Interventional surgery robot catheter guidewire advancement device

Abstract

The present invention relates to an interventional surgical robot catheter guidewire advancing device, comprising a housing, the bottom of which has an opening, an installation space formed therein, and the top of which is magnetically connected to a sterile box; a guidewire driving mechanism, a catheter driving mechanism, and a detection mechanism are all connected in the installation space, and are all electrically connected to a controller; wherein a detection rod of the detection mechanism can extend out of the top of the housing, and the opening and closing states of the upper cover of the sterile box change the extension amount of the detection rod; the controller controls the guidewire driving mechanism to drive the guidewire driving assembly in the sterile box to advance and rotate the guidewire according to the extension amount signal of the detection rod, and the catheter driving mechanism drives the catheter driving assembly to advance the catheter. The controller controls the guidewire driving mechanism and the catheter driving mechanism to push the guidewire and the catheter into a specified position in the patient's body, so as to achieve the purpose that the catheter and the guidewire can be controlled at the same time; the guidewire is prevented from slipping, the structure is compact, the volume is small, the mechanical structure is stable, and the use requirements of the interventional surgery are met.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgery, and more particularly to a catheter guidewire propulsion device for an interventional surgery robot. Background Art

[0002] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operations, it has obvious advantages such as small incisions and short postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery is a process in which doctors manually insert catheters, guidewires, stents and other instruments into the patient's body to complete the treatment. There are two problems with interventional surgery. First, during the operation, since DSA will emit X-rays, the doctor's physical strength will decline rapidly, and his attention and stability will also decline, which will lead to a decrease in operation accuracy, and it is easy to cause accidents such as vascular intimal damage and vascular perforation and rupture caused by improper pushing force, which will endanger the patient's life. Secondly, the cumulative damage of long-term ionizing radiation will greatly increase the doctor's chance of suffering from leukemia, cancer and acute cataracts. The phenomenon that doctors continue to accumulate radiation because of interventional surgery has become a problem that cannot be ignored in damaging the doctor's professional life and restricting the development of interventional surgery. Therefore, by using robot technology, this problem can be effectively addressed, and the accuracy and stability of surgical operations can be greatly improved. At the same time, it can effectively reduce the damage of radiation to interventional doctors and reduce the probability of intraoperative accidents. Therefore, cardiovascular and cerebrovascular interventional surgery assisting robots are attracting more and more attention and are gradually becoming the key research and development target in the field of medical robots in today's technological powers.

[0003] However, there are currently the following problems with interventional surgical robots in China: they are unable to simultaneously advance and rotate the guidewire, an operation that is very practical in actual surgery; the robot is prone to slipping during the guidewire advancement process, affecting the surgical effect.

[0004] Therefore, how to provide a catheter guidewire advancement device for an interventional surgery robot is an urgent problem that those skilled in the art need to solve. Summary of the invention

[0005] The present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.

[0006] To this end, an object of the present invention is to provide a catheter guidewire advancement device for an interventional surgery robot to solve the problem of simultaneous advancement of the catheter and guidewire of the interventional surgery robot and meet the requirements for the use of catheters and guidewires in interventional surgery.

[0007] The present invention provides a catheter guidewire advancing device for an interventional surgery robot, comprising:

[0008] A shell, the bottom of which is open, forming an installation space inside, and the top of which is magnetically connected to the sterile box;

[0009] The guidewire drive mechanism, the catheter drive mechanism and the detection mechanism are all connected in the installation space and are all electrically connected to the controller;

[0010] The detection rod of the detection mechanism can be extended from the top of the shell, and the opening and closing states of the upper cover of the sterile box change the extension amount of the detection rod; the controller controls the guide wire driving mechanism to drive the guide wire driving assembly in the sterile box to advance and rotate the guide wire, and the catheter driving mechanism to drive the catheter driving assembly to advance the catheter according to the extension amount signal of the detection rod.

[0011] It can be known from the above technical solutions that, compared with the prior art, the present invention discloses a catheter guidewire propulsion device for an interventional surgery robot, which is used to control the forward pushing and backward withdrawal of the catheter and the guidewire during interventional surgery, as well as the rotation control of the guidewire. Through the opening and closing states of the upper cover of the sterile box, the detection mechanism feeds back the information of the extension amount of the detection rod to the controller, and the controller can control the guidewire drive mechanism and the catheter drive mechanism to push the guidewire and the catheter into the designated position in the patient's body through the doctor's operating handle outside the operating room, so as to achieve the purpose of simultaneous control of the catheter and the guidewire; thereby achieving the purpose of interventional surgery treatment and avoiding the risk of doctors being injured by X-rays.

[0012] Furthermore, the top shape of the shell is adapted to the sterile box, including a bottom shell and a top shell arranged on the top of the bottom shell and connected to the inner cavity; the bottom of the bottom shell is open, and its top is magnetically connected to the sterile box, and the detection rod can extend from the top of the bottom shell.

[0013] Furthermore, the guide wire driving mechanism includes a guide wire clamping and twisting assembly, a guide wire advancing assembly, an electromagnet and a sliding group; the guide wire clamping and twisting assembly is slidably connected to the inner wall of the bottom shell through the sliding group; the guide wire advancing assembly is connected to the guide wire clamping and twisting assembly, and its top is connected to the electromagnet through a magnet connector, and the electromagnet drives the guide wire driving assembly in the sterile box to advance and rotate the guide wire; part of the electromagnet moves in the top shell. The electromagnet moving in the top shell absorbs the movable block in the sterile box, and the electromagnet moving on the top of the bottom shell absorbs the movable block at the bottom of the sterile box to achieve the advancement and rotation control of the guide wire.

[0014] Among them, the electromagnet in the top shell can be fixed on the sliding group through a magnet connector; the magnet connector can be a square tube with multiple mounting holes, the bottom of the square tube is fixed to the sliding group, the electromagnet is fixed on one side, a polytetrafluoro patch is attached to the surface opposite to the electromagnet mounting surface, and a hook is provided in the middle of the back of the square tube for connecting the tension spring. On the rear side of the square tube, there is a right-angle connector of the cam group, and bearings are installed at both ends of the cam group.

