Interventional Robot

Abstract

The present invention discloses an interventional robot, comprising a master end, a slave end and a control device connected to the master end and the slave end, the master end comprising an operating device, an operating detection device and a resistance generating device, the operating device and the resistance generating device are connected through a one-way transmission mechanism, the operating detection device is connected to the control device, the control device collects the measurement signal of the operating detection device to control the slave end; the slave end comprises a fixed platform, a guide rail is arranged on the fixed platform, and a guide rail driving mechanism corresponding to the guide rail is arranged on the guide rail, the guide rail driving mechanism drives the conveying mechanism to slide along the guide rail, the slave end also comprises a resistance detecting device, the resistance detecting device is connected to the control device, the control device collects the measurement signal of the resistance detecting device to control the resistance generating device. The present invention simulates directional resistance through a resistance generating device without direction.

Description

Technical Field

[0001] The present invention relates to the field of interventional technology, and in particular to an interventional robot. Background Art

[0002] Interventional technology is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging, special catheters, guidewires and other precision instruments are introduced into the human body to diagnose and locally treat lesions in the body. Most interventional treatments are performed within blood vessels. It does not require surgery. It only requires making a tiny incision on the blood vessels or skin, and inserting special catheters and guidewires into the blood vessels to treat diseases that were previously untreatable and required surgical treatment or poor medical treatment, such as tumors, hemangiomas, various hemorrhages, cerebrovascular malformations, etc.

[0003] For certain types of disease, such as arteriosclerosis, an image of the patient's heart may show that one or more coronary arteries are blocked. After the diagnostic procedure, the patient may undergo a catheter-based interventional treatment. Interventional treatment methods are usually performed by inserting a guidewire into the blood vessel and then pushing the guidewire to the desired location. The catheter is then inserted over the guidewire and reaches the patient's lesion location. In some treatments, the catheter is equipped with a stent for installation in the human body and the balloon required to install the stent. In tumor treatment, chemotherapy drugs can be infused through the catheter, as well as embolic agents for embolization.

[0004] For manual insertion of the guidewire, the doctor applies axial thrust and torque to the proximal end of the guidewire to control the guidewire to the desired position. During this operation, the doctor needs the assistance of imaging equipment to help the doctor determine the position of the guidewire in the blood vessel. The commonly used imaging equipment is DSA, which uses X-rays with radiation damage to humans for imaging. Long-term exposure to X-rays can cause irreversible damage to the doctor's eyes, skin, and reproductive system. The use of remote-controlled robots can isolate doctors from the radiation environment to avoid radiation.

[0005] At present, vascular interventional surgery robots mainly adopt a master-slave operation structure. The master end is the doctor's operation end, and the slave end is the execution end. The master end and the slave end are connected through a control device. The doctor drives the catheter and guidewire of the slave end through the control device by operating the operating handle of the master end, and then feeds back the corresponding image to the display system of the master end through the control device. Through the setting of the master end and the slave end, the doctor is isolated from the radiation environment.

[0006] The main end operating handle is an interactive tool between the doctor and the robot. The doctor's action information is transmitted to the robot through the operating handle, and then the robot operates the catheter guidewire. Developing a reliable, safe, and user-friendly operating handle is one of the key links in the development of interventional surgical robots.

[0007] The Sensi robotic catheter system is the earliest vascular interventional surgical robot used. Under the guidance of three-dimensional images, doctors remotely operate the catheter, and the operating doctor has force feedback. The handle of the vascular interventional surgical robot system developed by Catheter Robotics can control the axial movement, rotational movement and bending angle of the catheter front end, and can enter blood vessels with more tricky angles. The University of Western Ontario in Canada has developed a reciprocating and rotating operating device that uses a real catheter guidewire as an operating handle without force feedback. Harbin Institute of Technology in China uses friction rolling to transport the catheter guidewire and uses the main hand to perceive force feedback. The Shenzhen Institute of Advanced Technology uses motors for force feedback to achieve master-end operation.

[0008] According to various data, the first functional requirement of the vascular interventional surgery robot operating handle is to be able to operate the rotation, push and pull of the catheter guidewire, and a combination of the two. The second functional requirement is to be able to feedback the resistance or resistance torque of the patient-side catheter guidewire during the intervention process to the doctor's operating device, enhance the doctor's feel and sense of presence, and increase the safety and stability of the surgical operation. At present, there are many methods to meet the first functional requirement, and they are relatively mature, but there are still some difficulties in meeting the second functional requirement at the same time, such as the dynamic range adjustment of the loading force and torque, the combination of force and torque, etc., and new structures and principles need to be explored.

[0009] In the prior art, some force feedback devices use magnetic powder clutches, magnetic powder brakes, and direct connection between the motor shaft and the operating lever to simulate the force, torque or resistance torque given by the computer. However, using a motor to simulate the force to be output by the computer, because the motor will introduce energy input, it will produce positive feedback under certain control conditions, causing the entire system to become unstable. The stability of the force feedback device is involved in the process of force interaction by the operator. However, whether the device can interact stably is not only related to the control strategy, but also to the damping of the mechanical part of the force feedback device. Using a magnetic powder clutch or brake as a force feedback mechanism can better simulate the resistance situation, but the simulated resistance has no directionality.

[0010] In addition, in the prior art, for example, the guidewire delivery device in patent US7887549B2 is designed for cardiovascular surgery. Its catheter and guidewire are Y-shaped, and the guidewire has two degrees of freedom of rotation and axial movement. The catheter enters from one side and merges with the guidewire before entering the blood vessel. In the guidewire catheter used in peripheral vascular interventional surgery, the guidewire needs to be inserted from the tail of the catheter, and this patent cannot solve the problem of cooperation between the catheter and the guidewire. Patent 2017208089972 discloses an interventional surgical robot from the end and its mobile platform to solve the problem of cooperation between the catheter and the guidewire, but the structure of the patent is complex, and it is inconvenient to install the guidewire and catheter. When removing the guidewire during surgery, the guidewire and catheter need to be pulled out of the patient's body. Summary of the invention

[0011] The invention provides an interventional robot for simulating directional resistance.

[0012] In order to achieve the above object, the present invention adopts the following technical solutions:

[0013] According to one aspect of the present invention, an interventional robot is provided, comprising a master end, a slave end and a control device connected to the master end and the slave end, the master end comprising an operating device, an operation detection device and a resistance generating device, the operating device and the resistance generating device are connected through a one-way transmission mechanism, the operation detection device is connected to the control device, the control device collects the measurement signal of the operation detection device to control the slave end; the slave end comprises a fixed platform, a guide rail and a guide rail driving mechanism corresponding to the guide rail are arranged on the fixed platform, a conveying mechanism is arranged on the guide rail, the guide rail driving mechanism drives the conveying mechanism to slide along the guide rail, the conveying mechanism comprises a rotating mechanism, the rotating mechanism comprises a rotating wheel and a rotating driving mechanism for driving the rotating wheel to rotate, the rotating wheel has an open groove extending from the side to the axis center, and a fixing device for fixing the catheter or guide wire at the bottom of the open groove; the slave end also comprises a resistance detection device, the resistance detection device is connected to the control device, the control device collects the measurement signal of the resistance detection device to control the resistance generating device.

[0014] Furthermore, the one-way transmission mechanism includes a first one-way mechanism and a second one-way mechanism, and the transmission directions of the first one-way mechanism are opposite to those of the second one-way mechanism; the resistance generating device includes a first generating device connected to the output shaft of the first one-way mechanism and a second generating device connected to the output shaft of the second one-way mechanism.

[0015] Furthermore, the one-way transmission mechanism is a ratchet device or a one-way shaft device.

[0016] Furthermore, the slave end also includes a slide, the conveying mechanism is arranged on the conveying slide, and the slide includes a first slide and a second slide; the guide rail includes a first guide rail and a second guide rail parallel to each other, the first guide rail is provided with a first slide; the second guide rail is provided with a second slide; the guide rail driving mechanism includes a first guide rail driving mechanism corresponding to the first guide rail and a second guide rail driving mechanism corresponding to the second guide rail; the conveying mechanism includes a catheter conveying mechanism and a guide wire conveying mechanism, the catheter conveying mechanism is arranged on the first slide, the guide wire conveying mechanism is arranged on the second slide, and the catheter on the catheter conveying mechanism is coaxial with the guide wire on the guide wire conveying mechanism.

[0017] Furthermore, the catheter conveying mechanism includes a catheter fixing seat and a catheter rotating mechanism arranged on the catheter fixing seat; the catheter rotating mechanism includes a catheter rotating wheel and a catheter rotation driving mechanism that drives the catheter rotating wheel to rotate; the catheter rotating wheel has a catheter opening groove extending from the side to the axis, and a catheter fixing device that fixes the catheter at the bottom of the catheter opening groove.

[0018] Furthermore, the catheter rotating wheel includes a catheter wheel shaft portion and a gear ring arranged on the catheter wheel shaft portion; the catheter rotation driving mechanism includes a gear meshing with the gear ring and a motor driving the gear.

