An interventional surgery manipulator with terminal micro-motion error compensation

Abstract

The present invention discloses an interventional surgical manipulator with terminal micro-motion error compensation, comprising a guide rail, a slider, a direct-drive motor, a twisting motor, a gear, a rack, a connecting block, a telescopic motor, a clamping member, a slide rail, an X-Y micro-motion platform, a voice coil motor, a flexible hinge and a guide wire; the guide rail is symmetrically mounted on a working platform, the slider is mounted on the top of the guide rail, the direct-drive motor is mounted at one end of the guide rail, and the slider drives the twisting part to perform a delivery motion; the twisting motor drives the gear to engage with the rack, transmits the motion to the connecting block and causes it to reciprocate up and down on the slide rail, thereby realizing the twisting action of the catheter / guide wire; the telescopic motor drives the clamping member to cause the clamping part to perform axial motion, thereby realizing clamping of the catheter / guide wire; the voice coil motor transmits the motion to the X-Y micro-motion platform through the X-axis flexible hinge and the Y-axis flexible hinge, and the X-Y micro-motion platform drives the clamped catheter / guide wire to perform a micro-displacement motion, thereby realizing micro-position adjustment of the terminal guide wire. The manipulator can realize macro-delivery, clamping, twisting and micro-adjustment compensation of catheters / guidewires, effectively improving the intervention accuracy of catheters / guidewires in vascular interventional surgery.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to an interventional surgery manipulator with catheter guidewire pushing performance, twisting performance and terminal micro-motion adjustment performance. Background Art

[0002] In recent years, interventional surgery has been widely used in both internal and external medicine, using medical imaging equipment and specialized catheters, guidewires, and other precision instruments to diagnose and locally treat internal body conditions. However, interventional surgery requires contrast agents to visualize blood vessels, and long-term exposure to contrast agent radiation can be harmful to doctors. Furthermore, interventional surgery relies heavily on the doctor's experience, but inexperienced doctors cannot guarantee that the guidewire will safely reach the lesion site as intended. Therefore, instrument-assisted interventional surgery can effectively compensate for the doctor's lack of experience and enable the catheter guidewire to effectively reach the target area. Auxiliary manipulators for vascular interventional surgery have also become a key research topic for relevant researchers at home and abroad. As an important component of executing the movement of the catheter guidewire, interventional surgery manipulators will play a vital role.

[0003] The most fundamental function of a vascular interventional surgical robot is to deliver and twist the catheter / guidewire. Such a manipulator can replace the doctor's hands to deliver and twist the guidewire. Currently developed interventional surgical robots usually require a larger operating space and can only achieve guidewire delivery and twisting operations with a larger macro range and longer stroke. However, due to the precision limitations of existing vascular interventional surgical robots, during the surgical operation, if curved and small blood vessels are encountered, it is necessary to simulate the slight displacement adjustment of the doctor's hand, but this cannot be achieved by existing large-stroke vascular interventional surgical robots. This affects the offset of the wire feeding position of the vascular interventional surgical robot to a certain extent, and more seriously, it will cause damage to the vascular wall of the small blood vessels.

[0004] Therefore, in actual operation, when a catheter guidewire requires minute displacement changes or compensation at the distal end, a platform capable of providing robotic micro-movements is needed to compensate for these minor offsets, enabling adjustment of the catheter / guidewire's micro-displacement within small blood vessels. To address this need, designing a minimally invasive interventional surgical manipulator that combines long-range catheter / guidewire delivery and twisting with distal micro-motion compensation is crucial for improving catheter / guidewire insertion accuracy and addressing the shortcomings of existing vascular interventional surgical robots. Summary of the Invention

