A vascular intervention surgical system

Abstract

The present invention relates to a vascular intervention surgical system, which includes a control cabinet, a bedside robotic arm, an intervention driving component, a master control terminal, and a real-time monitoring system. The control cabinet is floor-mounted and movable, and is placed beside the operating table. The bedside robotic arm is installed on the control cabinet or on the operating table. The bedside robotic arm has at least three degrees of freedom. An intervention driving component is installed at the end of the bedside robotic arm. The intervention driving component is used to realize the linear motion and rotational motion of the intervention guide wire, and to realize the linear motion of the intervention catheter. The master control terminal is movable and is used to control the intervention driving component. The master control terminal is placed in the surgical control room or in the operating room for control. The real-time monitoring system is used to observe the state of the intervention driving component. Compared with the prior art, the present invention can realize the remote control of the guide wire and the catheter, and solves the problem that traditional interventional surgeries require close operation and the harm of radiation to the human body caused by medical imaging equipment.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, in particular to the field of cardiovascular and cerebrovascular interventional surgery, and specifically to a vascular interventional surgery system. Background Art

[0002] Currently, in cardiovascular and cerebrovascular interventional surgery, under the guidance of imaging equipment, precise instruments such as catheters and guidewires need to be delivered into blood vessels for local diagnosis or treatment of lesions. The catheter and guidewire need to be manually controlled by doctors, and this form causes doctors and patients to be exposed to a radiation environment for a long time, especially affecting the physical health of surgeons and nurses.

[0003] Therefore, if a vascular interventional surgery system can be provided to remotely operate the guidewire and catheter, and greatly reduce the radiation hazard to the human body caused by medical imaging equipment, it will have important application value. Summary of the Invention

[0004] The purpose of the present invention is to solve the above deficiencies and provide a vascular interventional surgery system that can remotely control the guidewire and catheter, solving the problem that traditional interventional surgery requires close operation and the radiation hazard to the human body caused by medical imaging equipment.

[0005] To achieve the above purpose, a vascular interventional surgery system is designed, including a control cabinet 3, a bedside robotic arm 4, an interventional driving component 2, and a main control end 11. The control cabinet 3 is floor-mounted and movable, the control cabinet 3 is placed beside the operating table 6, the bedside robotic arm 4 is installed on the control cabinet 3 or on the operating table 6, the bedside robotic arm 4 has at least three degrees of freedom, an interventional driving component 2 is installed at the end of the bedside robotic arm 4, the interventional driving component 2 is used to realize the linear motion and rotational motion of the interventional guidewire 25, and to realize the linear motion of the interventional catheter 26. The main control end 11 is movable and is used to control the interventional driving component 2, and the main control end 11 is placed in the surgical control room 12 or the operating room 1 for operation.

[0006] Furthermore, it further includes a real-time monitoring system 10. The real-time monitoring system 10 is used to observe the state of the interventional driving component 2. The real-time monitoring system 10 includes at least one photographic device 5 and at least one monitoring display device 9. The photographic device 5 is used to photograph the surgical situation. The photographic device 5 is installed on the control cabinet 3 or at the end of the bedside robotic arm 4. The monitoring display device 9 is used to observe the surgical situation in real time, and the monitoring display device 9 is placed in the surgical control room 12 or the operating room 1.

[0007] Further, the master control end 11 includes an active end base 13, a first pulley 14, a pulley shaft 23, a first pulley support base 24, a toothed slide bar 15, a toothed slide bar support base 16, a slide bar bearing 22, a toothed control ring 17, a second pulley 20, and a second pulley support base 21. The first pulley support base 24 and the second pulley support base 21 are installed on the active end base 13. The first pulley 14 and the second pulley 20 are respectively installed on the first pulley support base 24 and the second pulley support base 21 through the pulley shaft 23 and perform rotational movements around the pulley shaft 23. The toothed control ring 17 is made of a flexible material and has a toothed cross-section. The toothed control ring 17 is tensioned by the first pulley 14 and the second pulley 20. When the toothed control ring 17 moves along the linear motion direction 18, the motion parameters of the toothed control ring 17 in the linear motion direction 18 are obtained by collecting the rotational speed and angle of the pulley shaft 23. The toothed slide bar 15 is arranged crosswise at the toothed control ring 17. The toothed control ring 17 and the toothed slide bar 15 are connected by toothed meshing. When the toothed control ring 17 moves along the rotational motion direction 19, it drives the toothed slide bar 15 to rotate, and the motion parameters of the toothed control ring 17 in the rotational motion direction 19 are obtained by collecting the rotational speed and angle of the toothed slide bar 15.