[0019] Furthermore, the catheter fixing device includes a buckle engaged with the tail wing of the catheter, and the buckle includes a tail wing groove arranged at one end of the catheter wheel shaft portion and matched with the tail wing, and a pressure plate pressing the tail wing in the tail wing groove.

[0020] Furthermore, the guide wire conveying mechanism includes a guide wire fixing seat and a guide wire rotating mechanism arranged on the guide wire fixing seat; the guide wire rotating mechanism includes a guide wire rotating wheel and a guide wire rotation driving mechanism for driving the guide wire rotating wheel to rotate; the guide wire rotating wheel has a guide wire opening groove extending from the side to the axis, and a guide wire fixing device for fixing the guide wire at the bottom of the guide wire opening groove.

[0021] Furthermore, the guide wire fixing seat includes a first fixing plate and a second fixing plate rotatably arranged on the first fixing plate, and the guide wire rotation mechanism is arranged on the second fixing plate; the guide wire conveying mechanism also includes a first resistance detection device for detecting the axial force of the guide wire, and the first resistance detection device is arranged between the first fixing plate and the second fixing plate.

[0022] Furthermore, the guide wire rotating wheel includes a guide wire wheel shaft and a first gear arranged on the guide wire wheel shaft; the guide wire rotation driving mechanism includes a second gear meshing with the first gear and a motor driving the second gear.

[0023] Furthermore, the guidewire fixing device includes a slot engaged with the tail wing of the guidewire.

[0024] Furthermore, the guide rail driving mechanism includes a driving wheel arranged at one end of the guide rail and a driven wheel arranged at the other end of the guide rail, a synchronous belt cooperating with the driving wheel and the driven wheel, and a guide rail driving motor driving the driving wheel to rotate; an adjustment mechanism for adjusting the connection position of the slide and the synchronous belt is arranged on the slide.

[0025] Furthermore, the interventional robot also includes a support frame, which is located between the catheter delivery mechanism and the guide wire delivery mechanism.

[0026] Furthermore, the interventional robot also includes an axial tube delivery mechanism, which is arranged at the front end of the fixed platform; the axial tube delivery mechanism includes at least one pair of friction wheels arranged relatively to each other and a friction wheel driving mechanism for driving the friction wheels; and a spacing adjustment mechanism for adjusting the distance between at least one pair of friction wheels; an axial tube delivery channel for the catheter is formed between at least one pair of friction wheels.

[0027] Furthermore, the friction wheel driving mechanism includes a driving shaft and a motor driving the driving shaft, and the driving shaft is provided with a reversing gear and a synchronous pulley; the friction wheel located on the first side of at least one pair of friction wheels is driven by the reversing gear on the driving shaft, and the friction wheel located on the second side is driven by the synchronous pulley on the driving shaft.

[0028] Furthermore, there are two pairs of friction wheels, which are arranged along the axial conveying direction of the catheter; the axial tube conveying mechanism also includes a fixed frame, and the driving shaft and the axle of the friction wheel located on the first side are arranged on the fixed frame; the spacing adjustment mechanism includes an adjustment seat arranged on the fixed frame and an adjustment frame that can move relative to the adjustment seat in a direction perpendicular to the conveying direction of the catheter; the axle of the friction wheel located on the second side is arranged on the adjustment frame.

[0029] Furthermore, the driving shaft is provided with a reversing gear, a first synchronous pulley and a second synchronous pulley, and the motor is driven and connected to the first synchronous pulley through a driving pulley and a first synchronous belt; driven gears are respectively provided on the axles of the friction wheels located on the first side, and the reversing gears are meshed with the driven gears; a driven pulley is provided on the axle of the friction wheel located on the second side, and the second synchronous pulley is driven and connected to the driven pulley through a second synchronous belt; the spacing adjustment mechanism also includes a tensioning mechanism for tensioning the second synchronous belt.

[0030] Furthermore, the tensioning mechanism includes a tensioning seat, a tensioning frame and a tensioning spring; the tensioning frame is slidably arranged on the tensioning seat along a preset direction, and both ends of the tensioning spring are respectively abutted against the tensioning seat and the tensioning frame; a tensioning wheel is arranged at the end of the tensioning frame, and the tensioning wheel is pressed against the outer side of the second synchronous belt.

[0031] Furthermore, the spacing adjustment mechanism also includes a manual adjustment mechanism, which includes an adjustment handle arranged on the adjustment seat and a first cam fixedly connected to the adjustment handle, and a first adjustment protrusion cooperating with the first cam is arranged on the adjustment frame.

[0032] Furthermore, the spacing adjustment mechanism also includes an automatic adjustment mechanism, which includes a second cam arranged on the adjustment seat and a motor driving the second cam, and a second adjustment groove cooperating with the second cam is arranged on the adjustment frame.

[0033] In summary, in the interventional robot of the present invention, the control device collects the measurement signal of the operation detection device to control the slave end; and collects the measurement signal of the resistance detection device to control the resistance generating device, thereby realizing the operation control force feedback, and the operation device and the resistance generating device are connected through a one-way transmission mechanism, that is, a one-way transmission mechanism is set on the force transmission path, so that directional resistance is simulated by a non-directional resistance generating device, and a low-cost and high-reliability solution is provided through a simple one-way transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 is a schematic diagram of the control process of the interventional robot according to the present invention;

[0036] Figure 2 is a schematic diagram of the principle of a first embodiment of a master end of an interventional robot according to the present invention;

[0037] Figure 3 is a first principle schematic diagram of a second embodiment of the master end of the interventional robot according to the present invention;

[0038] Figure 4 is a second principle schematic diagram of a second embodiment of the master end of the interventional robot according to the present invention;

[0039] Figure 5 is a third principle schematic diagram of the second embodiment of the master end of the interventional robot according to the present invention;

[0040] Figure 6 is a schematic structural diagram of a third embodiment of a master end of an interventional robot according to the present invention;

[0041] Figure 7 is a schematic structural diagram of a fourth embodiment of a master end of an interventional robot according to the present invention;

[0042] Figure 8 is a schematic structural diagram of a fifth embodiment of a master end of an interventional robot according to the present invention;

[0043] Fig. 9 4 is a schematic structural diagram of a sixth embodiment of a master end of an interventional robot according to the present invention.

[0044] Fig.10 is a schematic diagram of the three-dimensional structure of the slave end of the interventional robot according to the present invention;

[0045] Fig.11 is a schematic diagram of a top view of the structure of a fixed platform at the slave end of the interventional robot according to the present invention;

[0046] Fig.12 This is a schematic diagram of the coordination between the catheter and the guide wire;

[0047] Fig.13 is a schematic diagram of the three-dimensional structure of the catheter delivery mechanism at the slave end of the interventional robot according to the present invention;

[0048] Fig.14 is a schematic diagram of the three-dimensional structure of a torque measuring device at the slave end of an interventional robot according to the present invention;

[0049] Fig.15 is a schematic diagram of the exploded structure of the guide wire delivery mechanism at the slave end of the interventional robot according to the present invention;

[0050] Fig.16 yes Fig.15 Right view of;

[0051] Fig.17 is a first exploded structural schematic diagram of the axial tube delivery mechanism of the slave end of the interventional robot according to the present invention;

[0052] Fig.18 is a second exploded structural schematic diagram of the axial tube delivery mechanism at the slave end of the interventional robot according to the present invention; DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0054] like Figure 1 , Figure 2 and Fig.10 As shown, according to one aspect of the present invention, an interventional robot is provided, including a master end, a slave end and a control device connected to the master end and the slave end, the master end includes an operating device 71, an operating detection device 76 and a resistance generating device 73, the operating device 71 and the resistance generating device 73 are connected through a one-way transmission mechanism 72, the operation detection device 76 is connected to the control device, and the control device collects the measurement signal of the operation detection device 76 to control the slave end; the slave end includes a fixed platform 10, a guide rail 11 and a guide rail driving mechanism 12 corresponding to the guide rail are arranged on the fixed platform, a conveying mechanism is arranged on the guide rail 11, the guide rail driving mechanism 12 drives the conveying mechanism to slide along the guide rail, the conveying mechanism includes a rotating mechanism, the rotating mechanism includes a rotating wheel and a rotating driving mechanism for driving the rotating wheel to rotate, the rotating wheel has an open groove extending from the side to the axis center, and a fixing device for fixing the catheter or guide wire at the bottom of the open groove; the slave end also includes a resistance detection device, the resistance detection device is connected to the control device, and the control device collects the measurement signal of the resistance detection device to control the resistance generating device 73.

[0055] The operating device 71 is a device for the operator to operate, which can be a rotating component such as a steering wheel, a knob, a linear motion such as a pull rod, or a curved motion such as a rocker. The one-way transmission mechanism 72 can only transmit power in one direction, and can adopt a ratchet mechanism, which has the characteristics of simple structure and high reliability. It can also adopt a mechanism such as an overrunning clutch, which can also achieve a locked transmission in one direction and a free or fixed rotation with a small resistance in the other direction, thereby achieving a one-way transmission and simulating the effect of directional resistance.