[0005] The purpose of the present invention is to solve the technical problems existing in the known technology and to provide an interventional surgical manipulator with terminal micro-motion error compensation. The six-degree-of-freedom interventional surgical manipulator can compensate for the deviation of the catheter guide wire at the terminal through micro-motion on the basis of twisting the catheter guide wire, and can realize macro delivery, clamping, twisting and micro adjustment compensation, and has the functions of delivery, twisting and compensation.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] An interventional surgical manipulator with terminal micro-motion error compensation includes a working platform, a motor support frame, a frame plate, a base, a clamping base, a direct-drive motor, a first coupling, a photoelectric switch, a slider, a guide rail, a lead screw, a twisting base, a twisting motor, a second coupling, a twisting pointer, a first twisting shaft, a second twisting shaft, a gear, a rack, a telescopic motor, a telescopic motor rod, a connecting rod connector, a clamping member, an upper base plate of a slider, a lower base plate of a slider, a rubber pad, a slide rail, a connecting rod, a first long rod, a second long rod, a connecting block, a connecting block and slider connector, an XY micro-motion platform, a micro-motion platform support frame, a motor support frame, an X-axis flexible hinge, a Y-axis flexible hinge, a telescopic catheter, a guide wire, an X-axis voice coil motor, a Y-axis voice coil motor, a support frame, and a telescopic catheter support frame.

[0008] The lead screw and the guide rail are symmetrically mounted on both sides of the work platform, the direct drive motor is mounted on one side of the guide rail, the direct drive motor is connected to the lead screw via the first coupling, the photoelectric switch is mounted on the side of the guide rail, the slider is mounted on the top of the guide rail, the twisting base is mounted on the top of the slider using a protrusion and a light hole, and the sliders are symmetrically distributed on the side of the guide rail;

[0009] The frame plate is mounted on the upper end of the twisting base through a protrusion and a light hole, the motor support frame is mounted on the frame plate through bolts, the twisting motor is mounted on the motor support frame by bolts, the twisting motor is connected to the first twisting shaft through a second coupling, the gear is mounted on the first twisting shaft, the gear is meshed with the rack, the twisting pointer is fixed to the gear, the gear and the rack are meshed to transmit motion and power to the connecting block through the second twisting shaft, and the second twisting shaft and the connecting block are symmetrically distributed on both sides of the telescopic guide tube;

[0010] The clamping base is fixed to the upper end of the frame plate by bolts, the telescopic motor is installed at one end of the clamping base by bolts, the end of the telescopic motor rod is embedded in the connecting rod connector and pre-tightened by bolts, the connecting rod connector is fixed to the clamping part by bolts, and the clamping part is symmetrically distributed about the telescopic guide tube, the slide rail is fixed to the inner side of the clamping part by bolts, the lower base plate of the slider and the upper base plate of the connecting slider are fastened together by bolts and installed on the slide rail by bolts, the connecting block is installed on the upper end of the second twisting shaft by adhesive, and the connecting block and the slider connector are connected by screws. The bolt is installed on the lower bottom plate of the slider and embedded in the slide groove of the connecting block. The rubber pad is installed on the side of the upper bottom plate of the slider by using an adhesive. The rubber pad, the upper bottom plate of the slider, the lower bottom plate of the slider, the slide rail and the clamping member are symmetrically arranged on the clamping base. The first long rod is bolted to the connecting rod connecting member through the connecting rod. The first long rod and the second long rod are bolted and fixed to the base. The artificial hand consists of the first long rod and the second long rod, and is installed on the other end of the clamping base by bolts. It is used in conjunction with the telescopic motor to adjust the clamping force and control the direction.

[0011] The telescopic guide tube and the guide wire are clamped in the optical hole of the XY fine motion platform. The XY fine motion platform is connected to the fine motion platform support frame by bolts to ensure that the overall motion trajectory does not change. The fine motion platform support frame is installed on the slider through the frame plate. The slider is driven by the direct drive motor to achieve Z-axis feed motion.