[0008] Further, the intervention driving assembly 2 includes a driving seat 28. The driving seat 28 is fixed to the end of the bedside robotic arm 4. A guide wire catheter support plate 34 and a disposable sterile driving box 31 are installed on the driving seat 28. A guide wire groove 29 and a catheter groove 32 are formed on the guide wire catheter support plate 34. The guide wire groove 29 and the catheter groove 32 form a Y shape. The guide wire groove 29 is used to limit the position of the guide wire 25, and the catheter groove 32 is used to limit the position of the catheter 26. The guide wire 25 and the catheter 26 converge on the guide wire groove 29 and enter the Y-shaped connector 27 simultaneously. A guide wire driving mechanism is provided in the disposable sterile driving box 31. The guide wire driving mechanism drives the guide wire to perform linear and rotational movements. A first catheter driving wheel 33 and a second catheter driving wheel 35 are installed on the disposable sterile driving box 31. The first catheter driving wheel 33 and the second catheter driving wheel 35 drive the catheter 26 to move forward and backward through friction.

[0009] Further, the disposable sterile driving box 31 is detachably installed on the driving seat 28. A transparent cover 30 is provided on the disposable sterile driving box 31. The transparent cover 30 is used to observe the movement of the guide wire driving mechanism.

[0010] Further, the guide wire driving mechanism includes a rotating frame 48, on which a first guide tube 36 and a second guide tube 46 are installed. The first guide tube 36 and the second guide tube 46 are hollow inside and used for the passage of the guide wire 25. The first guide tube 36 is fastened to the rotating frame 48. The second guide tube 46 is installed in a guide tube seat 42 through a bearing and rotates around its own rotation axis relative to the guide tube seat 42. The guide tube seat 42 is fastened to the rotating frame 48. A first gear 43 is connected to the guide tube seat 42, and the whole rotating frame 48 rotates by rotating the first gear 43. A second gear 44 is fixedly connected to the second guide tube 46, and the second guide tube 46 rotates around its own rotation axis by rotating the second gear 44, thereby realizing the rotational movement of the guide wire 25. A bevel gear 45 is further designed on the second guide tube 46. The bevel gear 45 is meshed and connected with a bevel gear B47. The bevel gear B47 is connected to a guide wire clamping mechanism. After the second gear 44 rotates, the rotational movement is transmitted to the guide wire clamping mechanism through the bevel gear 45 and the bevel gear B47, and the guide wire clamping mechanism drives the guide wire 25 to move forward or backward.

[0011] Further, the guide wire clamping mechanism includes a clamping disc 50. The clamping disc 50 is cylindrical and rotates around its own axis. A clamping surface B66 is designed on the clamping disc 50. Clamping blocks are arranged circumferentially above the clamping surface B66. A guide wire clamping space is formed between the clamping surface at the bottom of the clamping block and the clamping surface B66 of the clamping disc 50. The clamping block is connected to a guide rod 67. The guide rod 67 passes through a channel on the clamping disc 50 and restricts the clamping block to move linearly perpendicular to the clamping surface B66 along the channel. A spring seat 39 is arranged above the clamping block. The spring seat 39 is fixedly installed on the clamping disc 50 and rotates coaxially with the clamping disc 50. Springs are arranged circumferentially and fixed on the spring seat 39. The springs are arranged corresponding to the clamping blocks. A curved surface disc 56 is arranged below the clamping disc 50. The curved surface disc 56 is fixedly installed on the rotating frame 48. A curved surface track with undulating changes is designed on the curved surface disc 56. The bottom end of the guide rod 67 is in contact connection with the curved surface track of the curved surface disc 56. The guide wire 25 moves forward or backward under the clamping of the clamping surface at the bottom of the clamping block and the clamping surface B66 and through the rotation of the clamping disc 50.

