utility model relates to the field of vascular interventional surgery technology, specifically to a vascular interventional surgery robot. Background Technology

[0002] Interventional vascular surgery refers to the procedure in which doctors manipulate catheters to move within blood vessels under the guidance of a digital subtraction angiography (DSA) machine to treat lesions.

[0003] Currently, a common type of robot used in vascular interventional surgery includes a master control mechanism and a slave execution mechanism connected by a transmission. The slave execution mechanism has multiple sets of rollers along its length. Each set of rollers has a corresponding first roller and a second roller. The distance between the first roller and the second roller is adjustable. During operation, the catheter or guidewire is placed between the first roller and the second roller. The doctor in the control room can remotely control the rollers in the slave execution mechanism to clamp and push the catheter or guidewire by operating the master control mechanism. The slave execution mechanism in the operating room takes the place of the doctor in holding the catheter or guidewire and moves according to the motion information of the master control mechanism to achieve axial feeding and circumferential rotation of the catheter or guidewire.

[0004] The aforementioned vascular interventional surgical robots can only push guidewires or catheters independently, and cannot push them together during the operation. This makes it difficult to simulate the surgeon's movements, and it is also difficult to operate in some areas where guidewires and catheters need to advance simultaneously, resulting in low operational precision and low surgical efficiency. Utility Model Content

[0005] (I) The problem to be solved by this utility model is that the existing vascular interventional surgical robots can only push guide wires or catheters alone, and cannot push catheters and guide wires in coordination during the operation, so they cannot simulate the doctor's operation well, and are difficult to operate in some areas where guide wires and catheters need to advance together, resulting in low operation accuracy and low surgical efficiency.

[0006] (II) Technical Solution

[0007] This utility model provides a vascular interventional surgery robot for driving catheters and guidewires through sheaths and moving them within blood vessels. The vascular interventional surgery robot includes at least two sets of clamping and pushing mechanisms.

[0008] Each of the clamping and pushing mechanisms includes a movable gripper and an actuator arm;

[0009] The actuator arm is used to drive the movable gripper to open or close, and the actuator arm is also used to drive the movable gripper to move so that the multiple movable grippers cooperate to push the catheter and / or the guidewire;

[0010] The vascular interventional surgical robot also includes a worktable and a fixing and clamping mechanism;

[0011] The fixing and clamping mechanism is disposed on one side of the workbench, and the fixing and clamping mechanism is used to clamp the sheath tube.

[0012] According to one embodiment of the present invention, the actuator arm includes a working arm, a robotic arm, and a translation component;

[0013] The translation component has a fixed part, a moving part, and a driving part;

[0014] The output end of the robotic arm is connected to the fixed part and is used to drive the fixed part to rotate. The driving part is used to drive the moving part to slide along the length direction of the fixed part. The fixed end of the working arm is connected to the moving part. The movable gripper is connected to the working arm. The working arm is used to drive the movable gripper to open or close. The working arm is also used to drive the movable gripper to swing.

[0015] According to one embodiment of the present invention, the movable gripper includes two symmetrically arranged first claw plates, and an anti-slip structure is provided on the side of the two first claw plates that are close to each other.

[0016] According to one embodiment of the present invention, the fixing clamping mechanism includes a cylinder, a first telescopic rod, an annular block, a first rotating shaft, and a fixing claw, wherein the fixing claw includes two second claw plates;

[0017] The fixed end of the cylinder is connected to the worktable, and its pushing end is connected to the first telescopic rod. A fixed block is connected to the first telescopic rod, and the first rotating shaft is symmetrically connected to the fixed block. Each of the first rotating shafts is movably connected to the annular block by a spring. Each of the annular blocks is provided with a second claw plate. The two second claw plates cooperate to clamp the sheath.

[0018] According to one embodiment of the present invention, the clamping and pushing mechanism is provided in four sets.