[0015] Furthermore, the guide wire propulsion assembly includes a first connecting plate, a gear transmission group, a connecting rod group, a propulsion slide rail, a propulsion block and a propulsion motor; the first connecting plate can slide on the inner wall of the bottom shell through the sliding group; the gear transmission group is arranged on the first connecting plate, and converts its rotational motion into reciprocating linear motion of the connecting rod group connected thereto; the connecting rod group is connected to the propulsion block, and drives the propulsion block to slide on the propulsion slide rail, and the propulsion slide rail is fixed on the first connecting plate; the electromagnet is connected to the propulsion block through a connecting piece; the propulsion motor is vertically fixed to the bottom of the first connecting plate and is electrically connected to the controller; it also includes a first distance measuring part, the first distance measuring part includes a first capacitive grid sensor and a first fixed grid scale; the first fixed grid scale is fixed on the propulsion block, and the first capacitive grid sensor is fixed on the first connecting plate corresponding to the first fixed grid scale; the first capacitive grid sensor is electrically connected to the controller.

[0016] One end of the cam group is connected to the gear transmission group, and the gear can drive the cam group to rotate. Under the action of the tension spring, the polytetrafluoroethylene patch and the cam are tightly attached together. Since the polytetrafluoroethylene material has the self-lubricating property, the square tube can slide on the cam. The cams are grouped in pairs, and the square tube can slide back and forth on the two cams.

[0017] Furthermore, the gear transmission group includes a first bevel gear, a second bevel gear, a third bevel gear, a short-handled spur gear and a long-handled spur gear fixed on the connecting plate gear frame; the first bevel gear is connected to the output shaft of the propulsion motor, the second bevel gear is arranged vertically with the first bevel gear, and meshes for transmission; the third bevel gear and the long-handled spur gear are respectively meshed with the second bevel gear, and are arranged vertically and coaxially with the axis of the second bevel gear; the short-handled spur gear and the long-handled spur gear are meshed for transmission; the long-handled spur gear and the short-handled spur gear both have eccentric bosses with a certain angle difference; the connecting rod group includes a short-handled connecting rod connected to the boss of the short-handled spur gear, and a long-handled connecting rod connected to the boss of the long-handled spur gear; the short-handled connecting rod and the long-handled connecting rod are respectively connected to two groups of propulsion sliders, and the two groups of propulsion sliders are moved in different directions along the propulsion slide rail to realize the propulsion of the guide wire.

[0018] Since the bosses at the front ends of the long-shank spur gear and the short-shank spur gear are eccentric, when the propulsion motor rotates, the long-shank spur gear and the short-shank spur gear are driven to rotate simultaneously through gear transmission, and the two sets of sliders are moved left and right in the horizontal direction through the short-shank connecting rod and the long-shank connecting rod. The initial installation position of the bosses on the long-shank spur gear and the short-shank spur gear is that the two are on the same horizontal plane, and the distance between the bosses of the two is the farthest (that is, a certain angle difference), wherein the long-shank spur gear and the short-shank spur gear have the same number of teeth, and at this time, the first set of cams in the cam group connected to the wheel shaft of the second bevel gear (including two sets of cams with an installation angle difference of 180°, each set including two cams) can be set to the initial 0 degree at the contact point of the square tube. Due to the above-mentioned angle difference between the bosses of the long-shank spur gear and the short-shank spur gear, the propulsion motor can drive the movement of the two sets of propulsion sliders to be always opposite, that is, one moves to the left and the other moves to the right, thereby simulating the process of the doctor's hands alternately pushing the guide wire.

[0019] The first distance measuring part affixes the fixed scale to the slider with double-sided tape, and fixes the first capacitive sensor to the first connecting plate through four short copper pillars, so that the capacitive sensor can slide on the fixed scale. When the guide wire is pushed, the moving distance of the left slider can be measured, and the cumulative moving distance of the guide wire can be measured by taking the absolute value superposition method of the sensor.

[0020] Furthermore, the guide wire clamping and twisting assembly includes a guide wire rolling mechanism and a guide wire clamping mechanism; the guide wire rolling mechanism and the guide wire clamping mechanism can slide in the bottom shell through a sliding group and are electrically connected to the controller.

[0021] Furthermore, the guide wire clamping mechanism includes a first clamping screw stepping motor, a second clamping screw stepping motor, and a first micro linear guide rail and a second micro linear guide rail fixed in parallel to both sides of the inner wall of the bottom shell;

[0022] A first slider is installed on the first micro linear guide, and a second slider is installed on the second micro linear guide; a left right-angle plate is installed on the first slider, and a right right-angle plate is installed on the second slider; both the left right-angle plate and the right right-angle plate are provided with through holes for installing nut, the output shafts of the first clamping screw stepper motor and the second clamping screw stepper motor are assembled and connected with the corresponding nut, and the first clamping screw stepper motor and the second clamping screw stepper motor are respectively fixed to the bottom shell through the first motor connecting member and the second motor connecting member; the left right-angle plate and the right right-angle plate are connected together through the first connecting plate; the wire guide clamping mechanism can realize the overall forward and backward movement through the first clamping screw stepper motor and the second clamping screw stepper motor;

[0023] The wire guide rubbing mechanism includes a rear plate lead screw stepper motor, a front plate lead screw stepper motor and a second connecting plate; a third micro linear guide and a fourth micro linear guide are respectively fixed in parallel on two opposite surfaces of the left right angle plate and the right right angle plate, the third micro linear guide and the fourth micro linear guide are perpendicular to the first micro linear guide and the second micro linear guide, a third slider is installed on the third micro linear guide, and a fourth slider is installed on the fourth micro linear guide, and the first connecting plate is fixed between the third slider and the fourth slider; a through hole for installing a nut is provided on the first connecting plate, and the output shaft of the rear plate lead screw stepper motor is assembled and connected with the nut; the rear plate lead screw stepper motor is slidably connected to the inner wall of the bottom shell in a direction parallel to the first micro linear guide and the second micro linear guide, so as to realize its forward and backward movement following the wire guide clamping mechanism; the first connecting plate and the clamping wire guide component installed thereon can be moved up and down by the rear plate lead screw stepper motor;

[0024] A fifth micro linear guide and a sixth micro linear guide are also fixed in parallel on the inner wall of the bottom shell, a fifth slider is installed on the fifth micro linear guide, and a sixth slider is installed on the sixth micro linear guide; a second connecting plate is fixed on the fifth slider and the sixth slider, the second connecting plate is provided with a through hole for installing a nut, and the output shaft of the front plate lead screw stepper motor is assembled and connected with the nut; the front plate lead screw stepper motor is fixed to the bottom shell through a third motor connector; the second connecting plate and the clamping wire guide component installed thereon can be moved up and down by the front plate lead screw stepper motor;

[0025] The above-mentioned screw motors are all electrically connected to the controller.