[0012] Further, the curved surface track of the curved surface disc 56 is designed such that the position B69 closest to the rotating frame 48 in the middle of the rotating frame 48 is the closest to the rotating frame 48, the position A57 farthest from the middle of the rotating frame 48 is the farthest from the rotating frame 48, and it gradually becomes higher from the position B69 to the position A57. Its change rule is a straight line or an arbitrarily monotonically changing curve.

[0013] Furthermore, a spring installation groove 64 is designed on the upper part of the clamping block. The depth of the spring installation groove 64 is such that the spring is always in a compressed state. An arc-shaped port 68 is designed on the lower part of the clamping block. The arc-shaped port 68 is always in contact with the curved surface track of the curved surface disc 56 under the elastic action of the spring.

[0014] Furthermore, when the clamping disc 50 continuously rotates in one direction, the arc-shaped port 68 of the clamping block gradually moves away from position B69, driving the guide wire 25 to move. The clamping surface on the bottom surface of the clamping block gradually leaves the guide wire 25. At the same time, the adjacent clamping block gradually approaches the lowest position B69 of the curved surface track under the action of the spring and the curved surface track of the clamping disc 50, and jointly clamps the guide wire 25 with the clamping surface B66. Furthermore, by controlling the rotation direction of the clamping disc 50, the forward and backward movements of the guide wire 25 are finally realized. When the guide wire 25 is clamped, the rotational movement of the guide wire 25 is realized by rotating the first gear 43.

[0015] Compared with the prior art, the present invention addresses the deficiency that current traditional interventional surgeries require close operation and the radiation hazards caused by medical imaging equipment to the human body. It provides a novel vascular interventional surgery system that can remotely control the guide wire and catheter, thereby reducing the radiation hazards caused by medical imaging equipment to the human body during traditional interventional surgeries and avoiding affecting the physical health of surgeons and nurses, having important application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural schematic diagram of the present invention;

[0017] Figure 2 is a structural schematic diagram of the main control end of the present invention;

[0018] Figure 3 is a cross-sectional view of the driving pulley at the active end of the present invention;

[0019] Figure 4 is a cross-sectional view of the sliding rod at the active end of the present invention;

[0020] Figure 5 is a structural schematic diagram of the driven end of the present invention;

[0021] Figure 6 is a structural schematic diagram of the guide wire driving mechanism of the present invention;

[0022] Figure 7 is a structural schematic diagram of the guide wire clamping mechanism of the present invention;

[0023] Figure 8 is a cross-sectional view of the guide wire clamping mechanism of the present invention;

[0024] In the figure: 1. Operating room; 2. Intervention driving component; 3. Control cabinet; 4. Bedside robotic arm; 5. Imaging equipment; 6. Operating table; 7. Human body; 8. Medical imaging device; 9. Monitoring and display device; 10. Real-time monitoring system; 11. Master control terminal; 12. Operating control room; 13. Active end base; 14. Pulley 1; 15. Toothed slide bar; 16. Toothed slide bar support seat; 17. Toothed control ring; 18. Linear motion direction; 19. Rotary motion direction; 20. Pulley 2; 21. Pulley support seat 2; 22. Slide bar bearing; 23. Pulley shaft; 24. Pulley support seat 1; 25. Guide wire; 26. Catheter; 27. Y-shaped connector; 28. Driving seat; 29. Guide wire groove; 30. Transparent cover; 31. Disposable sterile driving box; 32. Catheter groove; 33. Catheter driving wheel 1; 34. Guide wire and catheter support plate; 35. Catheter driving wheel 2; 36. Guide tube 1; 37. Clamping block 1; 38. Clamping block 2; 39. Spring seat; 40. Clamping block 3; 41. Clamping block 4; 42. Guide tube seat; 43. Gear 1; 44. Gear 2; 45. Bevel gear; 46. Guide tube 2; 47. Bevel gear B; 48. Rotary frame; 49. Clamping surface 4; 50. Clamping disc; 51. Clamping surface 1; 52. Spring 1; 53. Spring 2; 54. Spring 3; 55. Clamping surface 3; 56. Curved surface disc; 57. Position A; 58. Arc-shaped port; 59. Clamping surface 5; 60. Clamping block 5; 61. Spring installation groove; 62. Spring 4; 63. Spring 5; 64. Spring installation groove; 65. Clamping surface 2; 66. Clamping surface B; 67. Guide rod; 68. Arc-shaped port; 69. Position B. Detailed implementation manner