[0056] The resistance generating device 73 is a device for generating resistance, and common damping generating devices include magnetic powder clutch, magnetic powder brake, brake, and brake device. Magnetic powder clutch, magnetic powder brake, brake, and brake device are non-directional brake devices. Taking the brake device as an example, the current brake device is divided into a fixed part and a rotating part, and a brake pad is fixed on the fixed part to apply friction to the movable part to generate an adjustable resistance torque on the rotating part. When the brake device applies a resistance torque, the rotating part will be affected by the resistance torque when rotating in both directions.

[0057] In the present invention, the control device collects the measurement signal of the operation detection device 76 to control the slave end, that is, controls the action of the actuators such as the conveying mechanism of the slave end, and collects the measurement signal of the resistance detection device to control the resistance generating device 73, such as controlling the size of the resistance generated by the resistance generating device 73, thereby realizing the operation control force feedback. The operation device 71 and the resistance generating device 73 are connected through a one-way transmission mechanism 72, that is, a one-way transmission mechanism 72 is set on the force transmission path, so that directional resistance is simulated by the non-directional resistance generating device 73, and a low-cost and high-reliability solution is provided through a simple one-way transmission mechanism 72.

[0058] According to the needs, the control device of the interventional robot of the present invention also includes a corresponding recording module and a safety module. The recording module records the actions and feedback of the operation process, and the safety module matches the corresponding safety operation to prevent misoperation. The main end also has a display device to display the displacement, angle, resistance, operation record, etc. during the operation process, so as to provide feedback to the operator, which helps the operator to make an operation decision.

[0059] Specifically, Figure 2 As shown, in the first embodiment of the main end of the present invention, a one-way transmission mechanism 72 is arranged on the transmission path of the operating device 71 and the resistance generating device 73, so that a one-way resistance torque feedback can be obtained, that is, when rotating in one direction, the brake pad is applied, and the force-applying person (operator) can feel the resistance. When rotating in the opposite direction, the overrunning clutch principle of the ratchet mechanism is used, and the resistance applied by the brake pad is not felt at all. This situation often occurs in reality. However, the above situation cannot be simulated by the current brake device. However, the present invention sets a one-way transmission mechanism 72 on the transmission path of the operating device 71 and the resistance generating device 73, that is, the one-way transmission mechanism 72 is set on the force transmission path, so that the directional resistance is simulated by the resistance generating device 73 without direction, thereby giving the operating end a directional feedback force, thereby improving the reliability and accuracy of the operation. The present invention provides a low-cost and high-reliability solution through a simple one-way transmission mechanism 72.

[0060] like Figure 3 As shown, in the second embodiment of the main end of the present invention, on the basis of the first embodiment, the second embodiment can realize the simulation of resistance in two directions respectively. Specifically, in the second embodiment, the one-way transmission mechanism 72 includes a first one-way mechanism 721 and a second one-way mechanism 722, and the transmission directions of the first one-way mechanism 721 and the second one-way mechanism 722 are opposite; accordingly, the resistance generating device 73 includes a first generating device 731 connected to the output shaft of the first one-way mechanism 721 and a second generating device 732 connected to the output shaft of the second one-way mechanism 722. That is, since the transmission directions of the first one-way mechanism 721 and the second one-way mechanism 722 are opposite, the directions of the resistance transmitted by the two are also opposite. The first generating device 731 and the second generating device 732 simulate resistance in two directions respectively, thereby solving the problem that in the first embodiment, a one-way transmission mechanism 72 can only simulate force in one direction.

[0061] Preferably, according to the arrangement of the first one-way mechanism 721 and the second one-way mechanism 722, a corresponding transmission mechanism 74 may be arranged, the input shaft of the transmission mechanism 74 is connected to the operating device 71, and the output shaft of the transmission mechanism 74 is connected to the input shaft of the one-way transmission mechanism 72. Thus, the movement of the operating device 71 is reliably transmitted to the first one-way mechanism 721 and the second one-way mechanism 722, and the resistance simulated by the first generating device 731 and the second generating device 732 is reliably transmitted to the operating device 71. That is, the transmission mechanism 74 realizes a function similar to one-to-two.

[0062] In addition, as needed, Figure 4 and Figure 5 As shown, in the first embodiment and the second embodiment, the main end of the interventional robot can also be provided with a torque adjustment mechanism 75, and the torque adjustment mechanism 75 is connected to the output end of the operating device 71, so as to amplify or reduce the force or torque output by the operating device 71. In addition, as required, the operation detection device 76 can be specifically set as a position detection device, and the position detection device detects the position change of the output end of the operating device 71. The position detection device can be an encoder, which is divided into photoelectric, magnetic, and mechanical types. Grating rulers, laser rangefinders, etc. can also be used. The position detection device can also be combined with the above-mentioned multiple sensors. The position detection device converts the detected position change into an operation signal and sends it to the control device. The control device controls the slave end to perform the corresponding operation according to the operation signal.

[0063] Combination Figure 6The third embodiment of the main end shown in the figure. On the basis of the second embodiment, the input shaft of the first one-way mechanism 721 and the input shaft of the second one-way mechanism 722 are arranged to be parallel to each other, that is, the first one-way mechanism 721 and the first generating device 731 are arranged parallel to the second one-way mechanism 722 and the second generating device 732.

[0064] The transmission mechanism 74 may also use synchronous pulleys, including a first synchronous pulley 741 driving the first one-way mechanism 721 and a second synchronous pulley 742 driving the second one-way mechanism 722. That is, two driving pulleys are arranged on the driving shaft connected to the operating device 71, and driven pulleys are arranged on the first input shaft and the second input shaft respectively, and the driving pulley and the driven pulley are driven by synchronous belts, thereby ensuring reliable transmission.

[0065] Similarly, if Figure 7 In the fourth embodiment shown, the synchronous pulley in the third embodiment is replaced by a gear set, that is, two driving gears 743 are provided on the driving shaft connected to the operating device 71, and driven gears 744 and 745 are respectively provided on the first input shaft and the second input shaft. The driving gear 743 and the driven gears 744 and 745 are meshed for transmission, thereby ensuring reliable transmission.

[0066] Combination Figure 6 and Figure 7 The working principle of the main end of the interventional robot of the present invention is described in detail. Figure 6 and Figure 7 As shown, the operating device 71 can be a knob fixed on a main shaft, and the main shaft passes through the position detection device. The position detection device can use a photoelectric encoder to collect the angle of the operating device 71. The photoelectric encoder is connected to a computer to provide input signals for subsequent actions.

[0067] The torque regulating mechanism 75 can be configured as a reducer, which can amplify the force of the operating device 71. The output shaft of the reducer is connected to another shaft through a coupling. Figure 6 In the embodiment, two synchronous pulleys are installed on the shaft connected to the torque adjustment mechanism 75, which are respectively connected to the synchronous pulleys on the left and right sides through synchronous belts (i.e., the first synchronous pulley 741 and the second synchronous pulley 742) to realize power transmission. The synchronous pulleys on the left and right sides have the same structure, and the output shafts of the synchronous pulleys on the left and right sides are respectively connected to the resistance generating devices 731 and 732 through the corresponding one-way transmission mechanisms 721 and 722. Figure 7 The middle gear set is similar and will not be described in detail.

[0068] When the user turns the knob clockwise facing the operating device 71, the middle synchronous pulley rotates clockwise. At this time, the synchronous pulley drives the synchronous pulleys on both sides to rotate through the synchronous belt. All synchronous pulleys rotate clockwise. Figure 6 and 7 In the embodiment, the first one-way mechanism 721 and the second one-way mechanism 722 are two ratchet mechanisms in opposite directions. Assuming that the ratchet and the pawl of the first one-way mechanism 721 are locked when the synchronous pulley rotates clockwise, the first synchronous pulley 741 transmits power to the first generating device 731 (magnetic powder brake) through the first one-way mechanism 721.

[0069] At this time, the ratchet wheel and ratchet teeth of the second one-way mechanism 722 are disengaged, and the second synchronous pulley 742 rotates freely and cannot transmit power to the second generating device 732 (magnetic powder brake). At this time, the magnetic powder brake can be controlled by the control device to make the magnetic powder brake of the first generating device 731 generate a rated load torque, which is transmitted to the operating device 71 through the transmission mechanism 74, so that the operator feels the simulated resistance.

[0070] When the operating device 71 rotates counterclockwise, the second synchronous pulley 742 transmits power to the second generating device 732 (magnetic powder brake) through the second one-way mechanism 722, and the first one-way mechanism 721 rotates freely and is separated from the first generating device 731. At this time, the magnetic powder brake of the second generating device 732 can be controlled by a computer to generate a rated load torque, which is transmitted to the operating device 71 through the transmission mechanism 74, so that the operator can feel the simulated resistance.

