An interventional surgical robotic slave device

Abstract

An interventional surgery robot slave device, comprising a main body, a fixed driving device and a first moving driving device are arranged on the main body, the fixed driving device is fixedly installed at the most distal end of the main body, the first moving driving device moves along the direction of the main body, the first moving driving device comprises a first supporting unit, a first delivery unit and a first rotating part, the first supporting unit is used for clamping, delivering and rotating a first elongated medical instrument together with the fixed driving device, the first delivery unit and the first rotating part are used for clamping, delivering and rotating a second elongated medical instrument, when the first moving driving device moves, the first delivery unit releases the second elongated medical instrument. This interventional surgery robot slave device can accurately deliver the elongated medical instrument to the appropriate position of the lesion in the patient's body, and can avoid the bending and bending of the elongated medical instrument during the delivery process, and also avoid the positive effect that the long-term exposure of the doctor to the radiation of X-ray causes harm to the body of the doctor.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of medical instrument robot field devices, especially to a kind of interventional surgery robot slave device. BACKGROUND

[0002] Interventional surgery treatment is a kind of minimally invasive treatment using modern high-tech means, under the guidance of medical imaging equipment, precision instruments such as special catheter and guide wire are introduced into the human body to diagnose and locally treat the body.

[0003] In order to reduce the radiation hazards of long-term exposure to X-rays for doctors during vascular interventional surgery, a master-slave vascular interventional surgery robot is developed for remote operation. The slave device of the master-slave vascular interventional surgery robot can work in a radiation environment, while the doctor operates and controls it through the master device in a workbench or a special X-ray radiation isolation workroom that can prevent X-ray radiation, thereby completing the interventional surgery treatment and preventing personal harm caused by X-ray radiation.

[0004] During the operation, the operating device of the interventional surgery robot slave device holds the catheter, guide wire and other slender medical instruments from their proximal end to the distal end, drives the catheter and guide wire to advance through the coordinated movement of the device and delivers them to the lesion site in the patient's body (such as the blood vessel), so as to facilitate the doctor to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, thrombolysis, dilation of stenotic blood vessels, etc. Generally, the catheter, guide wire, dilation balloon, dilation stent and other medical instruments required for these interventional surgeries have a variety of lengths, diameters and types. Usually, these slender medical instruments such as catheter and guide wire are made of soft material and are coiled together. Due to their own gravity, they are also slightly curved in the unfolded state. Especially during long-distance delivery, the distal end of the catheter, guide wire and other slender medical instruments is more prone to tortuosity. SUMMARY

[0005] Therefore, in order to accurately deliver the catheter, guide wire and other slender medical instruments to the appropriate position in the patient's body during interventional surgery and to avoid the tortuosity of the catheter, guide wire and other slender medical instruments during delivery, the present application provides a new type of interventional surgery robot slave device.

[0006] An interventional surgery robot slave device, comprising a main body, a fixed driving device and a first moving driving device are arranged on the main body, the fixed driving device is fixedly installed at the distal end of the main body, the first moving driving device moves along the direction of the main body, the first moving driving device comprises a first supporting unit, a first delivery unit and a first rotating part, the first supporting unit is used for clamping, delivering and rotating a first elongated medical instrument together with the fixed driving device, the first delivery unit and the first rotating part are used for clamping, delivering and rotating a second elongated medical instrument, when the first moving driving device moves, the first delivery unit releases the second elongated medical instrument, the fixed driving device is provided with a fixed delivery unit, the fixed delivery unit is used for continuously delivering the first elongated medical instrument, wherein, during the delivery process, the first moving driving device can move synchronously with the fixed delivery unit to maintain the cooperative control of the first elongated medical instrument.

[0007] Further, the fixed driving device is provided with a fixed rotating part, and the first supporting unit is used for delivering and rotating the first elongated medical instrument synchronously with the fixed delivery unit and the fixed rotating part.

[0008] Further, the first supporting unit comprises a first connecting assembly, a cooperation mechanism fixedly connected with the first elongated medical instrument is arranged at the front end of the first connecting assembly, a first rotating gear is arranged on the cooperation mechanism, and the cooperation mechanism can be rotated when the first rotating gear rotates.

[0009] Further, the first connecting assembly has a long hole penetrating through the inside, and the axis of the long hole coincides with the axis of the first rotating gear.

[0010] Further, the first supporting unit further comprises a first motor, and the output gear of the first motor is engaged with the first rotating gear.

[0011] Further, the main body is provided with a clamp for clamping the first elongated medical instrument or / and the second elongated medical instrument.