[0025] The present invention will be further described below with reference to the accompanying drawings:

[0026] As shown in the atta Figure 1As shown in the figure, the present invention provides a vascular intervention surgical system, including a control cabinet 3, a bedside robotic arm 4, an intervention driving assembly 2, a main control terminal 11, and a real-time monitoring system 10; the control cabinet 3 is floor-mounted and movable, and can be placed beside the operating table 6 during the operation for manual position adjustment; electrical components such as a power circuit, a controller for the bedside robotic arm 4, and a driver for the intervention driving assembly 2 are installed in the control cabinet 3; the bedside robotic arm 4 is installed on the control cabinet 3 or can also be installed on the operating table 6, and the bedside robotic arm 4 has at least three degrees of freedom to meet the requirements for adjusting the attitude of the end of the robotic arm during the operation; the intervention driving assembly 2 is installed at the end of the bedside robotic arm 4, and the intervention driving assembly 2 can realize the linear motion and rotational motion of the intervention guide wire, can also realize the linear motion of the intervention catheter, and can realize the rapid replacement of the intervention catheter; the main control terminal 11 is movable and can be placed in the surgical control room 12 for operation or can also be placed in the operating room 1 for operation; the real-time monitoring system 10 includes at least one photographic device 5 and at least one monitoring display device 9, the photographic device 5 is installed on the control cabinet 3 or can also be installed at the end of the bedside robotic arm 4 for photographing the surgical situation; the monitoring display device 9 is placed in the surgical control room 12 or the operating room 1 for observing the surgical situation in real time.

[0027] As shown in the attached Figure 2 to the attached Figure 4 As shown in the figure, the main control terminal 11 includes an active end base 13, a pulley 14, a pulley shaft 23, a pulley support base 1 24, a toothed slide bar 15, a toothed slide bar support base 16, a slide bar bearing 22, a toothed control ring 17, a pulley 2 20, and a pulley support base 2 21; a pulley support base 1 24 and a pulley support base 2 21 are fixedly installed on the active end base 13 of the main control terminal 11, and the pulley 14 and the pulley 2 20 are respectively installed on the pulley support base 1 24 and the pulley support base 2 21 through the pulley shaft 23 and rotate around the pulley shaft 23; for example, the pulley 14 rotates around the pulley shaft 23, and the pulley shaft 23 is installed on the pulley support base 24; the toothed control ring 17 is made of a flexible material and has a toothed cross-section; the toothed control ring 17 is tensioned by the pulley 14 and the pulley 2 20, and manually pulling the toothed control ring 17 along the linear motion direction 18, by collecting the rotational speed and angle of the pulley shaft 23, the motion parameters of the toothed control ring 17 in the linear motion direction 18, including speed and displacement, are obtained; the toothed slide bar 15 is arranged crosswise at the toothed control ring 17, and the toothed control ring 17 and the toothed slide bar 15 are meshed by teeth; manually twisting the toothed control ring 17 to move in the rotational motion direction 19 drives the toothed slide bar 15 to rotate, and by collecting the rotational speed and angle of the toothed slide bar 15, the motion parameters of the toothed control ring 17 in the rotational motion direction 19, including angular velocity and angle, are obtained.