[0012] Furthermore, the XY fine motion platform cooperates with the overall clamping part and the twisting part to make up for the shortcomings of the overall clamping module and the twisting module that cannot compensate for the end guide wire offset error. The XY fine motion platform is connected to the X-axis voice coil motor through the X-axis flexible hinge, and the XY fine motion platform is connected to the Y-axis voice coil motor through the Y-axis flexible hinge. The X-axis voice coil motor is installed on the motor support frame, and the Y-axis voice coil motor is installed on the fine motion platform support frame. The guide wire is installed at the central light hole of the XY fine motion platform, and the X-axis flexible hinge is connected to the The Y-axis flexible hinges are symmetrically distributed about the XY fine-motion platform, ensuring that the X-axis and Y-axis maintain central symmetry after deformation. The forces provided by the X-axis voice coil motor and the Y-axis voice coil motor can be used to generate micro-displacement and amplify the displacement, allowing the XY fine-motion platform to effectively adjust the end offset. The X-axis voice coil motor and the Y-axis voice coil motor drive the XY fine-motion platform to achieve X-axis and Y-axis fine-motion adjustment. The twisting motor drives the gear to engage with the rack to twist the telescopic catheter and the guidewire, thereby achieving axial rotation of the telescopic catheter and the guidewire.

[0013] Furthermore, the X-axis flexible hinge, the Y-axis flexible hinge, and the XY micro-motion platform are an integrated molding structure.

[0014] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0015] 1. The terminal micro-motion platform employed in this invention can control the distal end of an interventional guidewire to achieve minute displacements, compensating for minor deviations in the guidewire's distal end based on twisting. This design enables real-time position compensation during surgery, addressing the current limitations of minimally invasive interventional procedures that lack micro-displacement adjustments and enabling more precise catheter and guidewire interventions.

[0016] 2. The XY micro-motion platform used in the present invention is an integrated structure with the X-axis flexible hinge and the Y-axis flexible hinge, which has the characteristics of compact structure, small size and light weight. Under the driving action of the X-axis voice coil motor and the Y-axis voice coil motor, the X-axis flexible hinge and the Y-axis flexible hinge can respectively realize X-axis position compensation while the Y-axis remains unchanged; Y-axis position compensation while the X-axis remains unchanged; and simultaneous position compensation of the X-axis and Y-axis. The X-axis flexible hinge and the Y-axis flexible hinge are symmetrically distributed about the XY micro-motion platform, which can ensure that the central symmetry is maintained after being subjected to force, and the flexible hinge can amplify the micro-displacement provided by the voice coil motor; the use of the end XY micro-motion platform in conjunction with the overall clamping part and the twisting part can more effectively improve the accuracy of guidewire intervention. At the same time, the integrated structure of the flexible hinge and the XY micro-motion platform can improve the effectiveness of displacement transmission, ensuring that the XY micro-motion platform plays a better micro-adjustment role on the intervention guidewire on the basis of twisting.

[0017] 3. In the present invention, the twisting portion is driven by a twisting motor, which meshes with a gear and rack. This transfers motion and power to the connecting block via a second twisting shaft. The integrated design of the second twisting shaft and rack ensures timely and effective motion transmission. The connecting block and slider connector effectively connect the twisting portion and the clamping portion, allowing the manipulator to simultaneously clamp the catheter guidewire and twist it, improving its efficiency. Furthermore, a small chute designed on the connecting block allows the connecting block and slider connector to slide within the chute, thereby cooperating with the rack-and-pinion mechanism to complete the twisting of the catheter guidewire. This ensures that the rack-and-pinion mechanism remains intact while the clamping portion is operating, preventing interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a left-side structural schematic diagram of the present invention;

[0020] Figure 3It is a schematic diagram of the clamping part of the present invention;

[0021] Figure 4 This is a schematic diagram of the twisting part of the present invention;

[0022] Figure 5 This is a partial enlarged view of the twisting portion connecting block and the slider connecting piece of the present invention;

[0023] Figure 6 This is a partial enlarged view of the three-dimensional structure of the micro-motion platform of the present invention;

[0024] Figure 7 Schematic diagram of the planar structure of the micro-motion platform of the present invention.