[0012] Further, the interventional surgery robot slave device further comprises an exchange mechanism for clamping, delivering or rotating a rapid exchange catheter.

[0013] An end device of an interventional surgery robot, comprising a main body, a fixed driving device, a first moving driving device and a second moving driving device are arranged on the main body, the fixed driving device is fixedly installed at the distal end of the main body, the first moving driving device and the second moving driving device can move along the direction of the main body, the first moving driving device comprises a first supporting unit, a first delivery unit and a first rotating part, the second moving driving device comprises a second supporting unit, a second delivery unit and a second rotating part, the first supporting unit is used for clamping, delivering and rotating a first elongated medical instrument together with the fixed driving device, the first delivery unit, the first rotating part and the second supporting unit are used for clamping, delivering and rotating a second elongated medical instrument, the second delivery unit and the second rotating part are used for clamping, delivering and rotating a third elongated medical instrument, when the second moving driving device moves, the second delivery unit releases the third elongated medical instrument, the fixed driving device is provided with a fixed delivery unit, the fixed delivery unit is used for continuously delivering the first elongated medical instrument, wherein, during the delivery process, the first moving driving device can move synchronously with the fixed delivery unit to maintain the cooperative control of the first elongated medical instrument.

[0014] Further, the second supporting unit is used for delivering and rotating the second elongated medical instrument synchronously with the first delivery unit and the first rotating part.

[0015] Further, the second supporting unit comprises a first connecting assembly, the front end of the second connecting assembly is provided with a matching mechanism fixedly connected with the second elongated medical instrument, a second rotating gear is arranged on the matching mechanism, when the second rotating gear rotates, it can drive the matching mechanism to rotate, the matching mechanism, the second rotating gear and the axis of the first rotating part are coincident.

[0016] Further, the second connecting assembly has a long hole penetrating through the inside, the axis of the long hole and the axis of the second rotating gear are coincident.

[0017] Further, the second supporting unit further comprises a second motor, the output gear of the second motor is engaged with the second rotating gear.

[0018] Further, the main body is provided with a holder for clamping the first elongated medical instrument, the second elongated medical instrument or / and the third elongated medical instrument.

[0019] In summary, the interventional surgery robot slave device provided by the application can accurately deliver long medical instruments to the appropriate position of the lesion in the patient's body, and can avoid the bending of the long medical instrument during delivery, and also avoid the harm to the doctor's body caused by long-term exposure to X-ray radiation. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The structure schematic diagram of the interventional surgery robot slave device of the embodiment of the application is shown in the figure.

[0021] Figure 2 The structure schematic diagram of the fixed driving device of the application is shown in the figure.

[0022] Figure 3 The structure schematic diagram of the first moving driving device of the application is shown in the figure.

[0023] Figure 4 The structure schematic diagram of the second moving driving device of the application is shown in the figure.

[0024] Figure 5 The second embodiment schematic diagram of the interventional surgery robot slave device of the application is shown in the figure. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the application more clear, the application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and do not limit the application.

[0026] The direction "far" used in the application is the direction towards the patient, and the direction "near" is the direction away from the patient. The terms "distal end" and "front end" refer to the end close to the patient, and the terms "proximal end" and "tail end" refer to the end away from the patient. The terms "upper" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgery robot slave device facing the user, and "forward" refers to the direction of displacement of the guide wire or catheter into the surgical patient's body. The term "rear" refers to the side of the interventional surgery robot slave device away from the user, and "backward" refers to the direction of displacement of the guide wire or catheter out of the surgical patient's body. The term "delivery" includes "pushing" and "pulling back". The term "movement" includes "forward" and "backward". The term "rotation" includes "forward rotation" and "reverse rotation", wherein "forward rotation" refers to the direction of rotation of the guide wire or catheter into the surgical patient's body, and "reverse rotation" refers to the direction of rotation of the guide wire or catheter out of the surgical patient's body.

[0027] As Figures 1 to 4As shown, the end device of the interventional surgery robot disclosed by the embodiment of the application comprises a main body 10, a fixed driving device 11, a first moving driving device 12, a second moving driving device 13 and at least one holder (not shown in the figure) arranged on the main body 10. The fixed driving device 11 is fixedly installed on the main body 10, and the first moving driving device 12 and the second driving device 13 can move on the main body 10. The holder is detachably installed on the main body 10, and the installation position of the holder on the main body 10 can be determined according to the needs of the interventional surgery. Specifically, when the interventional surgery only uses the fixed driving device 10 and the first moving driving device 12, the holder is located close to the first moving driving device 12, and when the interventional surgery needs the fixed driving device 10, the first moving driving device 12 and the second moving driving device 13, the holder is located close to the second moving driving device 13.