[0028] The intervention driving assembly 2 includes a driving base 28 and a disposable sterile driving box 31; the disposable sterile driving box 31 includes a transparent cover 30, a guide wire catheter support plate 34, a rotating frame 48, a guide tube 36, at least three clamping blocks (taking Figure 4 as an example, there are a first clamping block 37, a second clamping block 38, a third clamping block 40, and a fourth clamping block 41), and also includes a spring seat 39 and at least three springs (taking Figure 5 as an example, there are a first spring 52, a second spring 53, and a third spring 54). The disposable sterile driving box 31 further includes a guide tube 46, a bevel gear 45, a bevel gear B47, a first gear 43, a second gear 44, a guide tube seat 42, a curved surface disc 56, and a clamping disc 50. During use, through the master-slave transformation algorithm, the movement of the master control end 11 is mapped onto the intervention driving assembly 2, and the state of the intervention driving assembly 2 is observed through the real-time monitoring system 10. Specifically: The operator pulls the toothed control ring 17 to make a linear reciprocating motion along the linear motion direction 18, and the linear motion speed is denoted as V1. The speed V1 can be obtained by multiplying the rotation angle θ1 of the pulley shaft 23 recorded in real time by the equivalent radius R1 of the toothed control ring 17 at the first pulley 14 and then taking the differential; the speed V1 can be mapped to the linear motion speed V2 of the guide wire 25 in the intervention driving assembly 2 at a ratio of 1:1 or other proportional relationships; by calculating the transmission ratios of the guide wire 25, the spring seat 39, the bevel gear B47, the bevel gear 45, and the second gear 44, the corresponding motor rotation speed can be obtained. The operator twists the toothed control ring 17 to make a rotational motion along the rotational motion direction 19, and the rotational motion speed is denoted as W1. The speed W1 can be obtained by recording the rotation angle θ2 of the toothed slide bar 15 in real time and taking the differential of it; the speed W1 can be mapped to the rotational motion speed W2 of the guide wire 25 in the intervention driving assembly 2 at a ratio of 1:1 or other proportional relationships, and then the corresponding motor rotation speed can be obtained.

[0029] As shown in the attachment Figure 5As shown, the interventional driving assembly 2 includes a driving base 28 which is fixed to the end of the bedside robotic arm 4. A guide wire catheter support plate 34 and a disposable sterile driving box 31 are installed on the driving base 28. The disposable sterile driving box 31 can be quickly disassembled and assembled on the driving base 28. A transparent cover 30 is provided over the disposable sterile driving box 31. The transparent cover 30 realizes the opening and closing action by means of magnetic attraction or mechanical buckles, etc. The movement of the guide wire driving mechanism can be observed through the transparent cover 30. A guide wire groove 29 is formed on the guide wire catheter support plate 34 for restricting the position of the guide wire 25. A catheter groove 32 is formed on the guide wire catheter support plate 34 for restricting the position of the catheter 26. The guide wire groove 29 and the catheter groove 32 form a Y shape. The guide wire 25 and the catheter 26 converge on the guide wire groove 29 and enter the Y-shaped connector 27 at the same time. A guide wire driving mechanism is provided inside the disposable sterile driving box 31. The guide wire driving mechanism drives the guide wire to perform linear and rotational movements. A first catheter driving wheel 33 and a second catheter driving wheel 35 are installed on the disposable sterile driving box 31. The first catheter driving wheel 33 and the second catheter driving wheel 35 drive the catheter 26 to move forward and backward through friction.

[0030] As shown in the Figure 6 attachment, the guide wire driving mechanism includes a rotating frame 48. A first guide tube 36 and a second guide tube 46 are installed on the rotating frame 48. The first guide tube 36 and the second guide tube 46 are hollow inside and are used for the passage of the guide wire 25. The first guide tube 36 is fastened to the rotating frame 48 by means of screws, etc. The second guide tube 46 is installed in a guide tube seat 42 by means of bearings, self-lubricating bearings, etc. and can rotate relative to the guide tube seat 42 around its own rotation axis. The guide tube seat 42 is fastened to the rotating frame 48 by means of screws, etc. A first gear 43 is connected to the guide tube seat 42. By rotating the first gear 43, the entire structure fixedly connected to the rotating frame 48 rotates. A second gear 44 is fixedly connected to the second guide tube 46 by means of screws or mechanical cooperation, etc. By rotating the second gear 44, the second guide tube 46 rotates around its own rotation axis, thereby realizing the rotational movement of the guide wire 25. A bevel gear 45 is designed on the second guide tube 46. The bevel gear 45 is meshed and connected with a bevel gear B47. The bevel gear B47 is connected to a guide wire clamping mechanism. By rotating the second gear 44, the rotational movement is transmitted to the clamping disc 50 of the guide wire clamping mechanism through the bevel gear 45, the bevel gear B47 and gear transmission or belt transmission, etc., and the guide wire 25 is driven by the clamping disc 50 to move forward or backward.