[0026] Preferably, a second capacitive grid sensor is installed on the left right angle plate, and a second fixed grid ruler matching the second capacitive grid sensor is installed at the corresponding position of the bottom shell to measure the forward and backward movement distance of the wire clamping mechanism. The first clamping screw stepper motor and the second clamping screw stepper motor can accurately control the forward and backward movement distance of the wire clamping mechanism, and the first capacitive grid sensor and the first fixed grid for distance measurement can accurately know the clamping degree of the wire.

[0027] Preferably, the first micro linear guide and the second micro linear guide are also respectively installed with limit switches for determining the initial position and the extreme position of the forward and backward movement.

[0028] Preferably, a third fixed scale is installed on the second connecting plate, and a third capacitive grid sensor matching the third fixed scale is installed at the corresponding position of the left right angle plate to measure the up and down movement distance of the second connecting plate. The third capacitive grid sensor cooperates with the third fixed scale to accurately measure the up and down movement distance of the second connecting plate, so as to calculate the angle of rotation of the guide wire.

[0029] Preferably, a fourth capacitive sensor is installed on the first connecting plate, and a fourth fixed scale matching the fourth capacitive sensor is installed at a corresponding position of the bottom shell to measure the up and down movement distance of the first connecting plate.

[0030] Furthermore, it also includes connecting parts, which include a first group of connecting parts and a second group of connecting parts; the first group of connecting parts is fixed on the push rail, and the second group of connecting parts is fixed on the electromagnet push slider on the second connecting plate to cooperate with the first group of connecting parts. The first group of connecting parts is installed between the push slider and the square tube, and the second group of connecting parts is installed between another push slider and another square tube. The first capacitive sensor is fixed to the bottom of the first group of connecting parts; wherein the first group of connecting parts is a plug-in connector or a plug-in slot; the second group of connecting parts corresponds to a plug-in slot or a plug-in connector; the problem that the first connecting plate side and the second connecting plate side are not well matched during the reciprocating motion of the existing interventional surgical robot, which affects the normal motion, is solved, thereby facilitating clinical use.

[0031] Furthermore, the catheter driving mechanism includes: a catheter device bracket, a catheter control motor, a motor connecting rod, a steering gear, a steering gear lever, a catheter friction wheel guide rail, a catheter friction wheel slider and a catheter friction wheel connecting piece; the catheter control motor is fixed to a side of the bottom shell close to the second connecting plate through the catheter device bracket, the motor connecting rod is sleeved on the catheter control motor output shaft, and is meshed with the bottom gear of the catheter active friction wheel for driving; the steering gear is fixed to a position close to the catheter control motor in the bottom shell through the bracket, and a steering gear lever is sleeved on its output shaft; the catheter friction wheel guide rail is fixed to the bottom shell through the connecting plate, the catheter friction wheel slider can slide on the catheter friction wheel guide rail, the catheter friction wheel connecting piece is fixed on the catheter friction wheel slider, and the catheter driven friction wheel is connected to the catheter friction wheel connecting piece; and the steering gear lever can move the catheter friction wheel connecting piece to slide along the catheter friction wheel guide rail to change the fitting state between the catheter driven friction wheel and the catheter active friction wheel; wherein a return spring is connected between the connecting plate and the catheter friction wheel connecting piece.

[0032] When receiving the signal that the lid of the sterile box is opened, the servo will take action and rotate 60 degrees so that the servo lever can push open the catheter friction wheel connector. Since the catheter driven friction wheel is inside the convex rod of the catheter friction wheel connector, the catheter driven friction wheel and the catheter active friction wheel are separated by a small section, thereby completing the action of opening the catheter. When the lid of the sterilization box is closed, the servo can get the signal, the servo rotates to 0 degrees, the servo lever and the catheter friction wheel connector are separated, and under the action of the tension spring, the catheter friction wheel connector moves back to its original position, the catheter driven friction wheel and the catheter active friction wheel fit together, and the two return to the clamped state.

[0033] Furthermore, the detection mechanism includes a fixing ring, a supporting spring and a photoelectric switch; the fixing ring is fixed to the other side of the bottom shell near the second connecting plate, the detection rod is inserted into the fixing ring, and the connection is sleeved with a supporting spring so that the top of the detection rod extends out of the top of the bottom shell in a free state; the detection rod has a convex block in the middle, and a photoelectric switch electrically connected to the controller is provided at the corresponding detection rod on the bottom shell, and the convex block can be inserted into the card slot of the photoelectric switch downward to transmit the closing signal of the upper cover of the sterile box. The detection mechanism is used to detect whether the lid of the sterile box above is opened. According to the clinical needs of interventional surgery, when the lid of the sterile box is opened, the clamp of the catheter needs to be opened to facilitate the doctor to replace the guide wire and other operations; when the lid of the sterilization box is closed, the clamp of the catheter needs to tighten the catheter so that the catheter can be pushed into or withdrawn from the blood vessel.