[0025] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0026] 1-Motor support frame 101-Direct drive motor 102-First coupling 103-Photoelectric switch

[0027] 104-Twisting base 105-Slider 106-Guide rail 107-Screw

[0028] 2-Frame 201-Twisting Motor 202-Second Coupling 203-First Twisting Shaft

[0029] 204-twisting pointer 205-gear 206-rack 207-second twisting axis

[0030] 3-base 301-telescopic motor 302-telescopic motor rod 303-connecting rod connector

[0031] 304- Clamping piece 305- Slider bottom plate 306- Slider top plate 307- Rubber pad

[0032] 308-slide rail 309-connecting rod 3010-first long rod 3011-second long rod

[0033] 3012-Connecting block and slider connector 3013-Connecting block

[0034] 4-Clamping base 401-XY micro-motion platform 402-1-X-axis flexible hinge 402-2-Y-axis flexible hinge

[0035] 403-Micro motion platform support frame 404-Y axis voice coil motor 405-X axis voice coil motor 406-Motor support frame

[0036] 5-Working platform 501-Support frame 502-Telescopic catheter support frame 503-Telescopic catheter

[0037] 504-Guidewire DETAILED DESCRIPTION

[0038] To further understand the content, features, and effectiveness of the present invention, the following examples are provided, along with accompanying drawings, to further illustrate the present invention. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. Furthermore, the technical features described below in the various embodiments of the present invention may be combined as long as they do not conflict with each other. For clarity and conciseness, standard components such as screws and bolts have been omitted from the figures.

[0039] See also Figures 1 to 5 The embodiment of the present invention protects an interventional surgical manipulator with end micro-motion error compensation, including a motor support frame 1, a frame plate 2, a base 3, a clamping base 4, a working platform 5, a direct drive motor 101, a first coupling 102, a photoelectric switch 103, a twisting base 104, a slider 105, a guide rail 106, a lead screw 107, a twisting motor 201, a second coupling 202, a first twisting shaft 203, a twisting pointer 204, a gear 205, a rack 206, a second twisting shaft 207, a telescopic motor 301, a telescopic motor rod 302, a connecting rod connector 303, Clamping part 304, lower base plate 305 of slider, upper base plate 306 of slider, rubber pad 307, slide rail 308, connecting rod 309, first long rod 3010, second long rod 3011, connecting block and slider connecting part 3012, connecting block 3013, XY fine motion platform 401, X-axis flexible hinge 402-1, Y-axis flexible hinge 402-2, fine motion platform support frame 403, Y-axis voice coil motor 404, X-axis voice coil motor 405, motor support frame 406, support frame 501, telescopic catheter support frame 502, telescopic catheter 503, guide wire 504.

[0040] In this embodiment, the direct drive motor 101, the lead screw 107 and the guide rail 106 are symmetrically placed on the work platform 5, and the sliders 105 are installed on both sides of the guide rail 106. The direct drive motor 101 drives the slider 105 to realize the Z-axis movement of the slider 105. The twisting base 104 is installed on the slider 105 through the optical hole; under the drive of the direct drive motor, the slider 105 drives the twisting module to feed on the guide rail 106, and the photoelectric switch 103 is used to record the position of the slider 105; the twisting motor 201 is installed on the motor support frame 1 by bolts, and the motor 201 is installed on the motor support frame 1 by bolts. The machine support frame 1 is installed on the side of the frame plate 2 by means of bolts. The twisting motor 201 is connected to the first twisting shaft 203 through the second coupling 202. The gear 205 is installed on the first twisting shaft 203 and meshes with the rack 206 for transmission, and transmits the motion and power to the connecting block 3013 through the second twisting shaft 207. The twisting pointer 204 is fixed together with the gear 205 for observing the twisting direction. The second twisting shaft 207 and the connecting block 3013 symmetrically installed on both sides realize the up and down twisting of the telescopic catheter and the guide wire through up and down reciprocating motion.