[0028] The fixed driving device 11 is provided with a fixed delivery unit 111, a fixed rotating part 112 and a bacteria-proof cover (not shown in the figure). The fixed delivery unit 111 can hold and deliver various types of catheters or guide wires with different lengths and diameters. The fixed rotating part 112 can drive the whole fixed delivery unit 111 to rotate, thereby driving the catheter or guide wire to rotate.

[0029] The first moving driving device 12 is provided with a first support unit 120, a first delivery unit 121, a first rotating part 122, a first exchange mechanism 125 and a bacteria-proof cover (not shown in the figure). The first support unit 120 comprises a first motor (not shown in the figure) and a first connecting assembly 123 which is detachably installed. The front end of the first connecting assembly 123 is provided with a matching structure (generally a luer male connector) fixedly connected with various types of catheters. A first rotating gear 124 is fixedly installed on the matching structure. The output gear of the first motor is engaged with the first rotating gear 124. When the first motor operates, the first rotating gear 124 is driven to rotate, thereby driving the catheter connected to the front end of the first connecting assembly 123 to rotate. The first connecting assembly 123 is also provided with a long hole through which the catheter or guide wire passes. The first delivery unit 121 can hold and deliver various types of catheters or guide wires with different lengths and diameters. The first rotating part 122 can drive the whole first delivery unit 121 to rotate, thereby driving the catheter or guide wire to rotate, so as to realize the delivery and rotation of the catheter or guide wire at the same time. The first exchange mechanism 125 holds the quick exchange type catheter such as the quick exchange balloon dilatation catheter, and delivers and / or rotates the quick exchange type catheter when needed, so as to realize the corresponding surgical treatment operation.

[0030] The second mobile driving device 13 is provided with a second support unit 130, a second delivery unit 131, a second rotating part 132, a second exchange mechanism 135 and a bacteria-proof cover (not shown in the figure). The second support unit 130 includes a second motor (not shown in the figure) and a second connecting assembly 133 detachably mounted thereon. The front end of the second connecting assembly 133 is provided with a matching structure (generally a luer male connector) fixedly connected with various types of catheters. A second rotating gear 134 is fixedly installed on the matching structure. The output gear of the second motor is engaged with the second rotating gear 134. When the second motor operates, the second rotating gear 134 is driven to rotate, thereby driving the catheter connected to the front end of the second connecting assembly 133 to rotate. The second connecting assembly 133 is also provided with a long hole for the catheter or guide wire to pass through. The second delivery unit 131 can clamp and deliver various types of catheters or guide wires with different lengths and diameters. The second rotating part 132 can drive the second delivery unit 131 to rotate as a whole, thereby driving the catheter or guide wire to rotate to achieve simultaneous rotation during delivery of the catheter or guide wire. The second exchange mechanism 135 clamps a quick exchange type catheter, such as a quick exchange balloon dilatation catheter, and delivers and / or rotates the quick exchange type catheter to perform corresponding surgical treatment operations when needed.

[0031] The fixed delivery unit 111, the fixed rotating part 112 of the fixed driving device 11, the first delivery unit 121, the first rotating part 122 of the first mobile driving device 12, and the second delivery unit 131, the second rotating part 132 of the second mobile driving device 13 can be an interventional surgical robot slave end guide wire catheter operation device as described in Chinese Patent Application 202111009813.3, or a multifunctional interventional surgical robot slave end driving device as described in Chinese Patent Application 202111329455.4, the contents of which are incorporated herein in their entirety.

[0032] The fixed rotating part 112, the first rotating gear 124, the first rotating part 122, the second rotating gear 134 and the second rotating part 132 have a common rotation axis, so that the fixed driving device 11, the first mobile driving device 12 and the second mobile driving device 13 do not twist the first catheter 14, the second catheter 15 and the guide wire 16 during clamping, rotating and delivering the first catheter 14, the second catheter 15 and the guide wire 16.