[0071] like Figure 8 The fifth embodiment of the main end shown in the figure is based on the second embodiment, and the input shaft of the first one-way mechanism 721 and the input shaft of the second one-way mechanism 722 are coaxially arranged, and the transmission mechanism 74 adopts a bevel gear set, wherein the driving gear 746 is arranged on the driving shaft connected to the operating device 71, and the driven gear 747 is arranged on the input shaft of the first one-way mechanism 721 and the input shaft of the second one-way mechanism 722, and the driving shaft is perpendicular to or at a certain angle to the input shaft of the first one-way mechanism 721 and the second one-way mechanism 722. The first generating device 731 and the second generating device 732 are correspondingly arranged at both ends of the input shaft of the first one-way mechanism 721 and the second one-way mechanism 722.

[0072] In addition, if Fig. 9 As shown, in the sixth embodiment, unlike the fifth embodiment, the input shaft of the first one-way mechanism 721 and the input shaft of the second one-way mechanism 722 can be coaxially arranged, and the shaft can be arranged as a driving shaft connected to the operating device 71. In order to facilitate the arrangement of individual components, the first one-way mechanism 721 and the second one-way mechanism 722 are output through corresponding pulleys or gears.

[0073] Combination Figure 1 and Fig.10To specifically describe the slave end of the interventional robot of the present invention, the slave end of the interventional robot includes: a fixed platform 10, on which a guide rail 11 is provided, and a guide rail driving mechanism 12 corresponding to the guide rail 11, on which a slide 13 is provided, and the guide rail driving mechanism 12 drives the slide 13 to slide along the guide rail 11; a conveying mechanism, which is provided on the slide 13; the conveying mechanism includes a rotating mechanism, which includes a rotating wheel and a rotating driving mechanism for driving the rotating wheel to rotate, the rotating wheel has an open groove extending from the side to the axis, and a fixing device for fixing the catheter or guide wire at the bottom of the open groove. As needed, the slide 13 can be an integrated structure with the base of the corresponding conveying mechanism, or it can be a separate fixed structure.

[0074] In the present invention, the rotating wheel of the conveying mechanism has an open groove extending from the side to the axis, that is, the catheter or guide wire can be directly installed to the axis position of the rotating wheel through the open groove, which is simpler to install than the method of inserting the catheter or guide wire from one end in the prior art. More importantly, the catheter or guide wire can also be directly removed from the open groove, which effectively solves the problem that the catheter or guide wire can only be removed from one end in the prior art and must be pulled out of the body before it can be removed.

[0075] Specifically, combined Fig.10 As shown, the guide rail 11 includes a first guide rail 111 and a second guide rail 112 which are parallel to each other, and a first slide 131 is arranged on the first guide rail 111; a second slide 132 is arranged on the second guide rail 112; the guide rail driving mechanism 12 includes a first guide rail driving mechanism 121 corresponding to the first guide rail 111 and a second guide rail driving mechanism 122 corresponding to the second guide rail 112; the conveying mechanism includes a catheter conveying mechanism 30 and a guide wire conveying mechanism 40, the catheter conveying mechanism 30 is arranged on the first slide 131, and the guide wire conveying mechanism 40 is arranged on the second slide 132, that is, the first guide rail driving mechanism 121 drives the catheter conveying mechanism 30 to slide along the first guide rail 111 through the first slide 131, thereby driving the catheter to move axially, that is, the entry and extraction operation. Similarly, the second guide rail driving mechanism 122 drives the guide wire conveying mechanism 40 to slide along the second guide rail 112 through the second slide 132, thereby realizing the entry and extraction operation of the guide wire. As required, the first slide 131 and the second slide 132 can be controlled to move synchronously or independently. By reasonably arranging the corresponding mechanisms on the catheter delivery mechanism 30 and the guide wire delivery mechanism 40, the catheter 3 and the guide wire 5 thereon are coaxially arranged, that is, the guide wire 5 is inserted into the catheter 3, thereby ensuring smooth movement of the guide wire 5 and the catheter 3.

[0076] Preferably, a combination of 10 and Fig.13As shown, the interventional robot further includes a support frame 20, which is located between the catheter delivery mechanism 30 and the guide wire delivery mechanism 40. The support frame 20 maintains the relative position of the guide wire delivery mechanism 40 relative to the catheter delivery mechanism 30, thereby preventing the guide wire 5 from being bent due to pressure, so that the guide wire 5 can move smoothly in the catheter 3.

[0077] Specifically, the support frame 20 is arranged at the tail of the catheter delivery mechanism 30, and the support frame 20 includes a support rod 21 extending along the extension direction of the guide wire and a support plate 22 arranged on the support rod 21, and a guide wire clamp 23 for the guide wire to pass through and limit is arranged at the end of the support plate 22. The guide wire clamp 23 has a guide wire hole for the guide wire to pass freely. When the guide wire clamp 23 is opened, the guide wire is placed in the guide wire hole from the side, thereby limiting the guide wire, and the guide wire is limited to a suitable position by the support rod 21 and the support plate 22, thereby preventing the guide wire from being completely or excessively completely blocked, resulting in the guide wire being unable to move in the catheter.

[0078] More specifically, the guide rail driving mechanism 12 includes a driving wheel arranged at one end of the guide rail 11 and a driven wheel arranged at the other end of the guide rail 11, a synchronous belt matched with the driving wheel and the driven wheel, and a guide rail 11 driving motor that drives the driving wheel to rotate; the slide 13 is connected to the synchronous belt, so that the slide 13 is driven to move forward and backward by the synchronous belt. Specifically, the first guide rail driving mechanism 121 drives the first slide 131 through the corresponding driving wheel 121a, the driven wheel 121b, the synchronous belt 121c and the motor 121d, thereby driving the catheter conveying mechanism 30 to move forward and backward; the second guide rail driving mechanism 122 drives the second slide 132 through the corresponding driving wheel 122a, the driven wheel 122b, the synchronous belt 122c and the motor 122d, thereby driving the guide wire conveying mechanism 40 to move forward and backward. In addition, as needed, corresponding detection switches 17, such as photoelectric switches or travel switches, are also provided on both sides of the guide rail 11 to limit the corresponding slide 13. Corresponding encoders 121e and 122e are provided on the motor to detect the rotation angle of the motor and the moving distance of the slide 13. In conjunction with the corresponding detection switch 17, the position and movement of the slide 13 can be controlled more accurately.

[0079] Preferably, the slide 13 is provided with adjustment mechanisms 133, 134 for adjusting the connection position between the slide 13 and the synchronous belt, that is, the connection between the slide 13 and the synchronous belt is loosened and locked by the adjustment mechanisms 133, 134. After loosening, the position of the slide 13 can be manually adjusted to adapt to catheters and guidewires of different specifications. Corresponding length scales or marks can be set on the side of the guide rail 11 as needed, so as to facilitate the adjustment of the slide 13 to an accurate position.

[0080] Specifically, combined Fig.13As shown, the catheter delivery mechanism 30 includes a catheter fixing seat 31 and a catheter rotating mechanism disposed on the catheter fixing seat 31, the catheter rotating mechanism includes a catheter rotating wheel 32 and a catheter rotating driving mechanism 33 driving the catheter rotating wheel 32 to rotate, the catheter rotating wheel 32 has a catheter opening groove 321 extending from the side to the axis, and a catheter fixing device 322 fixing the catheter at the bottom of the catheter opening groove 321. The catheter rotating wheel 32 has a catheter opening groove 321 extending from the side to the axis, that is, the catheter can be directly installed to the axis position of the catheter rotating wheel 32 from the catheter opening groove 321, which is simpler to install than the method of inserting the catheter from one end in the prior art. More importantly, the catheter can also be directly removed from the catheter opening groove 321, which effectively solves the problem in the prior art that the catheter can only be removed from one end and the catheter must be pulled out of the body before it can be removed.

[0081] like Fig.13 As shown, the catheter opening slot 321 forms a mounting hole 321a with a diameter greater than the width of the catheter opening slot 321 on the axis of the catheter rotating wheel 32, so that the catheter is installed in place, that is, after reaching the mounting hole 321a, it is convenient for the catheter to rotate and adjust or other operations, thereby avoiding the catheter from being twisted and facilitating the catheter fixing device 322 to fix the catheter, etc. The catheter fixing seat 31 is fixed on the first slide 131, so that the entire catheter conveying mechanism 30 is driven to move through the first slide 131. According to needs, the first slide 131 and the catheter fixing seat 31 can be an integrated structure or two structures fixed separately.

[0082] Combination Fig.13 As shown, the catheter rotating wheel 32 includes a catheter wheel shaft 323 and a gear ring 324 arranged on the catheter wheel shaft 323; the catheter opening groove 321 is correspondingly arranged on the catheter wheel shaft 323 and the gear ring 324, and the catheter wheel shaft 323 extends the length of the catheter opening groove 321, so as to be more conducive to installing the catheter in place and ensuring the stability of the catheter after installation, and at the same time avoiding unnecessary contact and friction between the catheter and other parts during the installation process. The catheter rotation drive mechanism 33 includes a gear 331 meshed with the gear ring 324 and a motor 332 driving the gear 331. By adopting the method of meshing the gear 331 with the gear ring 324, the catheter opening groove 321 can be set at the tooth groove position of the gear ring 324, and selecting a suitable tooth spacing can also ensure smooth transmission of the two. In addition, by setting the gear ring 324 and the gear 331, the motor 332 and the catheter are not coaxial, which is convenient for setting the catheter and the guide wire.