[0019] According to one embodiment of the present invention, the vascular interventional surgical robot further includes a first connector, a second connector, a first linear module, and a second linear module;

[0020] The two robotic arms closest to the fixed clamping mechanism are connected to the first connecting member, and the other two robotic arms are connected to the second connecting member;

[0021] The first linear module is used to drive the first connector to move along the length direction of the worktable;

[0022] The second linear module is used to drive the second connector to slide along the length of the worktable.

[0023] According to one embodiment of the present invention, the workbench includes a top plate and a bottom plate connected to each other. The top plate has symmetrically formed receiving cavities on the side near the bottom plate, and the two receiving cavities have openings on the sides away from each other. The first linear module and the second linear module are respectively provided in the two receiving cavities.

[0024] According to one embodiment of the present invention, the first connecting member includes a first connecting plate, a first concave plate, and a first supporting plate. One side of the first connecting plate is connected to the output end of the first linear module, and the other side passes through the corresponding opening and is connected to the first concave plate. The robotic arm is connected to the first concave plate through the first supporting plate.

[0025] According to one embodiment of the present invention, the bottom of the workbench is provided with a guide member, the guide member including a first guide rail, a first guide block and a second guide block;

[0026] Both the first guide block and the second guide block are slidably connected to the first guide rail;

[0027] The first guide block is connected to the first connector, and the second guide block is connected to the second connector.

[0028] According to one embodiment of the present invention, the vascular interventional surgical robot further includes an adjustment frame, the worktable is connected to the adjustment frame, and the adjustment frame is used to move the worktable.

[0029] The beneficial effects of this utility model are:

[0030] By using a fixed clamping mechanism on the worktable to hold the sheath in place, it is prevented from moving around and affecting the insertion of the catheter and guidewire. When it is necessary to push the guidewire or catheter, the two movable jaws clamp the catheter or guidewire at the same time. The two actuators work alternately, so that the two movable jaws take turns clamping and pushing the catheter forward, or the two actuators work alternately, so that the two movable jaws take turns clamping and pushing the guidewire forward. This can better simulate the operation of a doctor when operating manually.

[0031] When it is necessary to push the guidewire and catheter simultaneously, the two movable jaws clamp the catheter and guidewire respectively, and the two actuators work at the same time. One actuator drives its corresponding movable jaw to clamp and push the catheter, and the other actuator drives its corresponding movable jaw to clamp and push the guidewire. This makes it easier to push the guidewire and catheter simultaneously in some areas where the guidewire and catheter need to advance together, resulting in high operational precision and high surgical efficiency. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 A perspective view of the vascular interventional surgical robot is provided for embodiments of this utility model;

[0034] Figure 2 A perspective view of the actuator arm, worktable, fixing and clamping mechanism, and clamping and pushing mechanism is provided for the embodiments of this utility model;

[0035] Figure 3 A perspective view of the robotic arm, workbench, first linear module, second linear module, and guide component provided for embodiments of this utility model;

[0036] Figure 4 A perspective view of the first connector, the second connector, the guide, and the worktable provided in the embodiments of this utility model;

[0037] Figure 5 This is a schematic diagram of the structure of the fixing and clamping mechanism provided in the embodiment of this utility model;

[0038] Figure 6 A perspective view of the working arm and movable gripper provided in an embodiment of this utility model;

[0039] Figure 7 Provided for the embodiments of this utility model Figure 6 Enlarged 3D view of part A.

[0040] Icons: 1. Movable gripper; 101. First gripper plate; 102. Anti-slip structure; 2. Working arm; 3. Robotic arm; 4. Translation component; 401. Fixing part; 402. Driving part; 5. Fixed clamping mechanism; 501. Cylinder; 502. First telescopic rod; 503. Ring block; 504. Second gripper plate; 505. First rotating shaft; 6. Worktable; 601. Top plate; 602. Bottom plate; 7. First connecting piece; 701. First connecting plate; 702. First concave plate; 703. First support plate; 8. Second connecting piece; 801. Second connecting plate; 802. Second concave plate; 803. Second support plate; 9. First linear module; 10. Second linear module; 11. First guide rail; 12. First guide block; 13. Second guide block; 14. Adjustment frame. Detailed Implementation

[0041] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0042] like Figures 1-7 As shown, one embodiment of the present invention provides a vascular interventional surgery robot for driving a catheter and guidewire through a sheath and moving them within a blood vessel. The diameter of the guidewire is smaller than the diameter of the catheter. The vascular interventional surgery robot includes at least two sets of clamping and pushing mechanisms.