[0034] The fixing ring is fixed on the bottom shell, the detection rod passes through the inner hole of the fixing ring, and the support spring is sleeved on the outer tube of the fixing ring. Under the action of the support spring, when there is no external force, the detection rod always remains in a pop-up state. The photoelectric switch is fixed at the corresponding position of the bottom shell. When the lid is closed, the detection rod is pressed down to block the photoelectric switch. When the lid is opened, the detection rod pops up and the photoelectric switch is in a disconnected state. This is used to determine whether the lid of the disinfection box is open. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the structure of a catheter guidewire advancing device for an interventional surgery robot provided by the present invention;

[0037] Figure 2 A schematic diagram of the structure of the catheter guidewire propulsion device for the interventional surgery robot provided by the present invention (the housing is not shown);

[0038] Figure 3 A schematic structural diagram of a guidewire advancing assembly of a catheter guidewire advancing device for an interventional surgery robot provided by the present invention;

[0039] Figure 4 for Figure 3 Exploded diagram of

[0040] Figure 5 A schematic diagram of the structure of a guidewire clamping and twisting assembly of a guidewire propulsion device for a catheter of an interventional surgery robot provided by the present invention;

[0041] Figure 6 for Figure 5 Exploded view of the middle part;

[0042] Figure 7 for Figure 5 Exploded view of the middle part;

[0043] Figure 8 An exploded view of the catheter drive mechanism of the catheter guidewire propulsion device of the interventional surgery robot provided by the present invention;

[0044] Fig. 9 An exploded view of the detection mechanism of the catheter guidewire propulsion device of the interventional surgery robot provided by the present invention;

[0045] In the figure: 100-housing, 101-bottom shell, 102-top shell, 200-guide wire driving mechanism, 202-guide wire advancing assembly, 2021-first connecting plate, 2022-gear transmission group, 20221-connecting plate gear frame, 20222-first bevel gear, 20223-second bevel gear, 20224-third bevel gear, 20225-short handle spur gear, 20226-long handle spur gear, 2023-connecting rod group, 20231-short handle connecting rod, 2023 2-long handle connecting rod, 2024-advance slide rail, 2025-advance slider, 2026-advance motor, 203-electromagnet, 205-connector, 206-first capacitive sensor, 300-guide wire clamping and rubbing assembly, 301-first clamping screw stepper motor, 302-second clamping screw stepper motor, 303-first micro linear guide rail, 304-second micro linear guide rail, 305-first slider, 306-second slider, 307-left right angle plate, 308 -Right right angle plate, 309-nut, 310-first motor connector, 311-second motor connector, 312-rear plate lead screw stepper motor, 313-rear plate lead screw stepper motor, 314-second connecting plate, 316-third micro linear guide, 317-fourth micro linear guide, 318-third slider, 319-fourth slider, 320-fifth micro linear guide, 321-sixth micro linear guide, 322-fifth slider, 323-sixth slider, 324 - the third motor connecting piece, 400 - detection mechanism, 401 - detection rod, 4011 - bump, 402 - fixing ring, 403 - support spring, 404 - photoelectric switch, 500 - catheter driving mechanism, 501 - catheter device bracket, 502 - catheter control motor, 503 - motor connecting rod, 504 - servo, 505 - servo lever, 506 - catheter friction wheel guide rail, 507 - catheter friction wheel slider, 508 - catheter friction wheel connecting piece, 509 - return spring. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0049] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0051] The embodiment of the present invention discloses a catheter guidewire advancing device for an interventional surgery robot, which solves the problem of simultaneously advancing the catheter and guidewire of the interventional surgery robot and meets the use requirements of the catheter and guidewire in interventional surgery.

[0052] See attached Figure 1-9 The present invention provides an interventional surgical robot catheter guidewire advancement device, comprising:

[0053] The housing 100 has an opening at the bottom, forming an installation space therein, and a top thereof is magnetically connected to the sterile box;

[0054] The guidewire driving mechanism 200, the catheter driving mechanism 500 and the detection mechanism 400 are all connected in the installation space and are all electrically connected to the controller;

[0055] The detection rod 401 of the detection mechanism 400 can be extended from the top of the shell 100, and the opening and closing states of the upper cover of the sterile box change the extension amount of the detection rod 401; the controller controls the guide wire driving mechanism 200 to drive the guide wire driving assembly in the sterile box to advance and rotate the guide wire, and the catheter driving mechanism 500 to drive the catheter driving assembly to advance the catheter according to the extension amount signal of the detection rod 401.

[0056] The present invention discloses a catheter guidewire propulsion device for an interventional surgery robot, which is used for controlling the forward pushing and backward withdrawal of a catheter and a guidewire during interventional surgery, as well as the rotation control of the guidewire. Through the opening and closing states of the upper cover of the sterile box, the detection mechanism feeds back the information of the extension amount of the detection rod to the controller, and the controller can control the guidewire drive mechanism and the catheter drive mechanism to push the guidewire and the catheter into the designated position in the patient's body through the doctor's operating handle outside the operating room, so as to achieve the purpose of controlling the catheter and the guidewire at the same time; thereby achieving the purpose of interventional surgery treatment and avoiding the risk of doctors being injured by X-rays.

[0057] Specifically, the top shape of the shell 100 is adapted to the sterile box, including a bottom shell 101 and a top shell 102 arranged on the top of the bottom shell 101 and connected to the inner cavity; the bottom of the bottom shell 101 is open, and its top is magnetically connected to the sterile box, and the detection rod 401 can extend from the top of the bottom shell 101.

[0058] See attached Figure 2 The guide wire driving mechanism 200 includes a guide wire clamping and twisting assembly 300, a guide wire advancing assembly 202, an electromagnet 203 and a sliding group; the guide wire clamping and twisting assembly 300 is slidably connected to the inner wall of the bottom shell 101 through the sliding group; the guide wire advancing assembly 202 is connected to the guide wire clamping and twisting assembly 300, and its top is connected to the electromagnet 203 through a magnet connector, and the electromagnet 203 drives the guide wire driving assembly in the sterile box to advance and rotate the guide wire; wherein part of the electromagnet 203 moves in the bottom shell 102. The electromagnet moving in the top shell absorbs the movable block in the sterile box, and the electromagnet moving on the top of the bottom shell absorbs the movable block at the bottom of the sterile box, so as to realize the advancement and rotation control of the guide wire.

[0059] Among them, the electromagnet in the top shell can be fixed on the sliding group through a magnet connector; the magnet connector can be a square tube with multiple mounting holes, the bottom of the square tube is fixed to the sliding group, the electromagnet is fixed on one side, a polytetrafluoro patch is attached to the surface opposite to the electromagnet mounting surface, and a hook is provided in the middle of the back of the square tube for connecting the tension spring. On the rear side of the square tube, there is a right-angle connector of the cam group, and bearings are installed at both ends of the cam group.

