Interventional catheters and interventional surgical robots

Abstract

This invention belongs to the field of medical device technology. An interventional catheter includes a fixed catheter, a rotating catheter, a guiding portion, and a branch catheter. The rotating catheter is coaxially arranged with the fixed catheter and is sealed and rotatably disposed at the front end of the fixed catheter. The guiding portion is disposed at the front end of the rotating catheter, and the channel of the guiding portion is arc-shaped. At least one branch catheter is disposed on the side wall of the fixed catheter. An interventional surgical robot is also disclosed. This invention has a reasonable structural design, which can effectively realize the orderly arrangement and manipulation of different catheters or guidewires, thereby enabling a complete surgical operation through the surgical robot, providing technical support for the further development of surgical robots in the medical field.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to an interventional catheter and an interventional surgical robot. Background Technology

[0002] With the continuous advancement of medicine, research on disease treatment and diagnostic equipment is receiving increasing attention. Surgical robots, through precise control and stable operation, can complete surgeries, replacing the current practice of doctors relying on experience. This not only overcomes geographical limitations but also effectively reduces human error. Current surgical procedures rely on the doctor's experience and on-the-spot judgment, and are susceptible to errors due to the doctor's fatigue. Surgical robots, with their visualization and controllability, can provide a new research direction for medical diagnostic and treatment equipment, thereby enabling breakthroughs in medicine through scientific and technological advancements.

[0003] For vascular interventional surgery, the movement of guidewires or catheters within blood vessels is primarily achieved through advancement, retraction, and rotation. During the procedure, depending on the specific surgical plan, frequent changes of different infusion catheters or guidewires are necessary. Current technology cannot sequentially operate different infusion catheters or guidewires, nor can it achieve systematic control of the entire surgical process. It can only control one or two specific surgical segments within the overall procedure using a surgical robot. Therefore, the limitations of current technology significantly restrict the systematic operation of surgical robots. Overcoming the challenge of using surgical robots to complete a full surgical procedure is a key technical hurdle that needs to be addressed at this stage. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems and shortcomings by providing an interventional catheter and an interventional surgical robot. This robot features a rational structural design that effectively enables the orderly arrangement and manipulation of different catheters or guidewires, thereby facilitating a complete surgical procedure and providing technical support for the further development of surgical robots in the medical field.

[0005] To achieve the above objectives, the technical solution adopted is:

[0006] An interventional catheter, comprising:

[0007] Fix the catheter;

[0008] A rotating conduit is coaxially arranged with the fixed conduit, and the rotating conduit is sealed and rotated at the front end of the fixed conduit;

[0009] A guide section, wherein the guide section is disposed at the front end of the rotating conduit, and the channel of the guide section is arc-shaped; and

[0010] A branch catheter, at least one of the branch catheters being disposed on the side wall of the fixed catheter.

[0011] According to the interventional catheter of the present invention, preferably, the branch catheter is provided with a control valve, and the branch catheter is provided with one control valve or two control valves are provided at intervals on the branch catheter.

[0012] An interventional surgical robot includes a base, the aforementioned interventional catheter, a pushing unit, and a control system. The fixed catheter is fixedly mounted on the base, and the base is provided with a rotation drive unit for driving the rotating catheter. At least one set of the pushing units is mounted on the base, and the pushing units are correspondingly mounted to the fixed catheter or the branch catheter.

[0013] The push unit includes:

[0014] A first rotary drive unit is disposed on the base;

[0015] The first clamping part is driven to rotate by the first rotary drive part.

[0016] A first worktable is slidably mounted on the base, and the base is provided with a first sliding drive unit that drives the first worktable to move.

[0017] A second clamping part, the second clamping part being disposed on the first worktable; and

[0018] The third clamping part is disposed on the base, and the first clamping part, the second clamping part and the third clamping part are arranged in a corresponding manner from front to back.