[0043] Each clamping and pushing mechanism includes a movable gripper 1 and an actuator arm;

[0044] The actuator arm is used to drive the movable gripper 1 to open or close. The actuator arm is also used to drive the movable gripper 1 to move so that multiple movable grippers 1 cooperate to push the catheter and / or guidewire.

[0045] The vascular interventional surgery robot also includes a worktable 6 and a fixing and clamping mechanism 5;

[0046] The fixed clamping mechanism 5 is located on one side of the workbench 6 and is used to clamp the sheath tube.

[0047] By using the fixed clamping mechanism 5 on the workbench 6 to clamp the sheath, it is prevented from moving around and affecting the insertion of the catheter and guidewire. When it is necessary to push the guidewire or catheter, the two movable jaws 1 clamp the catheter or guidewire at the same time. The two actuators work alternately so that the two movable jaws 1 take turns clamping and pushing the catheter forward, or the two actuators work alternately so that the two movable jaws 1 take turns clamping and pushing the guidewire forward. This can better simulate the operation of a doctor when operating manually.

[0048] When it is necessary to push the guidewire and catheter simultaneously, the two movable jaws 1 clamp the catheter and guidewire respectively, and the two actuators work at the same time. One actuator drives its corresponding movable jaw 1 to clamp and push the catheter, and the other actuator drives its corresponding movable jaw 1 to clamp and push the guidewire. This makes it easier to push the guidewire and catheter simultaneously in some areas where the guidewire and catheter need to advance together. The operation is highly accurate and the surgical efficiency is high.

[0049] According to one embodiment of the present invention, such as Figure 1 As shown, the clamping and pushing mechanism also includes a working arm 2, a robotic arm 3, and a translation component 4;

[0050] The translation component 4 has a fixed part 401, a moving part, and a driving part 402. The driving part 402 is used to drive the moving part to slide along the length direction of the fixed part 401.

[0051] The output end of the robotic arm 3 is connected to the fixed part 401, and the fixed end of the working arm 2 is connected to the moving part.

[0052] The fixed part 401 is a strip frame, and the driving part 402 includes a first motor and a first lead screw. The moving part is slidably connected inside the strip frame and screwed to the first lead screw. When the first motor rotates, the moving part slides along the length of the strip frame under the combined action of the first lead screw and the strip frame. Since the fixed part 401 is connected to the robotic arm 3, the swing direction of the movable gripper 1 can be changed. Through the cooperation of the robotic arm 3 and the working arm 2, the guide tube or guide wire can perform circumferential rotation.

[0053] The robotic arm 3 is preferably a three-axis robotic arm. Of course, it can also be a five-axis robotic arm, a six-axis robotic arm, etc. The purpose of the robotic arm does not deviate from the design concept of this utility model and should be within the protection scope of this utility model.

[0054] The opening size of the movable gripper 1 refers to the angle formed between the two first gripper plates 101 of the movable gripper 1.

[0055] According to one embodiment of the present invention, such as Figure 7 As shown, the movable gripper 1 includes two symmetrically arranged first gripper plates 101, and an anti-slip structure 102 is provided on the side of the two first gripper plates 101 that are close to each other.

[0056] To prevent the catheter or guidewire from slipping on the contact surfaces of the two first claw plates 101 during transport, an anti-slip structure 102 is provided. The anti-slip structure 102 can be anti-slip teeth arranged in an array along the length of the first claw plates 101, or it can be an anti-slip pad laid flat on the clamping surface of the claws.

[0057] Furthermore, the vascular interventional surgery robot also includes an adjustment frame 14, on which the worktable 6 is connected, and the adjustment frame 14 is used to move the worktable 6.