[0060] See attached Figure 3 The guide wire advancing assembly 202 includes a first connecting plate 2021, a gear transmission group 2022, a connecting rod group 2023, an advancing slide rail 2024, an advancing slider 2025 and an advancing motor 2026; the first connecting plate 2021 can slide on the inner wall of the bottom shell through the sliding group; the gear transmission group 2022 is arranged on the first connecting plate 2021, and its rotational motion is converted into the reciprocating linear motion of the connecting rod group 2023 connected thereto; the connecting rod group 2023 is connected to the advancing slider 2025, and drives the advancing slider 2025 to slide on the advancing slide rail 202 4, the pushing slide rail 2024 is fixed on the first connecting plate 2021; the electromagnet 203 is connected to the pushing slider 2025 through a connecting piece; the pushing motor 2026 is vertically fixed to the bottom of the first connecting plate 2021 and is electrically connected to the controller; it also includes a first distance measuring part, the first distance measuring part includes a first capacitive grating sensor 206 and a first fixed grating scale; the first fixed grating scale is fixed on the pushing slider 2025, and the first capacitive grating sensor 206 is fixed on the first connecting plate 2021 corresponding to the first fixed grating scale; the first capacitive grating sensor 206 is electrically connected to the controller.

[0061] One end of the cam group is connected to the gear transmission group, and the gear can drive the cam group to rotate. Under the action of the tension spring, the polytetrafluoroethylene patch and the cam are tightly attached together. Since the polytetrafluoroethylene material has the self-lubricating property, the square tube can slide on the cam. The cams are grouped in pairs, and the square tube can slide back and forth on the two cams.

[0062] For details, see Appendix Figure 4The gear transmission group 2022 includes a first bevel gear 20221, a second bevel gear 20222, a third bevel gear 20223, a short-handle spur gear 20224 and a long-handle spur gear 20225 fixed on the connecting plate gear frame 20211; the first bevel gear 20221 is connected to the output shaft of the propulsion motor 2026, and the second bevel gear 20222 is arranged vertically with the first bevel gear 20221 and meshes with the transmission; the third bevel gear 20223 and the long-handle spur gear 20225 are respectively meshed with the second bevel gear 20222, and are arranged vertically and coaxially with the axis of the second bevel gear 20222. The short-handled spur gear 20224 is meshed with the long-handled spur gear 20225 for transmission; both the long-handled spur gear 20225 and the short-handled spur gear 20224 have eccentric bosses with a certain angle difference; the connecting rod group 2023 includes a short-handled connecting rod 20231 connected to the boss of the short-handled spur gear 20224, and a long-handled connecting rod 20232 connected to the boss of the long-handled spur gear 20225; the short-handled connecting rod 20231 and the long-handled connecting rod 20232 are respectively connected to two groups of propulsion sliders 2025, and the two groups of propulsion sliders 2025 are moved in different directions along the propulsion slide rail 2024 to realize the propulsion of the guide wire.

[0063] Since the bosses at the front ends of the long-shank spur gear and the short-shank spur gear are eccentric, when the propulsion motor rotates, the long-shank spur gear and the short-shank spur gear are driven to rotate simultaneously through gear transmission, and the two sets of sliders are moved left and right in the horizontal direction through the short-shank connecting rod and the long-shank connecting rod. The initial installation position of the bosses on the long-shank spur gear and the short-shank spur gear is that the two are on the same horizontal plane, and the distance between the bosses of the two is the farthest (that is, a certain angle difference), wherein the long-shank spur gear and the short-shank spur gear have the same number of teeth, and at this time, the first set of cams in the cam group connected to the wheel shaft of the second bevel gear (including two sets of cams with an installation angle difference of 180°, each set including two cams) can be set to the initial 0 degree at the contact point of the square tube. Due to the above-mentioned angle difference between the bosses of the long-shank spur gear and the short-shank spur gear, the propulsion motor can drive the movement of the two sets of propulsion sliders to be always opposite, that is, one moves to the left and the other moves to the right, thereby simulating the process of the doctor's hands alternately pushing the guide wire.

[0064] The first distance measuring part affixes the fixed scale to the slider with double-sided tape, and fixes the first capacitive sensor to the first connecting plate through four short copper pillars, so that the capacitive sensor can slide on the fixed scale. When the guide wire is pushed, the moving distance of the left slider can be measured, and the cumulative moving distance of the guide wire can be measured by taking the absolute value superposition method of the sensor.

[0065] In another embodiment of the present invention, the guide wire clamping and twisting assembly 300 includes a guide wire rolling mechanism and a guide wire clamping mechanism; the guide wire rolling mechanism and the guide wire clamping mechanism can slide in the bottom shell 101 through a sliding group and are electrically connected to the controller.

[0066] For details, see Appendix Figure 5-7 The guide wire clamping mechanism includes a first clamping screw stepping motor 301, a second clamping screw stepping motor 302, and a first micro linear guide 303 and a second micro linear guide 304 fixed parallel to both sides of the inner wall of the bottom shell;

[0067] A first slider 305 is installed on the first micro linear guide 303, and a second slider 306 is installed on the second micro linear guide 304; a left right-angle plate 307 is installed on the first slider 305, and a right right-angle plate 308 is installed on the second slider 306; both the left right-angle plate 307 and the right right-angle plate 308 are provided with through holes for installing a nut 309, and the output shafts of the first clamping screw stepper motor 301 and the second clamping screw stepper motor 302 are assembled and connected with the corresponding nut 309, and the first clamping screw stepper motor 301 and the second clamping screw stepper motor 302 are respectively fixed to the bottom shell 101 through the first motor connecting member 310 and the second motor connecting member 311; the left right-angle plate 307 and the right right-angle plate 308 are connected together through the first connecting plate 2021; the wire guide clamping mechanism can realize the overall forward and backward movement through the first clamping screw stepper motor 301 and the second clamping screw stepper motor 302;