[0019] According to the interventional surgical robot of the present invention, preferably, the first rotary drive unit is disposed on the base via a second worktable, the second worktable is slidably disposed on the base, and the base is provided with a second sliding drive unit for driving the second worktable.

[0020] According to the interventional surgical robot of the present invention, preferably, it further includes a thin tube, a third worktable is provided on the base, a third sliding drive unit is provided on the base to drive the third worktable, a fourth clamping unit corresponding to the thin tube is provided on the third worktable, a first end of the thin tube is supported on the first worktable, a second end of the thin tube is matched and inserted into the fixed conduit, a second rotation drive unit is provided on the third worktable, and the second rotation drive unit drives the fourth clamping unit to rotate.

[0021] According to the interventional surgical robot of the present invention, preferably, the thin tube includes a fixed thin tube and a rotating thin tube rotatably disposed at one end of the fixed thin tube; the fixed thin tube is fixedly supported on the first worktable; at least one branch thin tube is provided on the side wall of the fixed thin tube.

[0022] According to the interventional surgical robot of the present invention, preferably, a control valve is provided on the branch tube, and the branch tube is provided with one control valve or two control valves are provided at intervals on the branch tube.

[0023] According to the interventional surgical robot of the present invention, preferably, an auxiliary guiding unit is correspondingly provided on the branch tube, the auxiliary guiding unit comprising:

[0024] The third rotary drive unit is disposed on the base;

[0025] The first auxiliary clamping part is driven to rotate by the third rotary drive part.

[0026] An auxiliary worktable is slidably mounted on the base, and the base is provided with a sixth sliding drive unit for driving the movement of the auxiliary worktable;

[0027] A second auxiliary clamping part is disposed on the auxiliary worktable; and

[0028] The third auxiliary clamping part is disposed on the base, and the first auxiliary clamping part, the second auxiliary clamping part and the third auxiliary clamping part are arranged in a corresponding manner in front and behind.

[0029] According to the interventional surgical robot of the present invention, preferably, a fourth worktable is slidably disposed on the first worktable, a fourth sliding drive unit for driving the fourth worktable is disposed on the first worktable, and a second clamping unit is disposed on the fourth worktable.

[0030] A fifth worktable is provided on the third worktable, and a fifth sliding drive unit is provided on the third worktable to drive the fifth worktable. The second rotary drive unit is provided on the fifth worktable, and the fixed guide tube is fixedly provided on the third worktable.

[0031] According to the interventional surgical robot of the present invention, preferably, it further includes an auxiliary guide support, which is arranged on the base and / or each worktable. The auxiliary guide support includes a base, two side limiting plates disposed on the base, and an opening and closing drive unit for driving the opening and closing of the two side limiting plates.

[0032] The beneficial effects achieved by adopting the above technical solution are:

[0033] This application features a rational overall structural design, enabling the orderly arrangement and manipulation of different catheters or guidewires through the aligned configuration of each worktable and clamping unit. This allows for a complete surgical procedure using a surgical robot, providing technical support for the further development of surgical robots in the medical field. The aligned arrangement of the first and second worktables, in conjunction with the first and second clamping units and the first rotary drive unit, enables the guidewire or catheter to move back and forth and rotate, thus meeting the basic operational requirements of the guidewire and catheter. Furthermore, the application utilizes the interventional catheter to redirect the guidewire or catheter after it enters the sheath, more effectively simulating the surgeon's techniques. The interventional catheter and pushing unit enable passive and active adjustment of the guidewire or catheter, further facilitating the robot's movements and improving the accuracy and controllability of the operation.

[0034] The fixed catheter of this application is provided with branch catheters, and the thin tube is provided with branch thin tubes. The design of the above structure enables multiple guidewires or catheters with different functions to be operated sequentially and continuously without interference, thereby realizing the entire surgical operation. It also helps to realize remote control and automated control of the entire surgical operation, effectively reducing surgical time, improving surgical results, and reducing errors.