[0058] Specifically, the adjustment frame 14 includes a movable base, a lifting rod, a second telescopic rod, and a connecting arm. The lifting rod is located on the top of the movable base, and the second telescopic rod is connected to the end of the lifting rod away from the movable base. A drive motor is installed on the pushing end of the second telescopic rod, and the output end of the drive motor is connected to the connecting arm. Preferably, the connecting arm is fixedly connected to the worktable 6. Optionally, a translation mechanism is provided between the connecting arm and the worktable 6, which enables the worktable 6 to translate relative to the connecting arm along its length direction. The translation mechanism can be a linear motor module.

[0059] The fixed clamping mechanism 5 includes a cylinder 501, a first telescopic rod 502, an annular block 503, a first rotating shaft 505, and a fixed gripper. The fixed gripper includes two opposing second gripper plates 504.

[0060] The fixed end of the cylinder 501 is connected to the worktable 6, and its pushing end is connected to the first telescopic rod 502. A fixed block is connected to the first telescopic rod 502, and a first rotating shaft 505 is symmetrically connected to the fixed block. Each first rotating shaft 505 is movably connected to an annular block 503 through a spring. Each annular block 503 is provided with a second claw plate 504. The two second claw plates 504 cooperate to clamp the sheath tube.

[0061] The extension and retraction direction of cylinder 501 is the same as the length direction of workbench 6, the extension and retraction direction of first telescopic rod 502 is perpendicular to the extension and retraction direction of cylinder 501, and both the extension and retraction directions of cylinder 501 and first telescopic rod 502 are parallel to the ground.

[0062] The vascular interventional surgery robot is located in the operating room, while the control panel is located in the control room. The surgeon operates the control levers on the control panel from the control room to make the vascular interventional surgery robot work. The vascular interventional surgery robot also includes an imaging system, which displays vascular images and real-time monitoring video of the movable gripper 1 to the surgeon, allowing the surgeon to understand the position information of the guidewire and catheter in the body, as well as the position and status information of each group. The working arm 2 can drive the movable gripper 1 to open, close, and swing; these are all existing technologies (refer to existing surgical robots), and will not be described in detail here.

[0063] The camera in the imaging system can have at least two installation methods, preferably, such as Figure 2 As shown, the second support plate 803 is provided with a sliding groove, in which a ball screw linear module is installed. The output end of the ball screw linear module is connected to a slide plate, on which a support rod is installed, and on which a camera is connected.

[0064] Optionally, the working arm 2 connected to the moving part of one of the clamping and pushing mechanisms can be disassembled and replaced with a camera, so that the camera can monitor the pushing process of the catheter and guidewire in real time. When the guidewire needs to be inserted into the catheter, it can clearly see whether the end of the guidewire is properly inserted into the catheter, thus realizing visual operation.

[0065] In actual use of this vascular interventional surgery robot, the patient first lies on the bed in the operating room. The adjustment frame 14 is moved to a suitable position, and the rollers at the bottom of the movable base are locked by the foot brake. The height of the worktable 6 is adjusted by the lifting rod, and the connecting arm is rotated by the drive motor to adjust the worktable 6 to a suitable position above the patient. The position of the fixing claw is adjusted by the cylinder 501 and the first telescopic rod 502. The fixing claw is manually opened, at which point the spring undergoes elastic deformation. The doctor places the sheath between the two second claw plates 504, releases the two second claw plates 504, and the spring returns to its original position, thus clamping and fixing the sheath in place. Figure 2 As shown, the end of the sheath is held by two second claw plates 504. The catheter and guidewire are placed on the worktable 6. The guidewire is inserted into the catheter, and one end of the catheter is inserted into the sheath. The doctor exits the operating room and enters the control room.

[0066] Of course, in this embodiment, the fixed clamping mechanism 5 can also be an electric gripper.