[0041] The telescopic motor 301 is installed on the clamping base 4, and the axial movement of the clamping part 304 is controlled by the telescopic motor rod 302. This action can also be completed by the artificial hand composed of the first long rod 3010 and the second long rod 3011; the slide rail 308 is installed on the clamping part 304 by bolts, the lower base plate 305 of the slider and the upper base plate 306 of the slider are bolted and installed on the top of the slide rail 308, and the rubber pad 307 is bonded to the side of the upper base plate 306 of the slider by adhesive. The rubber pad 307, the upper base plate 306 of the slider, the lower base plate 305 of the slider, and the slide rail 308 and the clamping member 304 are symmetrically mounted on the clamping base 4; the telescopic catheter 503 is clamped inside the rubber pad 307, and the reciprocating motion of the slider 105 enables the telescopic catheter 503 to move in the Z-axis direction; the slider 105 can slide within the slide groove of the connecting block 3013 through the connecting block and the slider connector 3012. During the surgical procedure, the artificial hand composed of the telescopic motor 301 and the first and second long rods 3010 and 3011 can change the clamping force of the telescopic catheter 503 at any time and cooperate with the twisting part to work;

[0042] The XY fine motion platform 401 is connected to the fine motion platform support frame 403 by bolts, and the fine motion platform support frame 403 is further installed on the clamping base 4 by bolts. The clamping base 4 is installed on the frame plate 2 by bolts. The X-axis voice coil motor 405 is fixed to the motor support frame 406 by bolts. The X-axis voice coil motor 405 is connected to the XY fine motion platform 401 through the X-axis flexible hinge 402-1. The Y-axis voice coil motor 404 is fixed to the fine motion platform support frame 403 by bolts. The Y-axis voice coil motor 404 is connected to the XY fine motion platform 401 through the Y-axis flexible hinge 402-2. The X-axis flexible hinge 402-1 and the Y-axis flexible hinge 402-2 are each composed of four straight circular hinges. The XY fine motion platform 401 realizes small movements in the X-axis and Y-axis, thereby driving the guide wire 504 installed at the central light hole of the XY fine motion platform 401 to realize small position adjustment at the end. The guide wire 504 moves in the central light hole of the XY fine-motion platform 401. When the clamping part and the twisting part act on the telescopic catheter 503 and the guide wire 504, it can ensure that the overall movement trajectory of the telescopic catheter 503 and the guide wire 504 does not change. However, since the guide wire 504 is far away from the starting position, it will deviate at the end of the guide wire 504. The micro-displacement movement generated by the XY fine-motion platform 401 can make up for the shortcoming that the overall module cannot compensate for the end guide wire deviation error.

[0043] The working principle and operation process of the present invention are as follows:

[0044] Before the interventional surgery is performed, the mechanism of the present invention is placed on one side of the operating table. The direct drive motor 101 drives the slider 105 to realize the Z-axis movement of the slider 105. The twisting base 104 is driven by the slider 105 to also make feeding movement in the Z-axis direction; under the drive of the direct drive motor, the slider 105 drives the twisting module to feed on the guide rail 106. This part can rely on the reciprocating movement of the screw guide rail to achieve large-stroke delivery of the catheter / guidewire.

[0045] The twisting motor 201 drives the first twisting shaft 203 to rotate through the second coupling 202, and the gear 205 rotates along with the first twisting shaft 203, meshing with the rack 206 for transmission, and transmits the motion and power through the second twisting shaft 207 to the connecting block 3013. Since the second twisting shaft 207 and the connecting block 3013 are installed symmetrically on both sides, when the gear 205 drives the rack 206 to move, the left and right second twisting shafts 207 and the connecting block 3013 respectively move up and down, realizing a single action trend of twisting, and then the up and down reciprocating motion of the left and right second twisting shafts 207 and the connecting block 3013 realizes the upward and downward twisting movement trend of the telescopic catheter 503 and the guide wire 504.

[0046] The telescopic motor 301 controls the axial movement of the clamping member 304 via the telescopic motor rod 302, achieving the clamping function. The up-and-down reciprocating motion of the connecting block 3013 is transmitted to the slider lower base plate 305 via the connecting block and slider connector 3012, and then to the connected slider upper base plate 306. This up-and-down reciprocating motion is achieved via the slide rails 308. The up-and-down reciprocating motion of the slider upper base plates 306 on either side is transmitted to the bonded rubber pads 307. The telescopic motor partially clamps the telescopic tube 503, and the up-and-down reciprocating motion of the rubber pads 307 on either side ensures the clamped telescopic tube 503 is twisted and rotated.