[0035] This application can effectively prevent medical staff from being placed in a radioactive and harmful environment, and prevent those who have been engaged in related medical work for a long time from suffering serious damage from radiation. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. The drawings are merely illustrative of some embodiments of the present invention and are not intended to limit the scope of the present invention to all embodiments.

[0037] Figure 1 This is a schematic diagram of the structure of an interventional catheter according to an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of the structure of an interventional surgical robot according to an embodiment of the present invention.

[0039] Figure 3 This is a cross-sectional schematic diagram of an interventional surgical robot according to an embodiment of the present invention.

[0040] Figure 4 for Figure 3 Enlarged structural diagram of section A in the middle.

[0041] Figure 5 for Figure 3 Enlarged structural diagram of section B in the middle.

[0042] Figure 6 for Figure 3 A magnified structural diagram of section C in the middle.

[0043] Number in the diagram:

[0044] 100 is an interventional catheter, 110 is a fixed catheter, 111 is a branch catheter, 112 is a control valve, 120 is a rotary catheter, and 121 is a guide section;

[0045] 200 is the base, 210 is the sheath;

[0046] 310 is the first workbench, 320 is the second workbench, 330 is the third workbench, 340 is the fourth workbench, and 350 is the fifth workbench;

[0047] 410 is a rotary drive unit, 411 is a first rotary drive motor, 412 is a first gear, and 413 is a second gear; 420 is a first rotary drive unit, and 430 is a second rotary drive unit.

[0048] 510 is the first clamping part, 520 is the second clamping part, 530 is the third clamping part, 540 is the auxiliary guide support part, 541 is the base, 542 is the side limiting plate, and 550 is the fourth clamping part.

[0049] 600 is a capillary tube, 610 is a fixed capillary tube, 611 is a branch capillary tube, and 620 is a rotating capillary tube;

[0050] 700 is a guidewire or catheter. Detailed Implementation

[0051] The exemplary solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art.

[0052] In the description of this invention, it should be understood that the terms "first" and "second" are used to describe the various elements of this invention and do not indicate any limitation on order, quantity or importance, but are only used to distinguish one component from another.

[0053] It should be noted that when one element is described as "connected," "coupled," or "connected" to another element, it can mean that they are directly connected, coupled, or connected. However, it should be understood that there may be intermediate elements between them; that is, it covers both direct and indirect connection positions.

[0054] It should be noted that the use of words such as "one" or "a" does not necessarily indicate a quantity limitation. Words such as "including" or "contains" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects.

[0055] It should be noted that terms such as "up," "down," "left," and "right," which indicate orientation or positional relationship, are only used to express relative positional relationship. They are used for the convenience of describing the present invention and do not mean that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0056] See Figure 1 This application discloses an interventional catheter, including a fixed catheter 110, a rotating catheter 120, a guide portion 121, and a branch catheter 111. The rotating catheter 120 is coaxially arranged with the fixed catheter 110, and the rotating catheter is sealed and rotated at the front end of the fixed catheter. The guide portion is disposed at the front end of the rotating catheter, and the channel of the guide portion 121 is arc-shaped, so that the extension direction of the guidewire or catheter can be laterally deflected after it extends out of the rotating catheter. The direction can be changed by rotating the rotating catheter 120, which has a guiding effect on the guidewire or catheter 700. At least one of the branch catheters 111 is disposed on the side wall of the fixed catheter 110. During operation, the fixed catheter remains relatively stationary, guiding the guidewire or catheter. The rotating catheter is coaxially arranged with the fixed catheter, further aiding in the guidance of the guidewire or catheter. When a change in angle is required for the guidewire or catheter, the rotating catheter is rotated, allowing the surgeon to manually rotate it during the procedure. This action indirectly changes the direction of the guidewire or catheter without directly causing it to rotate. The two do not interfere with each other during rotation and can operate relatively independently. To facilitate operation, ensure uninterrupted surgical procedures, improve efficiency and quality, and reduce surgical duration, this application incorporates a branch catheter on the fixed catheter. The branch catheter can be used to place other guidewires or catheters. When one guidewire or catheter is in operation, the other guidewires or catheters are withdrawn from the fixed and rotating catheters, preventing interference. As shown in the figure, in this embodiment, the branch catheter and fixed catheter are arranged at an angle, with a small angle between their axial directions. This avoids excessively large turning angles for the guidewire or catheter, further improving its sensitivity and accuracy.