[0067] According to one embodiment of the present invention, the workbench 6 includes a top plate 601 and a bottom plate 602 connected to each other. The top plate 601 has symmetrically opened receiving cavities on the side near the bottom plate 602. The two receiving cavities each have an opening on the side away from each other. The two receiving cavities are respectively provided with a first linear module 9 and a second linear module 10. By placing the first linear module 9 and the second linear module 10 in the receiving cavities, it is possible to prevent them from contacting the patient during movement, thus avoiding safety hazards.

[0068] To facilitate heat dissipation of the first linear module 9 and the second linear module 10, multiple heat dissipation holes are provided on the base plate 602.

[0069] The vascular interventional surgery robot also includes a first connector 7 and a second connector 8.

[0070] Furthermore, the bottom of the worktable 6 is provided with guide members. The guide members enable the actuator arm to move more smoothly in a straight line. There are two guide members along the width direction of the worktable 6. Each guide member includes a first guide rail 11, a first guide block 12 and a second guide block 13.

[0071] The first guide block 12 and the second guide block 13 are both slidably connected to the first guide rail 11. The length direction of the first guide rail 11 is the same as the length direction of the worktable 6. The first guide rail 11 is fixed to the bottom of the top plate 601.

[0072] The first guide block 12 is connected to the first connector 7, and the second guide block 13 is connected to the second connector 8.

[0073] Specifically, the first connecting member 7 includes a first connecting plate 701, a first concave plate 702, and a first support plate 703. One side of the first connecting plate 701 is bolted to the output end of the first linear module 9, and the other side passes through a corresponding opening and is connected to the first concave plate 702 (e.g., ...). Figure 4 As shown, the first connecting plate 701 includes a circular plate, a strip plate, and a rectangular plate connected in sequence. The circular plate is bolted to the output end of the first linear module 9. The strip plate can slide within the opening. The rectangular plate is bolted to the first concave plate 702. The width direction of the first concave plate 702 is the same as the width direction of the worktable 6. The distance between the two opposite sidewalls in the concave surface of the first concave plate 702 is greater than the width of the base plate 602. The two ends of the first concave plate 702 are respectively connected to the first guide block 12. The two sides of the first concave plate 702 are connected to the first support plate 703. Each robotic arm 3 is fixedly connected to the first concave plate 702 through the corresponding first support plate 703.

[0074] The second connecting member 8 includes a second connecting plate 801, a second concave plate 802, and a second support plate 803. The second connecting plate 801 is connected to the output end of the second linear module 10. The second connecting plate 801 is connected to the second support plate 803 through the second concave plate 802. Two robotic arms 3 are connected to the second support plate 803. The two ends of the second concave plate 802 are respectively connected to the second guide block 13.

[0075] According to one embodiment of the present invention, the vascular interventional surgical robot includes a first linear module 9 and a second linear module 10;

[0076] The clamping and pushing mechanism is provided in four sets;

[0077] The two robotic arms 3 closest to the fixed clamping mechanism 5 are connected to the first connecting member 7, and the other two robotic arms 3 are connected to the second connecting member 8;

[0078] The first linear module 9 is used to drive the first connector 7 to move along the length of the worktable 6;

[0079] The second linear module 10 is used to drive the second connector 8 to slide along the length of the worktable 6.

[0080] The first linear module 9 drives the two robotic arms 3 near the fixed clamping mechanism 5 to move through the first connector 7, thereby extending the movement range of the corresponding two movable grippers 1. Similarly, the second linear module 10 drives the other two robotic arms 3 to move through the second connector 8, thereby extending the movement range of the other two movable grippers 1.

[0081] The first linear module 9 includes a second lead screw, a second motor, and a moving block. The moving block is screwed to the second lead screw and slidably connected in the receiving cavity. The output end of the second motor is connected to the second lead screw, and the fixed end of the second motor is connected to the receiving cavity. The rotation of the second motor drives the second lead screw to rotate, thereby causing the moving block to slide along the length direction of the receiving cavity, i.e., along the length direction of the worktable 6, under the combined action of the second lead screw and the receiving cavity. The moving block is the output end of the first linear module 9. The moving block then drives the first connecting plate 701 connected to it to move, thereby causing the corresponding clamping and pushing mechanism to move as a whole.