[0031] As shown in the Figure 7 attachment and the Figure 8As shown in the figure, the guide wire clamping mechanism includes a clamping disc 50, and the clamping disc 50 rotates around its own axis; the clamping disc 50 is cylindrical, and a clamping surface B66 is designed on the clamping disc 50; above the clamping surface B66, there are clamping blocks distributed circumferentially. The clamping surface on the bottom surface of the clamping block and the clamping surface B66 of the clamping disc 50 form a guide wire clamping space. The clamping block is connected to a guide rod 67. There is a designed channel on the clamping disc 50, and the guide rod 67 passes through the channel on the clamping disc 50, restricting the movement direction of all clamping blocks to be perpendicular to the clamping surface B66. Above the clamping block, there is a spring seat 39. The spring seat 39 is fixedly installed on the clamping disc 50 and rotates coaxially with the clamping disc 50; springs distributed circumferentially are fixed on the spring seat 39, and the springs are arranged corresponding to the clamping blocks, including Figure 7 spring one 52, spring two 53, and spring three 54 in the attachment Figure 8 spring four 62 and spring five 63 in the attachment.

[0032] Below the clamping disc 50, there is a curved surface disc 56. The curved surface disc 56 is fixedly installed on the rotating frame 48. A curved surface track with undulating changes is designed on the curved surface disc 56. Taking Figure 8 as an example, the position B69 near the middle of the rotating frame 48 is the closest to the rotating frame 48, and the position A57 far from the middle of the rotating frame 48 is the farthest from the rotating frame 48; the position B69 to the position A57 gradually becomes higher, and the change rule can be a straight line or any monotonically changing curve.

[0033] The bottom end of the guide rod 67 is in contact connection with the curved surface track of the curved surface disc 56. The guide wire 25 is clamped between the clamping surface on the bottom surface of the clamping block and the clamping surface B66 and realizes forward or backward movement through the rotation of the clamping disc 50; a spring installation groove 64 is designed on the upper part of the clamping block. The depth of the spring installation groove 64 makes the spring always in a compressed state. An arc-shaped port 68 is designed on the lower part of the clamping block. The arc-shaped port 68 is always in contact with the curved surface track of the curved surface disc 56 under the elastic action of the spring.

[0034] Clamping block one 37, clamping block two 38, clamping block three 40, clamping block four 41, clamping block five 60, and other clamping blocks can all move linearly perpendicular to the clamping surface B66; taking clamping block four 41 as an example, a spring installation groove 64 is designed on the upper part of clamping block four 41. The depth of the designed spring installation groove 64 makes spring five 63 always in a compressed state; a guide rod 67 is designed on clamping block four 41, which can restrict clamping block four 41 to move linearly along the channel of the clamping disc 50; an arc-shaped port 68 is designed on the lower part of clamping block four 41. Due to the elastic action of spring five 63, the arc-shaped port 68 is always in contact with the curved surface track of the clamping disc 50; the arc-shaped port 68 can also be other shapes, or it can be in contact with the curved surface track of the clamping disc 50 in a rolling form; there is a clamping surface two 65 on clamping block four 41. When the clamping disc 50 rotates to Figure 8When in the [specific] position, under the elastic action of spring five 63, the arc-shaped port 68 of clamping block four 41 is at the lowest position of the curved surface track of curved surface disk 56. At the same time, clamping surface two 65 and clamping surface B66 of clamping disk 50 act together to clamp guide wire 25.

[0035] When clamping disk 50 continuously rotates in one direction, the arc-shaped port 68 of clamping block four 41 gradually moves away from position B69. When driving guide wire 25 to move, clamping surface two 65 gradually leaves guide wire 25. At the same time, clamping block one 37 gradually approaches the lowest position B69 of the curved surface track under the action of spring one 52 and the curved surface track of clamping disk 50, and clamps guide wire 25 together with clamping surface B66. By controlling the rotation direction of clamping disk 50, the forward and backward movement of guide wire 25 is finally realized. By controlling the number and arrangement mode of clamping blocks, at any moment, there is at least one clamping block and clamping surface B66 clamping guide wire 25. When guide wire 25 is clamped, by rotating gear one 43, the rotational movement of guide wire 25 is realized.