[0047] Telescopic catheter 503 is clamped within rubber pad 307, and the reciprocating motion of slider 105 enables a long-range delivery of telescopic catheter 503. The rubber pad design used to clamp the catheter protects the catheter and increases friction with the catheter, thereby cooperating with the upward and downward twisting motion of the manipulator to achieve the twisting motion of the catheter guidewire.

[0048] During the operation, the simulated hand composed of the telescopic motor 301, the first long rod 3010 and the second long rod 3011 can change the clamping force of the telescopic catheter 503 at any time and cooperate with the twisting part to work; the telescopic motor is set in the present invention for use with the simulated hand, which has the function of adjusting the clamping force and controlling the direction, while ensuring the stable clamping of the catheter guide wire, cooperating with the twisting part to twist the catheter guide wire; the stable clamping force can control the catheter guide wire to avoid key organs and tissues, prevent large offset errors, and effectively improve the intervention accuracy.

[0049] When the X-axis voice coil motor 405 is working, the force is transmitted to the X-axis flexible hinge 402-1 and causes it to generate a micro-displacement. The X-axis flexible hinge 402-1 amplifies the micro-displacement and transmits it to the XY fine-motion platform 401. The XY fine-motion platform 401 deforms to achieve X-axis position compensation for the guide wire 504. At this time, the Y-axis position remains unchanged. When the Y-axis voice coil motor 404 is working, the micro-displacement generated is amplified and transmitted to the XY fine-motion platform 401 through the Y-axis flexible hinge 402-2. The XY fine-motion platform 401 deforms to achieve X-axis position compensation for the guide wire 504. The Y-axis position is compensated, while the X-axis position remains unchanged. When the X-axis voice coil motor 405 and the Y-axis voice coil motor 404 work simultaneously, the XY fine-motion platform 401 undergoes axial displacement along the X-axis and the Y-axis. Since the X-axis flexible hinge 402-1 and the Y-axis flexible hinge 402-2 are symmetrically distributed about the XY fine-motion platform 401, the flexible hinge can maintain central symmetry after undergoing micro-displacement and deformation, thereby preventing a large positional offset of the terminal guide wire. At the same time, the offset of the guide wire at the terminal can be compensated based on the twisting, thereby effectively improving the accuracy of guide wire intervention.

[0050] The interventional surgical manipulator of this invention is capable of achieving macroscopic movement of the catheter guidewire for insertion driven by the Z-axis, macroscopic movement of the terminal micromotion platform driven by the Z-axis, macroscopic clamping movement driven by the telescopic motor and artificial hand driven by the Y-axis, and microscopic movement of the interventional guidewire for adjustment of the XY plane driven by the X- and Y-axes. A direct-drive motor controls the axial movement of the catheter guidewire and the terminal micromotion platform, while relative gear and rack transmission controls the axial rotation of the catheter guidewire for twisting. The X- and Y-axis voice coil motors control the terminal micromotion platform for minute position adjustments. The synergistic effect of these six degrees of freedom improves the precision of catheter guidewire intervention.