[0083] More preferably, the gear ring 324 is a bevel gear ring, the gear 331 is a bevel gear, the axial direction of the motor 332 is perpendicular to the catheter wheel shaft 323 or arranged at a preset angle, and the transmission is transmitted through the bevel gear. On the one hand, it is conducive to more stable transmission, and on the other hand, the axial direction of the motor 332 can also be changed, thereby facilitating the overall structural layout.

[0084] Combination Fig.13 and 14 As shown, the resistance detection device includes a torque measuring device 60 arranged on the catheter rotation drive mechanism 33, the torque measuring device includes a torque sensor 61 and a motor fixing seat 62, the motor fixing seat is fixed to the catheter fixing seat 31, the motor stator of the motor 332 is rotatably arranged on the motor fixing seat 62, the first end of the torque sensor 61 is fixed on the motor fixing seat 62, and the second end is fixed on the motor stator. That is, the motor stator and the rotor are coaxially rotatably arranged on the motor fixing seat 62, and the two ends of the torque sensor 61 are respectively fixed on the motor fixing seat 62 and the motor stator. That is, the motor stator is only fixed by the torque sensor 61 in the circumferential direction. When the motor 332 is working, the rotor of the motor 332 is subjected to the electromagnetic torque applied by the motor stator and the resistance torque applied by the load. According to the laws of physics, when the rotor of the motor 332 moves at a uniform speed, the sum of the external forces is zero. At this time, the two torques in opposite directions received by the motor 332 are equal, that is, the electromagnetic torque is equal to the load resistance torque. At this time, the stator is subjected to the electromagnetic torque reaction force from the rotor, which is equal to the electromagnetic torque on the rotor. At the same time, the stator is also subjected to the reaction torque transmitted by the motor fixing base 62 through the torque sensor 61. The balance of these two torques ensures that the stator does not move. The reaction torque can be obtained by multiplying the force measured by the torque sensor 61 with the lever arm.

[0085] Therefore, according to the above analysis, the torque exerted on the rotor of the motor 332 during uniform motion can be calculated based on the force measured by the torque sensor 61, which solves the problem of the complicated structure caused by the need for slip ring leads in the prior art, and the measurement accuracy is higher and more reliable.

[0086] In addition, when the rotor accelerates or decelerates, the rotational inertia of the rotor can be considered accordingly for compensation. The torque measuring device of the present invention eliminates the slip ring mechanism and utilizes the existing torque sensor 61, making it easier to ensure the stability of the system.

[0087] Combination Fig.14 As shown, the motor fixing seat 62 is provided with a support having an annular portion, the annular portion has a bearing hole 621, and the motor stator is fixed in the bearing hole 621 through a bearing 63, thereby ensuring that the circumferential force between the electronic stator and the motor fixing seat 62 is only applied through the torque sensor 61.

[0088] Preferably, in order to facilitate installation and processing, the catheter delivery mechanism 30 further includes a rotating seat 64, which is fixedly connected to the motor stator and has a shaft portion that matches the inner hole of the bearing. That is, by providing a rotating seat 64 to match the bearing, direct processing on the motor stator is avoided, which can effectively reduce the complexity of processing.

[0089] Combination Fig.14 As shown, the torque measuring device also includes a first bracket 65 fixed on the annular portion and a second bracket 66 fixed on the rotating seat 64; the two ends of the torque sensor 61 are respectively fixed on the first bracket 65 and the second bracket 66. By providing the first bracket 65 and the second bracket 66, it is convenient to install and fix the torque sensor 61. Preferably, in combination with Fig.13 and Fig.14 As shown, the first bracket 65 and the second bracket 66 are respectively fixed to two opposite sides of the torque sensor 61 to improve the reliability of installation and fixing.

[0090] Combination Fig.13 As shown, the catheter fixing device 322 is a buckle that engages with the tail wing of the catheter, and the tail wing of the catheter is directly fixed by the buckle, which is convenient and simple. More specifically, the buckle includes a tail wing groove 322a arranged at one end of the catheter wheel shaft portion 323 and matched with the tail wing, and a pressure plate 322b that presses the tail wing in the tail wing groove 322a. After the tail wing is inserted into the tail wing groove 322a and fixed by the pressure plate 332b, it is fixed relative to the catheter rotating wheel 32, so that the catheter rotating wheel 32 drives the rotating catheter to rotate synchronously.

[0091] like Fig.15 and 16 As shown, similarly, the guide wire conveying mechanism 40 includes a guide wire fixing seat 41 and a guide wire rotating mechanism arranged on the guide wire fixing seat 41, the guide wire rotating mechanism includes a guide wire rotating wheel 42 and a guide wire rotating driving mechanism 43 driving the guide wire rotating wheel 42 to rotate, the guide wire rotating wheel 42 has a guide wire opening groove 421 extending from the side to the axis, and a guide wire fixing device 422 fixing the guide wire at the bottom of the guide wire opening groove 421. The guide wire rotating wheel 42 has a guide wire opening groove 421 extending from the side to the axis, that is, the guide wire can be directly installed to the axis position of the guide wire rotating wheel 42 from the guide wire opening groove 421, which is simpler to install than the method of inserting the guide wire from one end in the prior art. More importantly, the guide wire can also be directly removed from the guide wire opening groove 421, which effectively solves the problem that the guide wire can only be removed from one end in the prior art, which causes the guide wire to be removed from the body first. The guide wire fixing seat 41 is fixed on the second slide 132, so that the entire guide wire conveying mechanism 40 is driven to move forward and backward through the second slide 132. As required, the guide wire fixing seat 41 can be an integral structure with the second slide 132, or can be two structures fixed separately.

[0092] Preferably, the guide wire fixing seat 41 further includes a first fixing plate 413 and a second fixing plate 411 rotatably arranged on the first fixing plate 413, and the guide wire rotation mechanism is arranged on the second fixing plate 411. The resistance detection device includes a first resistance detection device 45 arranged on the guide wire conveying mechanism 40 to detect the axial force of the guide wire, and the first resistance detection device 45 is arranged between the first fixing plate 413 and the second fixing plate 411. That is, the rotation between the first fixing plate 413 and the second fixing plate 411 is limited only by the first resistance detection device 45, and the resistance in the advancing direction (i.e., axial direction) of the guide wire can be obtained by measuring the resistance of the first resistance detection device 45 and calculating the relevant force arm conversion.

[0093] Specifically, Fig.15 As shown, the second fixed plate 411 is rotatably disposed on the first fixed plate 413 via a rotating shaft 413a; the first fixed plate 413 is provided with a limiting portion 413b for limiting the rotation of the second fixed plate 411 in the advancing direction of the guide wire, that is, the limiting portion 413b limits the forward movement (the advancing direction of the guide wire) of the second fixed plate 411 to maintain the stability of the second fixed plate 411.

[0094] The first resistance detection device 45 includes a stopper 452 arranged on the first fixed plate 413, and a resistance sensor 451 whose two ends are respectively abutted or connected with the stopper 452 and the second fixed plate 411; the limit portion 413b and the stopper 452 are respectively arranged on both sides of the rotating shaft 413a. That is, the resistance sensor 451 cooperates with the stopper 452 to limit the second fixed plate 411 from moving backward (in the direction of pulling out the guide wire). According to the principle of moment balance, the moment of the resistance relative to the rotating shaft 413a and the moment of the rotating shaft 413a relative to the resistance sensor 451 during the advancement process are balanced, so that the second fixed plate 411 can maintain balance. Therefore, the resistance measured by the resistance sensor 451 and the corresponding force arm ratio can be used to calculate the resistance encountered by the guide wire during the advancement process.

[0095] Combination Fig.15 and 16As shown, the wire guide rotating wheel 42 includes a wire guide wheel shaft 423 and a first gear 424 arranged on the wire guide wheel shaft 423; the wire guide opening groove 421 is correspondingly arranged on the wire guide wheel shaft 423 and the first gear 424, and the wire guide wheel shaft 423 extends the length of the wire guide opening groove 421, so as to be more conducive to installing the wire in place and ensuring the stability of the wire after installation, and at the same time avoiding unnecessary contact and interference between the wire and other parts during the installation process. The wire guide rotation driving mechanism 43 includes a second gear 432 meshing with the first gear 424 and a motor 431 driving the second gear 432. By adopting the method of meshing two gears, the wire guide opening groove 421 is set at the tooth groove position, and the appropriate tooth spacing is selected, which can also ensure the smooth transmission of the two. In addition, by setting the first gear 424 and the second gear 432, the motor 431 is not coaxial with the wire guide, which is convenient for setting the catheter and the wire guide.