[0036] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A vascular intervention surgical system, characterized in that: It includes a control cabinet (3), a bedside robotic arm (4), an intervention driving assembly (2), and a master control terminal (11). The control cabinet (3) is floor-mounted and movable. The control cabinet (3) is placed beside the operating table (6). The bedside robotic arm (4) is installed on the control cabinet (3) or on the operating table (6). The bedside robotic arm (4) has at least three degrees of freedom. An intervention driving assembly (2) is installed at the end of the bedside robotic arm (4). The intervention driving assembly (2) is used to realize the linear motion and rotational motion of the intervention guide wire (25), and to realize the linear motion of the intervention catheter (26). The master control terminal (11) is movable and is used to control the intervention driving assembly (2). The master control terminal (11) is placed in the surgical control room (12) or in the operating room (1) for control. The intervention driving assembly (2) includes a driving seat (28). The driving seat (28) is fixed at the end of the bedside robotic arm (4). A guide wire and catheter support plate (34) and a disposable sterile driving box (31) are installed on the driving seat (28). A guide wire groove (29) and a catheter groove (32) are formed on the guide wire and catheter support plate (34). The guide wire groove (29) and the catheter groove (32) form a Y shape. The guide wire groove (29) is used to limit the position of the guide wire (25), and the catheter groove (32) is used to limit the position of the catheter (26). The guide wire (25) and the catheter (26) converge on the guide wire groove (29) and enter the Y-shaped connector (27) simultaneously. A guide wire driving mechanism is provided in the disposable sterile driving box (31). The guide wire driving mechanism drives the guide wire to perform linear motion and rotational motion. A catheter driving wheel one (33) and a catheter driving wheel two (35) are installed on the disposable sterile driving box (31). The catheter driving wheel one (33) and the catheter driving wheel two (35) drive the catheter (26) to move forward and backward by friction.The wire driving mechanism includes a rotating frame (48). A first guiding tube (36) and a second guiding tube (46) are mounted on the rotating frame (48). The interiors of the first guiding tube (36) and the second guiding tube (46) are hollow and used for the passage of a wire (25). The first guiding tube (36) is fastened to the rotating frame (48). The second guiding tube (46) is installed in a guiding tube seat (42) through a bearing and rotates around its own rotation axis relative to the guiding tube seat (42). The guiding tube seat (42) is fastened to the rotating frame (48). A first gear (43) is connected to the guiding tube seat (42), and the whole rotating frame (48) rotates by rotating the first gear (43). A second gear (44) is fixedly connected to the second guiding tube (46), and the second guiding tube (46) rotates around its own rotation axis by rotating the second gear (44), thereby realizing the rotational movement of the wire (25). A bevel gear (45) is further designed on the second guiding tube (46). The bevel gear (45) is meshed and connected with a bevel gear B (47). The bevel gear B (47) is connected to a wire clamping mechanism. After the second gear (44) rotates, the rotational movement is transmitted to the wire clamping mechanism through the bevel gear (45) and the bevel gear B (47), and the wire clamping mechanism drives the wire (25) to move forward or backward; the wire clamping mechanism includes a clamping disc (50). The clamping disc (50) is cylindrical and rotates around its own axis. A clamping surface B (66) is designed on the clamping disc (50). Clamping blocks are arranged circumferentially above the clamping surface B (66). A wire clamping space is formed between the clamping surface at the bottom of the clamping block and the clamping surface B (66) of the clamping disc (50); the clamping block is connected to a guiding rod (67). The guiding rod (67) passes through a channel on the clamping disc (50) and restricts the clamping block to move linearly perpendicular to the clamping surface B (66) along the channel; a spring seat (39) is arranged above the clamping block. The spring seat (39) is fixedly installed on the clamping disc (50) and rotates coaxially with the clamping disc (50). Springs are arranged circumferentially and fixed on the spring seat (39). The springs are arranged corresponding to the clamping blocks; a curved surface disc (56) is arranged below the clamping disc (50). The curved surface disc (56) is fixedly installed on the rotating frame (48). A curved surface track with undulating changes is designed on the curved surface disc (56). The bottom end of the guiding rod (67) is in contact connection with the curved surface track of the curved surface disc (56). The wire (25) moves forward or backward under the clamping of the clamping surface at the bottom of the clamping block and the clamping surface B (66) and through the rotation of the clamping disc (50); when the clamping disc (50) continuously rotates in one direction, the arc-shaped port (68) of the clamping block gradually moves away from position B (69), driving the wire (25) to move, and the clamping surface at the bottom of the clamping block gradually leaves the wire (25);Meanwhile, under the action of the spring and the curved surface track of the clamping disc (50), the adjacent clamping blocks gradually approach the lowest position B (69) of the curved surface track, and jointly clamp the guide wire (25) with the clamping surface B (66). Furthermore, by controlling the rotation direction of the clamping disc (50), the forward and backward movements of the guide wire (25) are ultimately achieved. When the guide wire (25) is clamped, the rotational movement of the guide wire (25) is realized by rotating the first gear (43).; 2. The vascular intervention surgical system according to claim 1, wherein: It further includes a real-time monitoring system (10) which is used to observe the state of the intervention driving component (2). The real-time monitoring system (10) includes at least one photographic device (5) and at least one monitoring display device (9). The photographic device (5) is used to photograph the surgical situation. The photographic device (5) is installed on the control cabinet (3) or at the end of the bedside robotic arm (4). The monitoring display device (9) is used to observe the surgical situation in real time. The monitoring display device (9) is placed in the surgical control room (12) or the operating room (1).