[0057] Furthermore, a control valve 112 is provided on the branch conduit. One control valve 112 is provided on the branch conduit 111, or two control valves 112 are provided at intervals on the branch conduit 111. The control valve 112 can block the liquid in the fixed conduit 110 on the one hand, and on the other hand, it helps to clean the liquid in the branch conduit 111 and maintain the flow of the liquid in the branch conduit 111.

[0058] See Figures 1-6This embodiment also discloses an interventional surgical robot, including a base 200, an interventional catheter 100 as described above, a pushing unit, and a control system. A fixed catheter 110 is fixedly mounted on the base via a support seat. The base 200 is provided with a rotation drive unit 410 for driving the rotating catheter. In this embodiment, the rotation drive unit 410 includes a first gear 412 mounted on the rotating catheter, a first rotation drive motor 411 mounted on the base, and a second gear 413 mounted at the output end of the first rotation drive motor. The first and second gears are bevel gears that mesh with each other to drive the rotating catheter. Alternatively, the rotation drive unit can be hollow. A hollow shaft motor is used, and a rotating guide tube is inserted through the hollow shaft motor. The shaft of the hollow shaft motor is fixedly connected to or clamps the rotating guide tube. At least one set of the pushing units is disposed on the base. The pushing units are correspondingly disposed with the fixed guide tube or the branch guide tube. The pushing units are arranged on the corresponding fixed guide tube and branch guide tube according to the needs of the surgery, thereby realizing the pushing and rotating actions of the corresponding guide wire or guide tube. Specifically, the pushing unit in this embodiment includes a first rotary drive unit 420, a first clamping unit 510, a first worktable 310, a second clamping unit 520, and a third clamping unit 530, wherein the first rotary drive unit 420 is disposed on the base 200. The first rotary drive unit 420 drives the first clamping unit 510 to rotate. The first rotary drive unit 420 can be a hollow shaft motor or a bevel gear transmission structure; in this embodiment, a hollow shaft motor is preferred. The guide wire or conduit passes through the middle of the hollow shaft motor's rotating shaft. The first clamping unit 510 is provided at the end of the rotating shaft. The first clamping unit can be supported on the base by a bearing seat and can rotate freely within the bearing seat. The first clamping unit is connected to the output end of the hollow shaft motor via a coupling. When rotation of the guide wire or conduit is required, the first clamping unit clamps the guide wire or conduit, and the first rotary drive unit drives the first clamping unit to rotate, thus rotating the guide wire or conduit. Both the second clamping part 520 and the third clamping part 530 serve as guides and supports, and will not exert a clamping force on the guidewire or catheter. In this embodiment, the first worktable 310 is slidably disposed on the base 200, and the base is provided with a first sliding drive part that drives the first worktable 310 to move. The second clamping part 510 is disposed on the first worktable 310. The third clamping part 530 is disposed on the base 200. The first clamping part 510, the second clamping part 520 and the third clamping part 530 are arranged in a corresponding manner. The main function of the third clamping part 530 is to prevent the guidewire or catheter from being affected by friction and other factors during the step-changing process and to move with the second clamping part.When forward or backward movement is required, the first and third clamping parts release, and the second clamping part clamps. The first sliding drive unit drives the first worktable to slide forward, thereby advancing the guidewire or catheter. After pushing a certain distance, the second clamping part releases, and the third clamping part clamps. The first sliding drive unit pulls the first worktable and the second clamping part back to their original positions. The above action is repeated according to the set pushing length to continue pushing. The pull-back action is the reverse of the above operation. In the accompanying drawings of this embodiment, since a fourth worktable is added to the first worktable, and the second clamping part is set on the fourth worktable, the third clamping part can be set on the first worktable accordingly, thus not affecting the operation.