[0082] The first linear module 9 can also take other forms, such as an electric actuator, etc., but its purpose does not deviate from the design concept of this utility model. Therefore, it should fall within the protection scope of this utility model.

[0083] The structure of the second linear module 10 is the same as that of the first linear module 9, and the connection relationship between the first connector 7 and the first linear module 9 is also the same as that between the second connector 8 and the second linear module 10, which will not be elaborated further.

[0084] In traditional vascular interventional surgical robots, surgeons often need to manually insert catheters or guidewires into the actuator to pass them through the sheath and reach the lesion. Therefore, when guidewires or catheters need to be replaced, surgeons must re-enter the operating room, requiring significant manual intervention. In this embodiment, however, the multiple movable grippers 1 can individually grasp and replace catheters or guidewires placed on the shelf or worktable 6 without manual operation. Furthermore, the second linear module 10 extends the range of motion of the two movable grippers 1 at the rear, allowing for normal retrieval even from a distance.

[0085] Specifically, for ease of description, the two movable grippers 1 in the clamping and pushing mechanism located on the first connecting member 7 are designated as the first gripper and the second gripper, and the two actuating arms are designated as the first actuating arm and the second actuating arm. The first actuating arm corresponds to the first gripper, and the second actuating arm corresponds to the second gripper. Similarly, the two movable grippers 1 in the clamping and pushing mechanism located on the second connecting member 8 are designated as the third gripper and the fourth gripper, and the two actuating arms are designated as the third actuating arm and the fourth actuating arm. The third actuating arm corresponds to the third gripper, and the fourth actuating arm corresponds to the fourth gripper. Along the length of the worktable 6, the first gripper, the second gripper, the third gripper, and the fourth gripper are arranged sequentially.

[0086] Specifically, when it is necessary to push the catheter, the first and second grippers simulate the doctor's left and right hand movements, and the specific steps are as follows:

[0087] Step 1: The first gripper grips the conduit under the action of the first actuator arm. At this time, the second gripper does not grip the conduit, and the first gripper pushes forward once.

[0088] Step 2: After the second gripper clamps the tube under the action of the second actuator arm, the first gripper releases the tube, and then the second gripper pushes the tube forward once under the action of the second actuator arm.

[0089] Repeat the above steps, alternately pushing the catheter forward.

[0090] When it is necessary to advance the guidewire, the third and fourth grippers simulate the doctor's left and right hand movements, and the specific steps are as follows:

[0091] Step 1: The third gripper grips the guide wire under the action of the third actuator arm. At this time, the fourth gripper does not grip the guide wire, and the third gripper pushes forward once.

[0092] Step 2: After the fourth gripper clamps the guide wire under the drive of the fourth actuator arm, the third gripper releases the guide wire, and then the fourth gripper pushes the guide wire forward once under the drive of the fourth actuator arm.

[0093] Repeat the above steps, alternately pushing the guidewire forward.

[0094] When guidewire replacement is needed, the first or second clamp holds the catheter tip in place above the worktable 6. The third and fourth clamps push in opposite directions to remove the guidewire. The second linear module 10 moves the third and fourth clamps to retrieve the new guidewire from the shelf and place it on the worktable 6. The third and fourth clamps then move to the tip of the guidewire, and, in cooperation, insert the guidewire from the catheter tip and push it to the designated position. During this process, the doctor can observe the guidewire insertion through the camera feed to ensure it is inserted correctly.

[0095] In the description of this utility model, it should be noted that the terms "upper" and "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model 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 utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0096] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0097] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A vascular interventional surgical robot for moving a catheter and guidewire through a sheath within a blood vessel, characterized in that, Includes at least two sets of clamping and pushing mechanisms; Each of the clamping and pushing mechanisms includes a movable gripper (1) and an actuating arm; The actuator arm is used to drive the movable gripper (1) to open or close. The actuator arm is also used to drive the movable gripper (1) to move so that the plurality of movable grippers (1) cooperate to push the catheter and / or the guidewire. The vascular interventional surgical robot also includes a worktable (6) and a fixing and clamping mechanism (5); The fixing clamping mechanism (5) is disposed on one side of the workbench (6), and the fixing clamping mechanism (5) is used to clamp the sheath tube.