[0068] The wire-guiding mechanism comprises a rear plate lead screw stepper motor 312, a front plate lead screw stepper motor 313 and a second connecting plate 314; a third micro linear guide 316 and a fourth micro linear guide 317 are respectively fixed in parallel on the two opposite surfaces of the left right-angle plate 307 and the right right-angle plate 308; the third micro linear guide 316 and the fourth micro linear guide 317 are perpendicular to the first micro linear guide 303 and the second micro linear guide 304; a third slider 318 is installed on the third micro linear guide 316, a fourth slider 319 is installed on the fourth micro linear guide 317, and the third micro linear guide 316 is provided with a third slider 318. A connecting plate 2021 is fixed between the third slider 318 and the fourth slider 319; a through hole for installing the nut 309 is provided on the first connecting plate 2021, and the output shaft of the rear plate lead screw stepper motor 312 is assembled and connected with the nut 309; the rear plate lead screw stepper motor 312 is slidably connected with the inner wall of the bottom shell 101 along a direction parallel to the first micro linear guide 303 and the second micro linear guide 304, so that it can move forward and backward following the guide wire clamping mechanism; the first connecting plate 2021 and the clamping guide wire component installed thereon can be moved up and down by the rear plate lead screw stepper motor 312;

[0069] A fifth micro linear guide 320 and a sixth micro linear guide 321 are also fixed in parallel on the inner wall of the bottom shell 101, a fifth slider 322 is installed on the fifth micro linear guide 320, and a sixth slider 323 is installed on the sixth micro linear guide 321; the second connecting plate 314 is fixed on the fifth slider 322 and the sixth slider 323, the second connecting plate 314 is provided with a through hole for installing the nut 309, and the output shaft of the front plate lead screw stepper motor 313 is assembled and connected with the nut 309; the front plate lead screw stepper motor 313 is fixed to the bottom shell 101 through the third motor connecting member 324; the second connecting plate 314 and the clamping wire guide component installed thereon can be moved up and down by the front plate lead screw stepper motor 313;

[0070] The above-mentioned screw motors are all electrically connected to the controller.

[0071] Preferably, a second capacitive grid sensor is installed on the left right angle plate, and a second fixed grid ruler matching the second capacitive grid sensor is installed at the corresponding position of the bottom shell to measure the forward and backward movement distance of the wire clamping mechanism. The first clamping screw stepper motor and the second clamping screw stepper motor can accurately control the forward and backward movement distance of the wire clamping mechanism, and the first capacitive grid sensor and the first fixed grid for distance measurement can accurately know the clamping degree of the wire.

[0072] Preferably, the first micro linear guide and the second micro linear guide are also respectively installed with limit switches for determining the initial position and the extreme position of the forward and backward movement.

[0073] Preferably, a third fixed scale is installed on the second connecting plate, and a third capacitive grid sensor matching the third fixed scale is installed at the corresponding position of the left right angle plate to measure the up and down movement distance of the second connecting plate. The third capacitive grid sensor cooperates with the third fixed scale to accurately measure the up and down movement distance of the second connecting plate, so as to calculate the angle of rotation of the guide wire.

[0074] Preferably, a fourth capacitive sensor is installed on the first connecting plate, and a fourth fixed scale matching the fourth capacitive sensor is installed at a corresponding position of the bottom shell to measure the up and down movement distance of the first connecting plate.

[0075] In another embodiment of the present invention, see the attached Figure 3, and also includes a connector 205, the connector 205 includes a first group of connectors and a second group of connectors; the first group of connectors is fixed on the push rail 2024, and the second group of connectors is fixed on the electromagnet push slider on the second connecting plate 314 to cooperate with the first group of connectors. The first group of connectors is installed between the push slider and the square tube, and the second group of connectors is installed between another push slider and another square tube. The first capacitive sensor is fixed to the bottom of the first group of connectors; wherein the first group of connectors is a plug-in connector or a plug-in slot; the second group of connectors is a plug-in slot or a plug-in connector; the problem that the first connecting plate side and the second connecting plate side are not well matched during the reciprocating motion of the existing interventional surgical robot, which affects the normal motion, is solved, thereby facilitating clinical use.

[0076] See attached Figure 8 In some other embodiments provided by the present invention, the catheter driving mechanism 500 includes: a catheter device bracket 501, a catheter control motor 502, a motor connecting rod 503, a steering gear 504, a steering gear lever 505, a catheter friction wheel guide rail 506, a catheter friction wheel slider 507 and a catheter friction wheel connector 508; the catheter control motor 502 is fixed to a side of the bottom shell 101 close to the second connecting plate 314 through the catheter device bracket 501, and the motor connecting rod 503 is sleeved on the output shaft of the catheter control motor 502, which is meshed with the bottom gear of the catheter active friction wheel for driving; the steering gear 504 is fixed to the bottom shell 101 close to the catheter control motor through the bracket The position of the motor 502 is set, and a steering gear lever 505 is sleeved on its output shaft; the catheter friction wheel guide rail 506 is fixed to the bottom shell 101 through a connecting plate, the catheter friction wheel slider 507 can slide on the catheter friction wheel guide rail 506, the catheter friction wheel connecting piece 508 is fixed on the catheter friction wheel slider 507, and the catheter driven friction wheel is connected to the catheter friction wheel connecting piece 508; and the steering gear lever 505 can drive the catheter friction wheel connecting piece 508 to slide along the catheter friction wheel guide rail 506 to change the fitting state between the catheter driven friction wheel and the catheter active friction wheel; wherein a return spring 509 is connected between the connecting plate and the catheter friction wheel connecting piece 508.

[0077] When receiving the signal that the lid of the sterile box is opened, the servo will take action and rotate 60 degrees so that the servo lever can push open the catheter friction wheel connector. Since the catheter driven friction wheel is inside the convex rod of the catheter friction wheel connector, the catheter driven friction wheel and the catheter active friction wheel are separated by a small section, thereby completing the action of opening the catheter. When the lid of the sterilization box is closed, the servo can get the signal, the servo rotates to 0 degrees, the servo lever and the catheter friction wheel connector are separated, and under the action of the tension spring, the catheter friction wheel connector moves back to its original position, the catheter driven friction wheel and the catheter active friction wheel fit together, and the two return to the clamped state.