[0059] Because the guidewire or catheter is thin and long, it is easy to fall if the span is too large. Therefore, this application also provides an auxiliary guide support 540. The auxiliary guide support is arranged on the base and / or each worktable. The auxiliary guide support includes a base 541, two side limiting plates 542 arranged on the base, and an opening and closing drive part for driving the opening and closing of the two side limiting plates. The auxiliary guide support 540 can also be a U-shaped guide groove, which does not need to perform an opening and closing action. The opening and closing drive part in this embodiment is set to cooperate with the corresponding clamping part when pushing or pulling, so as to improve the clamping effect and stability of the guidewire or catheter in some action processes, and further help to ensure the accurate pushing action of the guidewire or catheter. In the above structure, an auxiliary guide support with clamping function in a suitable position can replace the third clamping part. The attached drawings of this application do not show the position structure diagram of the third clamping part set on the base. Only the position structure diagram of the auxiliary guide support part replacing the third clamping part is shown when a fourth worktable is arranged on the first worktable. Depending on the actual situation, a third clamping part for clamping guide wires or guide tubes can also be set on the base on the rear side of the first worktable.

[0060] To improve overall flexibility and practicality, in this embodiment, the first rotary drive unit is mounted on the base 200 via the second worktable 320. The second worktable 320 is slidably mounted on the base 200. The base 200 is provided with a second sliding drive unit that drives the second worktable 320. Thus, it is possible to determine whether the first rotary drive unit 420 and the first clamping unit 510 need to slide back and forth as needed, which helps to coordinate the operation of the entire system, ensures the stability of the entire operation process, and avoids excessively long suspension of guidewires or catheters in certain sections at different stages of surgery.

[0061] Furthermore, this application also includes a thin tube 600, a third worktable 330 on the base, a third sliding drive unit on the base 200 for driving the third worktable 330, a fourth clamping unit 550 corresponding to the thin tube on the third worktable 330, a first end of the thin tube 600 supported on the first worktable 310, and a second end of the thin tube 600 inserted into the interventional catheter. A second rotation drive unit 430 on the third worktable 330 drives the fourth clamping unit 550 to rotate. The specific structure of the second rotation drive unit 430 can be the same as the structure of the first rotation drive unit or the same as the structure of the rotation drive unit. During surgical operations, when the interventional catheter cannot pass through a blood vessel with a small inner diameter, the thin tube is pushed to further advance within the blood vessel. When the inner diameter of the blood vessel further narrows, causing the thin tube to be unable to advance further, a guide wire or a thinner catheter is used to advance the tube, thereby completing surgical operations such as angiography and drug injection.

[0062] Simultaneously, the capillary tube can be further structurally refined. Specifically, the capillary tube 600 includes a fixed capillary tube 610 and a rotating capillary tube 620 that is rotatably disposed at one end of the fixed capillary tube; the fixed capillary tube is fixedly supported on the first worktable; at least one branch capillary tube 611 is provided on the side wall of the fixed capillary tube. The second rotary drive unit 430 is mainly designed to achieve synchronous rotation of the first rotary drive unit and the second rotary drive unit, thereby preventing the capillary tube from twisting during the rotation of the rotating guide tube, which would reduce the accuracy of operation.

[0063] A control valve is provided on the branch capillary tube 611. The branch capillary tube may have one control valve or two control valves spaced apart. The control valve at this location has essentially the same function as the control valve on the branch conduit, capable of blocking the internal liquid, facilitating the cleaning of the liquid within the branch conduit, and maintaining the flow of liquid within the branch capillary tube.