[0096] Preferably, if Fig.15 and 16 As shown, the guide wire fixing seat 41 further includes a movable plate 412 detachably arranged on the second fixing plate 411; the second fixing plate 411 is rotatably arranged on the first fixing plate 413; the motor 431 is arranged on the second fixing plate 411; the first gear 424 and the second gear 432 are arranged on the movable plate 412. That is, the movable plate 412 can be disassembled as a whole, so as to disassemble some disposable or frequently replaced parts, realize modular disassembly and assembly, effectively improve efficiency, and facilitate use.

[0097] Preferably, the first gear 424 is a first bevel gear, the second gear 432 is a second bevel gear, and the axial direction of the motor 431 is perpendicular to the guide wheel shaft 423 or arranged at a preset angle; the transmission through the bevel gears is conducive to more stable transmission on the one hand, and on the other hand, the axial direction of the motor 431 can also be changed, thereby facilitating the overall structural layout.

[0098] Combination Figures 14 to 16 As shown, the resistance detection device also includes a torque measuring device 60 arranged on the guide wire rotation drive mechanism 43 to measure the torque of the motor 431. The torque measuring device 60 is the same as the torque measuring device of the catheter conveying mechanism 30, that is, the motor 431 is rotatably arranged between the stator and the fixed structure, and the rotation is only limited by the torque sensor 61. According to the data measured by the torque sensor 61, the axial resistance exerted on the catheter 3 can be obtained after corresponding conversion.

[0099] Combination Fig.17As shown, in order to facilitate the fixing of the guide wire, the guide wire fixing device 422 includes a slot 422a that engages with the tail of the guide wire. For a guide wire with a tail, the tail of the guide wire is directly fixed through the slot 422a, so that the guide wire cannot rotate freely in the guide wire rotating wheel 42, which is convenient and simple. In addition, for a guide wire without a tail, a guide wire locker 422b can be used to lock the guide wire first, and then the guide wire locker 422b is placed in the slot 422a, so that the guide wire cannot rotate freely. After the guide wire is placed, the rotation of the guide wire is determined by the guide wire rotating wheel 42.

[0100] Combination Fig.17 and 18 As shown, the interventional robot also includes an axial tube delivery mechanism 50, which is arranged at the end of the fixed platform 10. That is, the axial tube delivery mechanism 50 is arranged at the front end of the fixed platform 10, and is used to clamp the catheter sheath and drive the catheter to move along the axial direction, and cooperate with the catheter delivery mechanism and the guide wire delivery mechanism on the first guide rail 111 and the second guide rail 112, so as to realize the movement of the catheter and the guide wire. Of course, the axial tube delivery mechanism 50 can also be used to clamp one layer of the multi-layer catheter, for example, it is common to clamp the outermost catheter in the aorta during hepatic artery embolism.

[0101] Specifically, the axial tube delivery mechanism 50 includes at least one pair of friction wheels 51 arranged opposite to each other and a friction wheel driving mechanism 52 for driving the friction wheels 51; and a spacing adjustment mechanism 53 for adjusting the distance between the at least one pair of friction wheels 51; an axial tube delivery channel is formed between the at least one pair of friction wheels 51, and the friction wheels 51 on both sides of the channel rotate in opposite directions, thereby driving the tube to move forward and backward through friction. If necessary, a groove that matches the tube can be provided on the outer circumference of the friction wheel 51, thereby increasing the contact area between the friction wheel 51 and the tube and ensuring reliable transmission.

[0102] Specifically, Fig.17 and 18 As shown, there are two pairs of friction wheels 51, and the two pairs of friction wheels 51 are arranged along the axial conveying direction of the catheter. Among the two pairs of friction wheels 51, the outer circumferences of the two friction wheels 51 located on the first side are provided with grooves that cooperate with the catheter, and the outer circumferences of the two friction wheels 51 located on the second side are planar structures.

[0103] Furthermore, the friction wheel driving mechanism 52 includes a driving shaft 521 and a motor 525 driving the driving shaft 521. The driving shaft 521 is provided with a reversing gear 521a and a synchronous pulley. The friction wheel 51 located on the first side is driven by the reversing gear 521a on the driving shaft 521, and the friction wheel 51 located on the second side is driven by the synchronous pulley on the driving shaft 521. That is, through the characteristics of the synchronous belt driving in the same direction and the gear driving in the opposite direction, the friction wheels 51 located on both sides rotate in opposite directions and drive the catheter to move together. In addition, in order to measure the resistance of the catheter and the friction wheel 51, the resistance detection also includes a torque measuring device 60 for measuring the torque on the motor 525. The torque measuring device 60 is the same as the torque measuring device in the catheter conveying mechanism 30 and the guide wire conveying mechanism 40, that is, the motor stator is rotatably arranged between the fixed structure, and the rotation is limited only by the torque sensor 61. According to the data measured by the torque sensor 61, after corresponding conversion, the axial resistance of the catheter 3 can be obtained.

[0104] Combination Fig.17 and 18 As shown, the axial tube delivery mechanism 50 also includes a fixed frame 54, the drive shaft 521 and the axle of the friction wheel 51 on the first side are arranged on the fixed frame 54, and the spacing adjustment mechanism 53 includes an adjustment seat 531 arranged on the fixed frame 54 and an adjustment frame 532 that can move relative to the adjustment seat 531 in a direction perpendicular to the tube delivery direction; the axle of the friction wheel 51 on the second side is arranged on the adjustment frame 532. That is, the positions of the drive shaft 521 and the friction wheel 51 on the first side are fixed, and the friction wheel 51 on the second side moves through the adjustment frame 532, so as to adjust the distance relative to the friction wheel 51 on the first side to adapt to tubes 3 of different diameters. Preferably, in order to ensure the stability and reliability of the movement of the adjustment frame 532, mutually matching slide grooves and slide rails can be provided on the adjustment frame 532 and the adjustment seat 531.

[0105] Combination Fig.17 and 18As shown, the drive shaft 521 is provided with a reversing gear 521a, a first synchronous pulley 521b and a second synchronous pulley 521c, and the motor 525 is connected to the first synchronous pulley 521b through the driving pulley 522 and the first synchronous belt 523; the axles of the friction wheels 51 on the first side are respectively provided with driven gears 511, and the reversing gear 521a is meshed with the driven gear 511; the axle of the friction wheel 51 on the second side is provided with a driven pulley 512, and the second synchronous pulley 521c is connected to the driven pulley 512 through the second synchronous belt 524. That is, the motor 525 drives the drive shaft 521 through the first synchronous belt 523, and the reversing gear 521a on the drive shaft 521 drives the two friction wheels 51 on the first side; the second synchronous pulley 521c on the drive shaft 521 drives the two friction wheels 51 on the second side through the second synchronous belt 524. By separately setting the first synchronous belt 523 and the second synchronous belt 524, when the spacing of the friction wheels 51 is adjusted, the transmission of the first synchronous belt 523 and the friction wheel 51 on the first side is not affected, and only the transmission of the second synchronous belt 524 is changed, thereby improving the reliability of the entire mechanism. The spacing adjustment mechanism 53 also includes a tensioning mechanism 537 for tensioning the second synchronous belt 524, that is, through the cooperation of the tensioning mechanism 537, it is ensured that reliable transmission can be achieved when the position of the friction wheel 51 on the second side is adjusted.

[0106] Specifically, the tensioning mechanism 537 includes a tensioning seat 537a, a tensioning frame 537b and a tensioning spring (not shown in the figure); the tensioning frame 537b is slidably arranged on the tensioning seat 537a along a preset direction, the two ends of the tensioning spring are respectively abutted on the tensioning seat 537a and the tensioning frame 537b, and the end of the tensioning frame 537b is provided with a tensioning wheel 537c, which is pressed against the outer side of the second synchronous belt 524. That is, through the pre-compression elastic force of the tensioning spring, the tensioning wheel 537c is always pressed against the second synchronous belt 524 during the spacing adjustment process, thereby ensuring that the second synchronous belt 524 is tensioned and can reliably drive the friction wheel 51 on the second side.

[0107] Preferably, the spacing adjustment mechanism 53 also includes a manual adjustment mechanism 533, which includes an adjustment handle 533a arranged on the adjustment seat 531 and a first cam 533b fixedly connected to the adjustment handle 533a, and a first adjustment protrusion 533c or a first adjustment groove cooperating with the first cam 533b is arranged on the adjustment frame 532; that is, the first cam 533b is rotated by the adjustment handle 533a, and the first cam 533b is squeezed with the first adjustment protrusion 533c or the side wall of the first adjustment groove, thereby pushing the entire adjustment frame 532 to move, thereby adjusting the spacing of the friction wheel 51 on the second side relative to the friction wheel 51 on the first side to adapt to catheters of different diameter specifications.

[0108] As needed, the spacing adjustment mechanism 53 may also include an automatic adjustment mechanism 534, which may also adopt a cam groove mechanism similar to the manual adjustment mechanism 533, that is, the automatic adjustment mechanism 534 includes a second cam 534a arranged on the adjustment seat 531 and a motor 534d driving the second cam 534a, and a second adjustment groove 534b cooperating with the second cam 534a is arranged on the adjustment frame 532, and the motor 534d drives the second cam 534a through the gear set 534c, thereby realizing automatic adjustment of the spacing.