[0033] Before the medical procedure starts, the doctor performs preoperative preparation, inserts a puncture sheath into the surgical patient, selects appropriate (such as length, diameter, material and type, etc.) first catheter 14, second catheter 15, guide wire 16, and performs saline flushing and air exhaust on the first catheter 14 and the second catheter 15. The doctor manually installs the tail of the first catheter 14 to the front end of the first connecting assembly 123, installs the tail of the second catheter 15 to the front end of the second connecting assembly 133, and then passes the head of the second catheter 15 through the long hole of the first connecting assembly 122 until a certain length (such as about 10 cm) of the head of the first catheter 14 is exposed, and then passes the head of the guide wire 16 through the long hole of the second connecting assembly 132 until a certain length (such as about 10 cm) of the head of the second catheter 15 is exposed. Then, the first moving drive device 12 and the second moving drive device 13 are adjusted to be in appropriate positions on the main body 10, and the first catheter 12, the second catheter 13, and the guide wire 14 are inserted into the puncture sheath (such as into the femoral artery, radial artery, or other) of the surgical patient. Then, the first catheter 14 is supported by the fixed delivery unit 111 of the fixed drive device 11, the first connecting assembly 123 is installed on the first support unit 120, and the first rotating gear 124 is engaged with the output gear of the first motor of the first support unit 120. The second catheter 15 is supported by the first delivery unit 121, and then the second connecting assembly 132 is installed on the second support unit 130, and the second rotating gear 134 is engaged with the output gear of the second motor of the second support unit 130. The guide wire 16 is supported by the second delivery unit 131. Finally, after confirming that the first catheter 14, the second catheter 15, and the guide wire 16 are installed in place, the antibacterial covers of the fixed drive device 11, the first moving drive device 12, and the second moving drive device 13 are covered. The first and second connecting assemblies 123 and 133 can be medical Y valves, medical T valves, or medical three-way valve devices with similar functions and structures, and are preferably medical Y valves.

[0034] During the medical procedure, the doctor operates at the main end workbench with X-ray radiation protection or at the main end workbench of a special operating room. For example, the specific embodiment of the present embodiment can include the following operations:

[0035] 1. Simultaneous (separate delivery or rotation) or non-simultaneous delivery and rotation of the catheter or guide wire:

[0036] (1) Operating the fixed delivery unit 111 to hold the catheter 14 immobile and the first delivery unit 121 to hold the second catheter 15 immobile, controlling the first mobile drive device 12 and the second drive mobile device 13 to be immobile, operating the second delivery unit 131 and the second rotating component 132 to deliver and rotate the guide wire 16 simultaneously or at different times.

[0037] (2) Operating the fixed delivery unit 111 to hold the catheter 14 immobile and operating the second delivery unit 131 to release the guide wire 16, which is held by a holder on the main body 10, controlling the first mobile drive device 12 to be immobile, operating the first delivery unit 121 and the first rotating component 122 to deliver and rotate simultaneously or at different times, the second drive device 13 to move synchronously with the first delivery unit 121 and / or the second rotating gear 134 to rotate synchronously with the first rotating component 122, to deliver and rotate the second catheter 15 simultaneously or at different times.

[0038] At this time, the catheter 14 can be delivered and rotated simultaneously or at different times with the first support unit 120, or can be detached from the first support unit 120 and held immobile by a holder on the main body 10.

[0039] (3) Operating the first delivery unit 121 to release the second catheter 15, which is held immobile by a holder on the main body 10, controlling the second mobile drive device 13 to be immobile, operating the fixed delivery unit 111 and the fixed rotating component 112 to deliver and rotate simultaneously or at different times, the first drive device 12 to move synchronously with the fixed delivery unit 111 and / or the first rotating gear 124 to rotate synchronously with the fixed rotating component 112, to deliver and rotate the first catheter 14 simultaneously or at different times.

[0040] 2. Simultaneous or different time delivery and rotation of catheter and guide wire, catheter and catheter:

[0041] (1) Controlling the first drive device 12 to be immobile, operating the first delivery unit 121 and the first rotating component 122 to deliver and rotate simultaneously or at different times, the second drive device 13 to move synchronously with the first delivery unit 121 and / or the second rotating gear 134 to rotate synchronously with the first rotating component 122, the second delivery unit 131 and the second rotating component 132 to deliver and rotate simultaneously or at different times, to simultaneously or at different times deliver and rotate the guide wire 16 and the second catheter 15.

[0042] At this time, the catheter 14 can be delivered and rotated simultaneously or non-simultaneously with the first support unit 120, or can be detached from the first support unit 120 and be fixed immovably by the gripper on the main body 10.

[0043] (2) The second driving device 13 is controlled not to move, the fixed delivery unit 111 and the fixed rotating part 112 are operated simultaneously or non-simultaneously to deliver and rotate, the first driving device 12 moves synchronously with the fixed delivery unit 111 and / or the first rotating gear 124 rotates synchronously with the fixed rotating part 112, and the first delivery unit 121 and the first rotating part 122 deliver and rotate simultaneously or non-simultaneously to deliver and rotate the first catheter 14 and the guide wire 16 simultaneously or non-simultaneously.