[0064] In this embodiment, an auxiliary guiding unit is correspondingly connected to the branch tube. The auxiliary guiding unit includes a third rotary drive unit, a first auxiliary clamping unit, an auxiliary worktable, a second auxiliary clamping unit, and a third auxiliary clamping unit. The third rotary drive unit is mounted on a base. The third rotary drive unit drives the first auxiliary clamping unit to rotate. The structure of the third rotary drive unit can be the same as that of the first rotary drive unit. The auxiliary worktable is slidably mounted on the base. The base is provided with a sixth sliding drive unit that drives the auxiliary worktable. The second auxiliary clamping unit is mounted on the auxiliary worktable. The third auxiliary clamping unit is mounted on the base. The first, second, and third auxiliary clamping units are arranged sequentially in front of and behind each other. The above structure is mainly used for the rotation and forward / backward pushing / pulling movements of the guidewire or catheter within the branch tube. In this embodiment, the arrangement of the third rotary drive unit, the first auxiliary clamping unit, the auxiliary worktable, the second auxiliary clamping unit, and the third auxiliary clamping unit is the same as that of the first rotary drive unit, the first clamping unit, the first worktable, the second clamping unit, and the third clamping unit of the push unit. Therefore, the specific structure will not be described again with reference to the accompanying drawings.

[0065] Furthermore, based on the above structure, in order to facilitate the pushing action of thin tubes or guide wires / conduits with different outer diameters and avoid mutual interference, this application has a fourth worktable 340 slidably arranged on the first worktable. A fourth sliding drive unit for driving the fourth worktable 340 is provided on the first worktable 310. A second clamping unit 520 is provided on the fourth worktable 340. As mentioned above, a third clamping unit can be provided on the first worktable. A fifth worktable 350 is provided on the third worktable 330. A fifth sliding drive unit for driving the fifth worktable is provided on the third worktable 330. A second rotary drive unit is provided on the fifth worktable 350. The fixed conduit 110 is fixedly arranged on the third worktable 330. The aforementioned structure enables compound actions, namely, the compound actions of the first workbench 310 and the fourth workbench 340, and the compound actions of the third workbench 330 and the fifth workbench 350. This allows for the use of different combinations of workbench actions to complete the operation according to different surgical segments, avoiding interference between the workbench units. For example, when operating a guidewire or catheter, the fourth workbench 340 can be used to perform forward, backward, and rotation movements; when operating the thin tube 600, the actions of the first workbench 310 and the fifth workbench 350 can be used. At different stages, the relative positions of the workbench units on the base can be changed according to the length of the guidewire after advancement and the length of the thin tube, further ensuring the stability of the guidewire, catheter, and thin tube.

[0066] In this embodiment, the first, second, third, fourth, fifth, and sixth sliding drive units can all be constructed using any of the following structures: pneumatic cylinder, hydraulic cylinder, electric push rod, lead screw and nut, or gear and rack. The sliding connection between each worktable and the base, and the sliding connection between worktables, can be either a slide rail structure or a groove structure. When using a slide rail structure, a slider is provided at the bottom of the worktable; when using a groove structure, a dovetail groove structure can be used. In this embodiment, the first, second, third, and fourth clamping units can be constructed using two opposing clamping plates and a power push rod driving the two clamping plates. Alternatively, they can use a claw-type clamping fixture or other structures that achieve axial unobstructed clamping through radial clamping action. Since both the first and fourth clamping units require rotation, a three-jaw caliper structure is preferred. In this embodiment, the control valve is a disposable medical three-way valve.

[0067] In this article, the term "and / or" indicates that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this article generally indicates that the preceding and following objects have an "or" relationship.

[0068] The preferred embodiments for implementing the present invention have been described in detail above. However, it should be understood that these embodiments are merely illustrative and not intended to limit the scope, application, or construction of the invention in any way. The scope of protection of the present invention is defined by the appended claims and their equivalents. Those skilled in the art can make numerous modifications to the foregoing embodiments under the teachings of this invention, and all such modifications fall within the scope of protection of this invention.