[0078] See attached Fig. 9In some other embodiments provided by the present invention, the detection mechanism 400 includes a fixing ring 402, a support spring 403 and a photoelectric switch 404; the fixing ring 402 is fixed to the other side of the bottom shell 101 near the second connecting plate 314, the detection rod 401 is inserted into the fixing ring 402, and the connection is sleeved with a support spring 403 so that the top of the detection rod 401 extends out of the top of the bottom shell 101 in a free state; the detection rod 401 has a convex block 4011 in the middle, and a photoelectric switch 404 electrically connected to the controller is arranged at the corresponding detection rod 401 on the bottom shell 101, and the convex block 4011 can be inserted into the card slot of the photoelectric switch 404 downward to transmit the closing signal of the upper cover of the sterile box. The detection mechanism is used to detect whether the lid of the upper sterile box is opened. According to the clinical needs of interventional surgery, when the lid of the sterile box is opened, the clamp of the catheter needs to be opened to facilitate the doctor to perform operations such as replacing the guide wire; when the lid of the sterilization box is closed, the clamp of the catheter needs to tighten the catheter so that the catheter can be pushed into or withdrawn from the blood vessel.

[0079] The fixing ring is fixed on the bottom shell, the detection rod passes through the inner hole of the fixing ring, and the support spring is sleeved on the outer tube of the fixing ring. Under the action of the support spring, when there is no external force, the detection rod always remains in a pop-up state. The photoelectric switch is fixed at the corresponding position of the bottom shell. When the lid is closed, the detection rod is pressed down to block the photoelectric switch. When the lid is opened, the detection rod pops up and the photoelectric switch is in a disconnected state. This is used to determine whether the lid of the disinfection box is open.

[0080] In summary, the present invention provides an interventional surgical robot catheter guidewire advancement device, which can adjust the clamping degree of the guidewire at any time to ensure that there is no slippage, and can meet the needs of vascular interventional surgery for guidewires. The overall structure is simple, and a modular structure design is adopted. The disassembly and assembly are simple, the structure is compact, and the size is small, which is very suitable for the surgical environment. The present invention can realize the simultaneous control of the catheter and the guidewire, and the control guidewire can be advanced and rotated at the same time, which can meet the needs of vascular interventional surgery for guidewires. The present invention innovatively adopts the mechanical structure design of the cam group to realize the control action of alternatingly clamping and releasing the guidewire. The present invention is low in cost, and innovatively adopts the lubrication properties of polytetrafluoroethylene to complete the lateral reciprocating motion process. It is simple and practical, and the mechanical structure has good stability. The present invention solves the technical problem that the first connecting plate end and the second connecting plate end are not well matched through a connector.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0082] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An interventional surgical robot catheter guidewire advancement device, characterized in that: The invention comprises: a shell (100), wherein the bottom of the shell (100) is open, an installation space is formed inside the shell, and the top of the shell is magnetically connected to a sterile box; a guide wire drive mechanism (200), a catheter drive mechanism (500) and a detection mechanism (400) are all connected to the installation space, and are all electrically connected to a controller; wherein a detection rod (401) of the detection mechanism (400) can extend out of the top of the shell (100), and the opening and closing states of the upper cover of the sterile box change the extension amount of the detection rod (401); the controller controls the guide wire drive mechanism (200) to drive the guide wire drive assembly in the sterile box to advance and rotate the guide wire, and the catheter drive mechanism (500) to drive the catheter drive assembly to advance the catheter according to the extension amount signal of the detection rod (401); The top shape of the shell (100) is adapted to the sterile box, comprising a bottom shell (101) and a top shell (102) arranged on the top of the bottom shell (101) and communicating with the inner cavity; the bottom of the bottom shell (101) is open, and the top is magnetically connected to the sterile box, and the detection rod (401) can extend from the top of the bottom shell (101); The guide wire driving mechanism (200) comprises a guide wire clamping and twisting assembly (300), a guide wire advancing assembly (202), an electromagnet (203) and a sliding group; the guide wire clamping and twisting assembly (300) is slidably connected to the inner wall of the bottom shell (101) via the sliding group; the guide wire advancing assembly (202) is connected to the guide wire clamping and twisting assembly (300), and its top is connected to the electromagnet (203) via a magnet connector; the electromagnet (203) drives the guide wire driving assembly in the sterile box to advance and rotate the guide wire; wherein a portion of the electromagnet (203) moves in the top shell (102); The guide wire advancing assembly (202) comprises a first connecting plate (2021), a gear transmission group (2022), a connecting rod group (2023), an advancing slide rail (2024), an advancing slider (2025) and an advancing motor (2026); the first connecting plate (2021) can slide on the inner wall of the bottom shell (101) through the sliding group; the gear transmission group (2022) is arranged on the first connecting plate (2021) and converts its rotational motion into reciprocating linear motion of the connecting rod group (2023) connected thereto; the connecting rod group (2023) is connected to the advancing slider (2025) and drives the advancing slider (2025) to slide on the advancing slide rail (2024). 24), the propulsion slide rail (2024) is fixed on the first connecting plate (2021); the electromagnet (203) is connected to the propulsion slider (2025) through a connecting piece; the propulsion motor (2026) is vertically fixed to the bottom of the first connecting plate (2021) and is electrically connected to the controller; it also includes a first distance measuring unit, the first distance measuring unit includes a first capacitive grating sensor (206) and a first fixed grating scale; the first fixed grating scale is fixed on the propulsion slider (2025), the first capacitive grating sensor (206) is fixed on the first connecting plate (2021) corresponding to the first fixed grating scale; the first capacitive grating sensor (206) is electrically connected to the controller; The guide wire clamping and twisting assembly (300) comprises a guide wire rolling mechanism and a guide wire clamping mechanism; the guide wire rolling mechanism and the guide wire clamping mechanism can slide in the bottom shell (101) through the sliding group, and are electrically connected to the controller; The guide wire clamping mechanism comprises a first clamping screw stepper motor (301), a second clamping screw stepper motor (302), and a first micro linear guide rail (303) and a second micro linear guide rail (304) fixed in parallel to the inner wall of the bottom shell (101) on both sides: a first slider (305) is installed on the first micro linear guide rail (303), and a second slider (306) is installed on the second micro linear guide rail (304); a left right angle plate (307) is installed on the first slider (305), and a right right angle plate (308) is installed on the second slider (306); the left right angle plate (307) and the right right angle plate (308) are both provided with through holes for installing a nut (309) The output shafts of the first clamping screw stepper motor (301) and the second clamping screw stepper motor (302) are assembled and connected with the corresponding nut (309); the first clamping screw stepper motor (301) and the second clamping screw stepper motor (302) are respectively fixed to the bottom shell (101) through the first motor connecting member (310) and the second motor connecting member (311); the left right angle plate (307) and the right right angle plate (308) are connected together through the first connecting plate (2021); the guide wire clamping mechanism can realize the overall forward and backward movement through the first clamping screw stepper motor (301) and the second clamping screw stepper motor (302); the guide wire rubbing The wire mechanism comprises a rear plate lead screw stepper motor (312), a front plate lead screw stepper motor (313) and a second connecting plate (314); a third micro linear guide (316) and a fourth micro linear guide (317) are respectively fixed in parallel on two opposite surfaces of the left right angle plate (307) and the right right angle plate (308); the third micro linear guide (316) and the fourth micro linear guide (317) are perpendicular to the first micro linear guide (303) and the second micro linear guide (304); a third slider (318) is installed on the third micro linear guide (316); a fourth slider (319) is installed on the fourth micro linear guide (317); and the first connecting plate (2021) is fixed between the third slider (318) and the fourth slider (319); the first connecting plate (2021) is provided with a through hole for installing the nut (309), and the output shaft of the rear plate screw stepper motor (312) is assembled and connected with the nut (309); the rear plate screw stepper motor (312) is slidably connected with the inner wall of the bottom shell (101) along a direction parallel to the first micro linear guide (303) and the second micro linear guide (304), so as to achieve its forward and backward movement following the guide wire clamping mechanism; the first connecting plate (2021) and the guide wire clamping component installed thereon can be moved up and down by the rear plate screw stepper motor (312);A fifth micro linear guide rail (320) and a sixth micro linear guide rail (321) are also fixed in parallel on the inner wall of the bottom shell (101); a fifth slider (322) is installed on the fifth micro linear guide rail (320); and a sixth slider (323) is installed on the sixth micro linear guide rail (321); the second connecting plate (314) is fixed on the fifth slider (322) and the sixth slider (323); the second connecting plate (314) is provided with a through hole for installing the nut (309); the front plate lead screw stepping motor (313) The output shaft is assembled and connected with the nut (309); the front plate lead screw stepper motor (313) is fixed to the bottom shell (101) via a third motor connector (324); the second connecting plate (314) and the clamping wire guide component mounted thereon can be moved up and down by the front plate lead screw stepper motor (313); the first clamping lead screw stepper motor (301), the second clamping lead screw stepper motor (302), the rear plate lead screw stepper motor (312) and the front plate lead screw stepper motor (313) are all electrically connected to the controller; The catheter driving mechanism (500) comprises: a catheter device bracket (501), a catheter control motor (502), a motor connecting rod (503), a steering gear (504), a steering gear lever (505), a catheter friction wheel guide rail (506), a catheter friction wheel slider (507) and a catheter friction wheel connecting piece (508): the catheter control motor (502) is fixed to a side of the bottom shell (101) close to the second connecting plate (314) through the catheter device bracket (501); the motor connecting rod (503) is sleeved on the output shaft of the catheter control motor (502) and meshes with the bottom gear of the catheter active friction wheel for driving; the steering gear (504) is fixed to a position in the bottom shell (101) close to the catheter control motor (502) through the bracket. The servo gear lever (505) is sleeved on its output shaft; the duct friction wheel guide rail (506) is fixed to the bottom shell (101) via a connecting plate; the duct friction wheel slider (507) can slide on the duct friction wheel guide rail (506); the duct friction wheel connecting piece (508) is fixed on the duct friction wheel slider (507); the duct driven friction wheel is connected to the duct friction wheel connecting piece (508); and the servo gear lever (505) can move the duct friction wheel connecting piece (508) to slide along the duct friction wheel guide rail (506) to change the fitting state between the duct driven friction wheel and the duct active friction wheel; wherein a return spring (509) is connected between the connecting plate and the duct friction wheel connecting piece (508); The detection mechanism (400) comprises a fixing ring (402), a supporting spring (403) and a photoelectric switch (404); the fixing ring (402) is fixed to the other side of the bottom shell (101) near the second connecting plate (314); the detection rod (401) is inserted into the fixing ring (402), and the supporting spring (403) is sleeved at the connection so that the top end of the detection rod (401) in a free state extends out of the top of the bottom shell (101); a convex block (4011) is provided in the middle of the detection rod (401); the photoelectric switch (404) electrically connected to the controller is provided at a position on the bottom shell (101) corresponding to the detection rod (401); the convex block (4011) can be inserted into the card slot of the photoelectric switch (404) downward to transmit a closing signal of the upper cover of the sterile box; The magnet connector is a square tube with a plurality of mounting holes.