2. The vascular interventional surgical robot according to claim 1, characterized in that, The actuator arm includes a working arm (2), a robotic arm (3), and a translation component (4); The translation component (4) has a fixed part (401), a moving part, and a driving part (402); The output end of the robotic arm (3) is connected to the fixed part (401) and is used to drive the fixed part (401) to rotate. The driving part (402) is used to drive the moving part to slide along the length direction of the fixed part (401). The fixed end of the working arm (2) is connected to the moving part. The movable gripper (1) is connected to the working arm (2). The working arm (2) is used to drive the movable gripper (1) to open or close. The working arm (2) is also used to drive the movable gripper (1) to swing.

3. The vascular interventional surgical robot according to claim 1, characterized in that, The movable gripper (1) includes two symmetrically arranged first gripper plates (101), and an anti-slip structure (102) is provided on the side of the two first gripper plates (101) that are close to each other.

4. The vascular interventional surgical robot according to claim 2, characterized in that, The fixed clamping mechanism (5) includes a cylinder (501), a first telescopic rod (502), an annular block (503), a first rotating shaft (505), and a fixed gripper, wherein the fixed gripper includes two second gripper plates (504); The fixed end of the cylinder (501) is connected to the worktable (6), and its pushing end is connected to the first telescopic rod (502). A fixed block is connected to the first telescopic rod (502), and the first rotating shaft (505) is symmetrically connected to the fixed block. Each of the first rotating shafts (505) is movably connected to the annular block (503) by a spring. Each of the annular blocks (503) is provided with a second claw plate (504). The two second claw plates (504) cooperate to clamp the sheath tube.

5. A vascular interventional surgical robot according to claim 2, characterized in that, The clamping and pushing mechanism is provided in four sets.

6. The vascular interventional surgical robot according to claim 5, characterized in that, The vascular interventional surgical robot also includes a first connector (7), a second connector (8), a first linear module (9), and a second linear module (10); The two robotic arms (3) closest to the fixed clamping mechanism (5) are connected to the first connector (7), and the other two robotic arms (3) are connected to the second connector (8); The first linear module (9) is used to drive the first connector (7) to move along the length direction of the worktable (6); The second linear module (10) is used to drive the second connector (8) to slide along the length direction of the worktable (6).

7. A vascular interventional surgical robot according to claim 6, characterized in that, The workbench (6) includes a top plate (601) and a bottom plate (602) connected to each other. The top plate (601) has symmetrically opened receiving cavities on the side close to the bottom plate (602). The two receiving cavities have openings on the side away from each other. The first linear module (9) and the second linear module (10) are respectively provided in the two receiving cavities.

8. The vascular interventional surgical robot according to claim 7, characterized in that, The first connector (7) includes a first connecting plate (701), a first concave plate (702), and a first support plate (703). One side of the first connecting plate (701) is connected to the output end of the first linear module (9), and the other side passes through the corresponding opening and is connected to the first concave plate (702). The robotic arm (3) is connected to the first concave plate (702) through the first support plate (703).

9. A vascular interventional surgical robot according to claim 6, characterized in that, The bottom of the workbench (6) is provided with a guide, which includes a first guide rail (11), a first guide block (12), and a second guide block (13); The first guide block (12) and the second guide block (13) are both slidably connected to the first guide rail (11); The first guide block (12) is connected to the first connector (7), and the second guide block (13) is connected to the second connector (8).

10. A vascular interventional surgical robot according to claim 4, characterized in that, The vascular interventional surgical robot also includes an adjustment frame (14), and the worktable (6) is connected to the adjustment frame (14). The adjustment frame (14) is used to move the worktable (6).

Images