Claims

1. An interventional surgical robot, characterized in that, Includes a base, a thin tube, an interventional catheter, a delivery unit, and a control system; The interventional catheter includes: a fixed catheter; a rotating catheter, which is coaxially arranged with the fixed catheter and is sealed and rotatably disposed at the front end of the fixed catheter; a guide portion, which is disposed at the front end of the rotating catheter and the channel of the guide portion is arc-shaped; and a branch catheter, at least one of the branch catheters being disposed on the side wall of the fixed catheter. The fixed conduit is fixedly mounted on the base, and the base is provided with a rotation drive unit for driving the rotating conduit; at least one set of the pushing units is mounted on the base, and the pushing units are correspondingly mounted to the fixed conduit or the branch conduit. The pushing unit includes: a first rotary drive unit disposed on the base; a first clamping unit that drives the first clamping unit to rotate; a first worktable that is slidably disposed on the base, and the base is provided with a first sliding drive unit that drives the first worktable to move; a second clamping unit disposed on the first worktable; and a third clamping unit disposed on the base, with the first clamping unit, the second clamping unit, and the third clamping unit arranged in a corresponding manner front to back. The first rotary drive unit is mounted on the base via a second worktable, the second worktable is slidably mounted on the base, and the base is provided with a second sliding drive unit that drives the second worktable; A third worktable is provided on the base, and a third sliding drive unit is provided on the base to drive the third worktable. A fourth clamping part corresponding to the thin tube is provided on the third worktable. The first end of the thin tube is supported on the first worktable, and the second end of the thin tube is matched and inserted into the fixed guide tube. A second rotation drive unit is provided on the third worktable, and the second rotation drive unit drives the fourth clamping part to rotate.

2. The interventional surgical robot according to claim 1, characterized in that, The branch conduit is equipped with a control valve, either one control valve or two control valves spaced apart on the branch conduit.

3. The interventional surgical robot according to claim 1, characterized in that, The capillary tube includes a fixed capillary tube and a rotating capillary tube rotatably disposed at one end of the fixed capillary tube; the fixed capillary tube is fixedly supported on the first worktable, and at least one branch capillary tube is provided on the side wall of the fixed capillary tube.

4. The interventional surgical robot according to claim 3, characterized in that, A control valve is provided on the branch capillary tube, and the branch capillary tube may have one control valve or two control valves spaced apart on the branch capillary tube.

5. The interventional surgical robot according to claim 3, characterized in that, An auxiliary guiding unit is correspondingly provided on the branch tube, and the auxiliary guiding unit includes: The third rotary drive unit is disposed on the base; The first auxiliary clamping part is driven to rotate by the third rotary drive part. An auxiliary worktable is slidably mounted on the base, and the base is provided with a sixth sliding drive unit for driving the movement of the auxiliary worktable; A second auxiliary clamping part is disposed on the auxiliary worktable; and The third auxiliary clamping part is disposed on the base, and the first auxiliary clamping part, the second auxiliary clamping part and the third auxiliary clamping part are arranged in a corresponding manner in front and behind.

6. The interventional surgical robot according to claim 3, characterized in that, A fourth worktable is slidably disposed on the first worktable, and a fourth sliding drive unit for driving the fourth worktable is disposed on the first worktable; the second clamping unit is disposed on the fourth worktable. A fifth worktable is provided on the third worktable, and a fifth sliding drive unit is provided on the third worktable to drive the fifth worktable. The second rotary drive unit is provided on the fifth worktable, and the fixed guide tube is fixedly provided on the third worktable.

7. The interventional surgical robot according to any one of claims 1-6, characterized in that, It also includes an auxiliary guide support unit, which is arranged on the base and / or each worktable. The auxiliary guide support unit includes a base, two side limiting plates arranged on the base, and an opening and closing drive unit for driving the opening and closing of the two side limiting plates.

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