3. The vascular intervention surgical system according to claim 1, wherein: The main control end (11) includes an active end base (13), a pulley one (14), a pulley shaft (23), a pulley support base one (24), a toothed slide bar (15), a toothed slide bar support base (16), a slide bar bearing (22), a toothed control ring (17), a pulley two (20) and a pulley support base two (21). The pulley support base one (24) and the pulley support base two (21) are installed on the active end base (13). The pulley one (14) and the pulley two (20) are respectively installed on the pulley support base one (24) and the pulley support base two (21) through the pulley shaft (23) and rotate around the pulley shaft (23). The toothed control ring (17) is made of a flexible material and its cross-section is toothed. The toothed control ring (17) is tensioned by the pulley one (14) and the pulley two (20). When the toothed control ring (17) moves along the linear motion direction (18), the motion parameters of the toothed control ring (17) in the linear motion direction (18) are obtained by collecting the rotation speed and angle of the pulley shaft (23). The toothed slide bar (15) is arranged crosswise at the toothed control ring (17). The toothed control ring (17) is connected to the toothed slide bar (15) through toothed meshing. When the toothed control ring (17) moves along the rotational motion direction (19), it drives the toothed slide bar (15) to rotate, and the motion parameters of the toothed control ring (17) in the rotational motion direction (19) are obtained by collecting the rotation speed and angle of the toothed slide bar (15).

4. The vascular intervention surgical system according to claim 1, wherein: The disposable sterile driving box (31) is detachably installed on the driving seat (28). A transparent cover (30) is covered on the disposable sterile driving box (31). The transparent cover (30) is used to observe the motion of the guide wire driving mechanism.

5. The vascular intervention surgical system according to claim 1, wherein: The curved surface track of the curved surface disc (56) is designed such that the position B (69) near the middle of the rotating frame (48) is the closest to the rotating frame (48), the position A (57) far from the middle of the rotating frame (48) is the farthest from the rotating frame (48), and it gradually becomes higher from the position B (69) to the position A (57). Its variation rule is a straight line or an arbitrarily monotonically varying curve.

6. The vascular intervention surgical system according to claim 1, wherein: The upper part of the clamping block is designed with a spring installation groove (64). The depth of the spring installation groove (64) is such that the spring is always in a compressed state. The lower part of the clamping block is designed with an arc-shaped port (68). The arc-shaped port (68) is always in contact with the curved surface track of the curved surface disc (56) under the elastic action of the spring.

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