2. The catheter guidewire advancing device for an interventional surgery robot according to claim 1, characterized in that: The gear transmission group (2022) comprises a first bevel gear (20222), a second bevel gear (20223), a third bevel gear (20224), a short-shank spur gear (20225) and a long-shank spur gear (20226) fixed on the connecting plate gear frame (20211); the first bevel gear (20222) is connected to the output shaft of the propulsion motor (2026) in power, and the second bevel gear (20223) is arranged perpendicularly to the first bevel gear (20222) and meshes with each other for transmission; the third bevel gear (20224) and the long-shank spur gear (20226) are respectively meshed with the second bevel gear (20223) and are arranged perpendicularly and coaxially with the axis of the second bevel gear (20223); The short-shank spur gear (20225) meshes with the long-shank spur gear (20226) for transmission; both the long-shank spur gear (20226) and the short-shank spur gear (20225) have eccentric bosses with a certain angle difference; the connecting rod group (2023) comprises a short-shank connecting rod (20231) connected to the boss of the short-shank spur gear (20225), and a long-shank connecting rod (20232) connected to the boss of the long-shank spur gear (20226); the short-shank connecting rod (20231) and the long-shank connecting rod (20232) are respectively connected to two groups of the propulsion sliders (2025), and the two groups of the propulsion sliders (2025) are moved in different directions along the propulsion slide rail (2024) to realize the propulsion of the guide wire.

3. The catheter guidewire advancing device of the interventional surgery robot according to claim 1, characterized in that It also includes a connecting piece (205), the connecting piece (205) including a first group of connecting pieces and a second group of connecting pieces; the first group of connecting pieces is fixed on the pushing slide rail (2024), and the second group of connecting pieces is fixed on the electromagnet pushing slide block on the second connecting plate (314) to cooperate with the first group of connecting pieces.

Images