[0109] In addition, in order to further improve stability and reliability, the axial tube delivery mechanism 50 further includes a limit clamp 55 provided at the inlet end of the friction wheel 51 and a tube clamp 56 provided at the outlet end of the friction wheel 51. By providing the limit clamp 55 at the inlet end, the catheter is limited within a certain range to ensure that the position of the catheter is relatively stable and to prevent interference from causing the catheter to fall off between the friction wheels 51. The tube clamp 56 is provided at the outlet end to clamp the catheter sheath or catheter to keep the catheter stable.

[0110] Preferably, the axial tube delivery mechanism 50 further comprises a mounting plate 57 detachably mounted on the fixing frame 54; the limit clamp 55, the tube clamp 56 and the friction wheel 51 are mounted on the mounting plate 57, and the friction wheel 51 is detachably connected to the corresponding wheel axle. The above structures can be made of plastic parts and be disposable to meet the requirements of medical treatment.

[0111] In order to facilitate disassembly, the mounting plate 57 is snap-fitted with the fixing frame 54. Specifically, a fixing plate 541 may be provided on the fixing frame 54, and a buckle 542 extending upward may be provided on the fixing plate 541. A slot or a hole 572 cooperating with the buckle 542 may be provided on the side of the mounting plate 57. As required, corresponding positioning hole columns may be provided to improve connection reliability and facilitate disassembly. In addition, in order to prevent the detachable friction wheel 51 from axial movement with the counter-axle, a corresponding elastic protrusion may be provided on the axle to limit the axial position of the friction wheel 51.

[0112] like Fig.17 and 18As shown, in order to further improve reliability, a first limiting clamp 551 can be provided at the inlet end of the friction wheel 51; a second limiting clamp 552 can be provided at the outlet end of the friction wheel 51, so as to limit the catheter within a certain range. The mounting plate 57 has a guide plate 571 extending forward a certain distance, that is, the guide plate 571 is located at the outlet end of the friction wheel 51 and extends forward a certain distance, and the tube clamp 56 is provided on the free end of the guide plate 571, that is, the tube clamp 56 is closer to the intervention operation port, which is conducive to improving the accuracy of the operation. Preferably, the guide plate 571 is tilted downward at a preset angle, and the preset angle matches the natural angle of the intervention operation port, further improving the accuracy of the intervention operation. In addition, as needed, the tilt angle can be adjusted or the length of the guide plate 571 can be adjusted to meet different intervention operation requirements.

[0113] Combination Figures 1 to 18 To illustrate the operation process of the interventional robot of the present invention, it specifically includes:

[0114] 1. Catheter insertion process:

[0115] 1. First, open the tube clamp 56 at the front end of the axial tube delivery mechanism 50, insert the catheter sheath into the tube clamp 56, and fasten it.

[0116] 2. Insert the front end of the catheter 3 into the catheter sheath, operate the adjustment handle 533a of the manual adjustment mechanism 533, so that the adjustment frame 532 moves relative to the adjustment seat 531, so that the gap between the friction wheels 51 on both sides is large enough, clamp the limit clamps 55 at the inlet and outlet ends of the friction wheel 51, and place the catheter into the gap between the friction wheels.

[0117] 3. Hold the remaining part of the catheter 3, loosen the adjustment mechanism 133, move the first slide 131 to the tail position of the catheter 3, and lock the adjustment mechanism 133, manually turn the catheter rotating wheel 32, so that the catheter opening slot 321 of the catheter rotating wheel 32 faces upward, so that the catheter 3 is placed in the catheter opening slot 321, and the tail wing at the tail of the catheter 3 is placed in the tail wing slot 322a, and clamped by the pressing plate 322b. After the catheter 3 is installed, the axial movement of the catheter 3 is completed by the axial tube delivery mechanism 50 and the first guide rail driving mechanism 121, and the rotation of the catheter 3 is driven by the motor 332 on the catheter conveying mechanism 30. By arranging the axial tube delivery mechanism 50 at the front end of the fixed platform 10, it is closer to the catheter sheath and the human body, thereby ensuring the reliability of axial delivery and preventing the catheter from bending. Through the cooperation of the axial tube delivery mechanism 50 and the catheter conveying mechanism 30, the reliable axial delivery of the catheter is realized, and the catheter is further driven to rotate by the catheter conveying mechanism 30, so that the catheter can be spirally advanced.

[0118] 2. Guidewire loading process:

[0119] 1. After the catheter 3 is installed, insert the front end of the guide wire 5 into the catheter, operate the adjustment mechanism 134 of the second slide 132, and move the second slide 132 to the vicinity of the tail of the guide wire 5. For a guide wire with a tail wing, the tail wing can be placed in the corresponding slot so that the guide wire cannot rotate freely therein. If it is a guide wire without a tail wing, it is necessary to use a guide wire locker to lock the guide wire first, and then put the guide wire locker 422b into the slot so that the guide wire 5 cannot rotate freely. After the guide wire 5 is placed, the rotation of the guide wire 5 is determined by the guide wire rotation mechanism, and the axial movement of the guide wire is determined by the second guide rail driving mechanism 122.

[0120] During the operation, the guide wire 5 and the catheter 3 are simultaneously inserted into the channel formed by the puncture, which is usually a catheter sheath. The catheter sheath is shorter than the catheter guide wire and only serves as a channel from outside the body to enter the blood vessel. Fig.12 As can be seen from the schematic diagram of the guidewire catheter, the catheter 3 is a hollow elongated cylinder. The diameter and length ratio in the figure are only schematic. The axial length of the catheter is 70-120 cm, and the diameter is 1.7 mm. The length of the guidewire is longer than the catheter, and there are different specifications ranging from 80-300 cm. It is stated in the national standards for guidewire catheters that the guidewire catheter is a mature commercial product.

[0121] After the catheter 3 and the guide wire 5 enter the human blood vessel, the guide wire 5 is first operated to move a certain distance toward the distal end (front end). During this process, the guide wire 5 can be rotated to select a path at the bifurcation of the blood vessel. Then, the guide wire 5 is kept stationary and the catheter 3 is operated to move a certain distance toward the distal end (front end). Usually, the distance the catheter moves is less than or equal to the distance the guide wire 5 just moved, and the catheter 3 will move along the guide wire 5.

[0122] The control performed by the present invention is based on the above-mentioned actions, and the specific operation depends on the implementation of the operator. During the operation, the control device collects the measurement signal of the operation detection device to control the slave end; and collects the measurement signal of the resistance detection device (the axial and rotational resistance of the guidewire, the axial and rotational resistance of the catheter) to control the resistance generating device, thereby realizing the feedback of the operation control force. There are four basic operations, namely, the forward and backward movement of the catheter 3; the rotation of the catheter 3; the forward and backward movement of the guidewire 5; the rotation of the guidewire 5. The forward and backward movement of the catheter 3 is achieved by the friction wheel 51 on the axial tube delivery mechanism 50 and the first guide rail driving mechanism 121 driving the catheter delivery mechanism 30 to move. When advancing, the friction wheel 51 rotates to generate friction force to generate a forward power for the catheter, and the catheter 3 moves toward the distal end as a whole. At this time, the first guide rail driving mechanism 121 generates a follow-up motion according to the linear speed generated by the friction wheel. This motion must be synchronized. If it is too fast, the catheter will bend, and if it is too slow, the catheter will be broken due to excessive tension. The catheter is rotated by the motor on the catheter conveying mechanism 30 driving the bevel gear set to rotate. Since the catheter is stuck in the open groove of the bevel gear and has no relative movement with the bevel gear, the catheter can be rotated. The operating device is connected to the resistance generating device through a one-way transmission mechanism, that is, the one-way transmission mechanism is set on the transmission path of the resistance, so that the resistance generating device without direction simulates the directional resistance.

[0123] The rotation and movement of the catheter 3 do not interfere with each other, so the catheter 3 can be rotated while moving, thereby realizing the precession movement. The advancement of the guide wire 5 is determined by the second guide rail driving mechanism 122 driving the movement of the second slide 132. The rotation of the guide wire is realized by the motor of the guide wire rotating mechanism on the guide wire conveying mechanism 40 on the second slide 132 driving the bevel gear. The movement and rotation do not interfere with each other and can be performed simultaneously, thereby realizing the precession movement.