[0051] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0052] In addition, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0053] The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention. The above specific embodiments are merely illustrative and not restrictive. Without departing from the scope of the present invention and the scope of protection of the claims, those skilled in the art may make various specific modifications based on the teachings of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. An interventional surgery manipulator with terminal micro-motion error compensation, characterized in that: Including working platform, motor support frame, frame plate, base, clamping base, direct drive motor, first coupling, photoelectric switch, slider, guide rail, lead screw, twisting base, twisting motor, second coupling, twisting pointer, first twisting shaft, second twisting shaft, gear, rack, telescopic motor, telescopic motor rod, connecting rod connector, clamping part, slider upper base plate, slider lower base plate, rubber pad, slide rail, connecting rod, first long rod, second long rod, connecting block, connecting block and slider connector, XY micro-motion platform, micro-motion platform support frame, motor support frame, X-axis flexible hinge, Y-axis flexible hinge, telescopic catheter, guide wire, X-axis voice coil motor, Y-axis voice coil motor, support frame, telescopic catheter support frame; The lead screw and the guide rail are symmetrically mounted on both sides of the work platform, the direct drive motor is mounted on one side of the guide rail, the direct drive motor is connected to the lead screw via the first coupling, the photoelectric switch is mounted on the side of the guide rail, the slider is mounted on the top of the guide rail, the twisting base is mounted on the top of the slider using a protrusion and a light hole, and the sliders are symmetrically distributed on the side of the guide rail; The frame plate is mounted on the upper end of the twisting base through a protrusion and a light hole, the motor support frame is mounted on the frame plate through bolts, the twisting motor is mounted on the motor support frame by bolts, the twisting motor is connected to the first twisting shaft through a second coupling, the gear is mounted on the first twisting shaft, the gear is meshed with the rack, the twisting pointer is fixed to the gear, the gear and the rack are meshed to transmit motion and power to the connecting block through the second twisting shaft, and the second twisting shaft and the connecting block are symmetrically distributed on both sides of the telescopic guide tube; The cam is fixed to the upper end of the frame plate by bolts, and the telescopic motor is installed at one end of the clamping base by bolts. The end of the telescopic motor rod is embedded in the connecting rod connecting piece and is pre-tightened by bolts. The connecting rod connecting piece is fixed to the clamping piece by bolts. The clamping piece is symmetrically distributed about the telescopic guide tube. The slide rail is fixed to the inner side of the clamping piece by bolts. The upper base plate of the slider and the lower base plate of the slider are installed on the slide rail by bolts. The rubber pad is bonded to the upper base plate of the slider. The connecting block is installed on the upper end of the second rotating shaft. The connecting block and the slider connecting piece are installed on the lower base plate of the slider by bolts and embedded in the sliding groove of the connecting block. The upper base plate of the slider, the lower base plate of the slider, the rubber pad, the slide rail and the clamping piece are symmetrically distributed on the clamping base. The first long rod and the second long rod are connected and fixed to the base by bolts. The artificial hand consists of the first long rod and the second long rod, and is installed at the other end of the clamping base by bolts. It is used in conjunction with the telescopic motor to adjust the clamping force and control the direction. The telescopic catheter and the guide wire are clamped in the optical hole of the XY fine motion platform. The XY fine motion platform is connected to the fine motion platform support frame by bolts to ensure that the overall motion trajectory does not change. The fine motion platform support frame is installed on the slider through the frame plate. The slider is driven by the direct drive motor to realize Z-axis feed motion.

2. The interventional surgery manipulator with terminal micro-motion error compensation according to claim 1, characterized in that: The XY fine motion platform cooperates with the overall clamping part and the twisting part to make up for the shortcomings of the overall clamping module and the twisting module that cannot compensate for the end guide wire offset error. The XY fine motion platform is connected to the X-axis voice coil motor through the X-axis flexible hinge, and the XY fine motion platform is connected to the Y-axis voice coil motor through the Y-axis flexible hinge. The X-axis voice coil motor is installed on the motor support frame, and the Y-axis voice coil motor is installed on the fine motion platform support frame. The guide wire is installed at the central light hole of the XY fine motion platform, and the X-axis flexible hinge is connected to the Y-axis voice coil motor. The axial flexible hinges are symmetrically distributed about the XY fine-motion platform, ensuring that the X-axis and the Y-axis can maintain central symmetry after deformation, and can use the force provided by the X-axis voice coil motor and the Y-axis voice coil motor to generate micro-displacement and amplify the displacement, so that the XY fine-motion platform can effectively adjust the end offset. The X-axis voice coil motor and the Y-axis voice coil motor drive the XY fine-motion platform to achieve X-axis and Y-axis fine-motion adjustment. The twisting motor drives the gear to engage with the rack to twist the telescopic catheter and the guide wire, thereby achieving axial rotation of the telescopic catheter and the guide wire.

3. The interventional surgery manipulator with terminal micro-motion error compensation according to claim 1, characterized in that: The X-axis flexible hinge, the Y-axis flexible hinge, and the XY fine-motion platform are an integrated structure.

Images