[0124] During the operation, since the distal end (front end) of the guidewire is in the patient's blood vessel and the proximal end (rear end) of the guidewire is on the other side of the interventional robot, the portion between the proximal and distal ends of the guidewire passes through the guidewire delivery mechanism 40 on the interventional robot. The proximal ends (rear ends) of the catheter 3 and the guidewire 5 have bulging tail wings, which cannot pass through the guidewire delivery mechanism 40. Therefore, when it is necessary to separate the guidewire from the delivery mechanism, the prior art must pass it out from the distal end of the guidewire 5. Since the guidewire 5 is in the blood vessel, the guidewire 5 must be first pulled out of the blood vessel, and then pulled out from the delivery end of the guidewire 5. The present invention installs the guidewire 5 and the catheter by setting an open groove. When it is necessary to separate the guidewire 5 and the catheter 3 from the delivery mechanism, it is only necessary to take out the guidewire 5 and the catheter 3 from the corresponding open groove. The position of the distal end (front end) of the guidewire 5 does not change, and it is not necessary to pull the guidewire 5 out of the blood vessel.

[0125] The above is only a specific embodiment of the present invention. Under the above teachings of the present invention, those skilled in the art can make other improvements or modifications on the basis of the above embodiments. Those skilled in the art should understand that the above specific description is only to better explain the purpose of the present invention, and the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An interventional robot, comprising a master end, a slave end, and a control device connected to the master end and the slave end, characterized in that: The master end includes an operating device, an operating detection device and a resistance generating device, wherein the operating device is connected to the resistance generating device through a one-way transmission mechanism, the operating detection device is connected to the control device, and the control device collects the measurement signal of the operating detection device to control the slave end; The slave end includes a fixed platform, a guide rail and a guide rail driving mechanism corresponding to the guide rail are arranged on the fixed platform, a conveying mechanism is arranged on the guide rail, the guide rail driving mechanism drives the conveying mechanism to slide along the guide rail, the conveying mechanism includes a rotating mechanism, the rotating mechanism includes a rotating wheel and a rotating driving mechanism driving the rotating wheel to rotate, the rotating wheel has an open groove extending from the side to the axis, and a fixing device fixing the catheter or guide wire at the bottom of the open groove; The slave end further comprises a resistance detection device, the resistance detection device is connected to the control device, and the control device collects the measurement signal of the resistance detection device to control the resistance generating device; The one-way transmission mechanism comprises a first one-way mechanism and a second one-way mechanism, wherein the transmission directions of the first one-way mechanism and the second one-way mechanism are opposite; The resistance generating device includes a first generating device connected to the output shaft of the first one-way mechanism and a second generating device connected to the output shaft of the second one-way mechanism.

2. The interventional robot according to claim 1, characterized in that: The one-way transmission mechanism is a ratchet device or a one-way shaft device.

3. The interventional robot according to any one of claims 1 to 2, characterized in that: The slave end further includes a slide, the conveying mechanism is arranged on the conveying slide, and the slide includes a first slide and a second slide; The guide rail comprises a first guide rail and a second guide rail which are parallel to each other, the first guide rail is provided with a first slide, and the second guide rail is provided with a second slide; The guide rail driving mechanism comprises a first guide rail driving mechanism corresponding to the first guide rail and a second guide rail driving mechanism corresponding to the second guide rail; The conveying mechanism includes a catheter conveying mechanism and a guide wire conveying mechanism. The catheter conveying mechanism is arranged on the first slide, and the guide wire conveying mechanism is arranged on the second slide. The catheter on the catheter conveying mechanism is coaxial with the guide wire on the guide wire conveying mechanism.

4. The interventional robot according to claim 3, characterized in that: The catheter delivery mechanism includes a catheter fixing seat and a catheter rotating mechanism arranged on the catheter fixing seat; The catheter rotating mechanism comprises a catheter rotating wheel and a catheter rotating driving mechanism for driving the catheter rotating wheel to rotate; The catheter rotating wheel has a catheter opening groove extending from the side to the axis, and a catheter fixing device for fixing the catheter at the bottom of the catheter opening groove.

5. The interventional robot according to claim 4, characterized in that: The catheter rotating wheel comprises a catheter wheel shaft portion and a gear ring arranged on the catheter wheel shaft portion; the catheter rotation driving mechanism comprises a gear meshing with the gear ring and a motor driving the gear.

6. The interventional robot according to claim 5, characterized in that: The catheter fixing device includes a buckle engaged with the tail wing of the catheter, and the buckle includes a tail wing groove arranged at one end of the catheter wheel shaft portion and matched with the tail wing, and a pressure plate pressing the tail wing in the tail wing groove.

7. The interventional robot according to claim 3, characterized in that: The guide wire conveying mechanism comprises a guide wire fixing seat and a guide wire rotating mechanism arranged on the guide wire fixing seat; The guide wire rotating mechanism comprises a guide wire rotating wheel and a guide wire rotating driving mechanism for driving the guide wire rotating wheel to rotate; The guide wire rotating wheel has a guide wire opening groove extending from the side to the axis, and a guide wire fixing device for fixing the guide wire at the bottom of the guide wire opening groove.

8. The interventional robot according to claim 7, characterized in that: The guide wire fixing seat comprises a first fixing plate and a second fixing plate rotatably arranged on the first fixing plate, and the guide wire rotating mechanism is arranged on the second fixing plate; The guide wire delivery mechanism also includes a first resistance detection device for detecting the axial force applied to the guide wire, and the first resistance detection device is disposed between the first fixing plate and the second fixing plate.

9. The interventional robot according to claim 8, characterized in that: The guide wire rotating wheel includes a guide wire wheel shaft and a first gear arranged on the guide wire wheel shaft; the guide wire rotation driving mechanism includes a second gear meshing with the first gear and a motor driving the second gear.

10. The interventional robot according to claim 7, characterized in that: The guide wire fixing device comprises a slot engaged with the tail wing of the guide wire.

11. The interventional robot according to claim 3, characterized in that: The guide rail driving mechanism includes a driving wheel arranged at one end of the guide rail and a driven wheel arranged at the other end of the guide rail, a synchronous belt matched with the driving wheel and the driven wheel, and a guide rail driving motor driving the driving wheel to rotate; The slide table is provided with an adjusting mechanism for adjusting the connection position between the slide table and the synchronous belt.

12. The interventional robot according to claim 3, characterized in that: The interventional robot further comprises a support frame, wherein the support frame is located between the catheter delivery mechanism and the guide wire delivery mechanism.

13. The interventional robot according to claim 3, characterized in that: The interventional robot further comprises an axial tube delivery mechanism, which is arranged at the front end of the fixed platform; The axial tube delivery mechanism comprises at least one pair of friction wheels arranged opposite to each other and a friction wheel driving mechanism for driving the friction wheels; and a spacing adjustment mechanism for adjusting the distance between the at least one pair of friction wheels; A catheter axial conveying channel is formed between the at least one pair of friction wheels.

14. The interventional robot according to claim 13, characterized in that: The friction wheel driving mechanism comprises a driving shaft and a motor driving the driving shaft, wherein the driving shaft is provided with a reversing gear and a synchronous pulley; The friction wheel located on the first side of the at least one pair of friction wheels is driven by the reversing gear on the driving shaft, and the friction wheel located on the second side is driven by the synchronous pulley on the driving shaft.

15. The interventional robot according to claim 14, characterized in that: There are two pairs of friction wheels, and the two pairs of friction wheels are arranged along the axial conveying direction of the catheter; The axial tube delivery mechanism further comprises a fixing frame, on which the drive shaft and the axle of the friction wheel located on the first side are arranged; The spacing adjustment mechanism comprises an adjustment seat arranged on the fixing frame and an adjustment frame movable relative to the adjustment seat in a direction perpendicular to the conveying direction of the catheter; The wheel axle of the friction wheel located on the second side is arranged on the adjusting frame.

16. The interventional robot according to claim 15, characterized in that: The driving shaft is provided with a reversing gear, a first synchronous pulley and a second synchronous pulley, and the motor is drivingly connected to the first synchronous pulley through a driving pulley and a first synchronous belt; The wheel shafts of the friction wheels on the first side are respectively provided with driven gears, and the reversing gears are meshed with the driven gears; A driven pulley is arranged on the axle of the friction wheel located on the second side, and the second synchronous pulley is drivingly connected to the driven pulley through a second synchronous belt; The spacing adjustment mechanism also includes a tensioning mechanism for tensioning the second synchronous belt.

17. The interventional robot according to claim 16, characterized in that: The tensioning mechanism comprises a tensioning seat, a tensioning frame and a tensioning spring; the tensioning frame is slidably arranged on the tensioning seat along a preset direction, and two ends of the tensioning spring abut against the tensioning seat and the tensioning frame respectively; A tensioning wheel is arranged at the end of the tensioning frame, and the tensioning wheel is pressed against the outer side of the second synchronous belt.

18. The interventional robot according to claim 17, characterized in that: The spacing adjustment mechanism also includes a manual adjustment mechanism, which includes an adjustment handle arranged on the adjustment seat and a first cam fixedly connected to the adjustment handle, and a first adjustment protrusion matched with the first cam is arranged on the adjustment frame.

19. The interventional robot according to claim 18, characterized in that: The spacing adjustment mechanism also includes an automatic adjustment mechanism, which includes a second cam arranged on the adjustment seat and a motor driving the second cam. The adjustment frame is provided with a second adjustment groove that cooperates with the second cam.

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