[0044] At this time, the catheter 15 can be delivered and rotated simultaneously or non-simultaneously with the second support unit 130, or can be detached from the second support unit 130 and be fixed immovably by the gripper on the main body 10.

[0045] (3) The second delivery unit 131 is operated to release the guide wire 16, the guide wire is fixed immovably by the gripper on the main body 10, the fixed delivery unit 111, the fixed rotating part 112, the first delivery unit 121 and the first rotating part 122 are controlled simultaneously or non-simultaneously to deliver and rotate, the first driving device 12 and the second driving device 13 move synchronously, the first rotating gear 124 rotates synchronously with the fixed rotating part 112 and the second rotating gear 134 rotates synchronously with the first rotating part 122, and the first catheter 14 and the second catheter 15 are delivered and rotated simultaneously or non-simultaneously.

[0046] In other embodiments, the first support unit 120 can also release the first catheter 14 and the first catheter 14 can be fixed immovably by the gripper. In other embodiments, the first driving device 12 can move faster or slower than the second driving device 13.

[0047] The above operations do not constitute a limitation on the specific operation sequence and combination. In actual interventional surgical treatment, the doctor can perform part or all of the above operations according to the specific condition of the patient and the treatment needs, and may need to repeat part or all of the above operations, as long as the guide wire 16 always exceeds the head of the second catheter 15 by a certain length, the second catheter 15 exceeds the head of the first catheter 14 by a certain length when delivering the guide wire, until the guide wire 16, the second catheter 15, and the first catheter 14 are sent to the appropriate position of the blood vessel in the patient's body, and then the corresponding subsequent surgical operation is unfolded until the surgical treatment is successfully completed. After the surgical treatment is completed, the catheter and the guide wire are withdrawn. When the guide wire 16, the second catheter 15, and the first catheter 14 are withdrawn to the puncture sheath, the guide wire 16, the second catheter 15, and the first catheter 14 can be quickly withdrawn manually. For details, refer to the related content of the end device of the interventional surgical robot described in Chinese Patent Application 202111009755.4, the content of which is incorporated herein in its entirety.

[0048] In other embodiments, as shown in FIG. 7, the surgical operation is relatively simple and may only require the first catheter 14 and the guide wire 16. Therefore, the corresponding preoperative preparation work only needs to be related to the preparation work of the first catheter 14 and the guide wire 16, and the corresponding surgical medical process only needs to be related to the operation of the first catheter 14 and the guide wire 16. Details are omitted here. Figure 5

[0049] The above-described embodiments only express one embodiment of the present application, which is described in more detail and in more detail, but should not be construed as limiting the scope of the present patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present patent should be subject to the appended claims.​

Claims

1. An interventional surgical robot slave device, comprising a main body, a fixed driving device and a first moving driving device are arranged on the main body, the fixed driving device is fixedly installed at the distal end of the main body, and the first moving driving device moves along the direction of the main body, characterized in that: The first mobile driving device comprises a first support unit for clamping, delivering and rotating the first elongated medical instrument together with the fixed driving device, a first delivery unit and a first rotating part for clamping, delivering and rotating the second elongated medical instrument, the first delivery unit releases the second elongated medical instrument when the first mobile driving device moves, the fixed driving device is provided with a fixed delivery unit for continuously delivering the first elongated medical instrument, wherein during the delivery process, the first mobile driving device can move synchronously with the fixed delivery unit to maintain the cooperative control of the first elongated medical instrument.

2. An interventional robotic slave device as in claim 1, wherein: The fixed driving device is provided with a fixed rotating part, and the first support unit is used for delivering and rotating the first elongated medical instrument synchronously with the fixed delivery unit and the fixed rotating part.

3. An interventional robotic slave device as in claim 2, wherein: The first support unit comprises a first connecting assembly, the front end of the first connecting assembly is provided with a matching mechanism fixedly connected with the first elongated medical instrument, a first rotating gear is arranged on the matching mechanism, and the matching mechanism can be driven to rotate when the first rotating gear rotates.

4. An interventional robotic slave device as in claim 3, wherein: The first connecting assembly has a long hole penetrating therein, and the axis of the long hole coincides with the axis of the first rotating gear.

5. An interventional robotic slave device as in claim 4, wherein: The first support unit further comprises a first motor, and the output gear of the first motor is engaged with the first rotating gear.

6. An interventional robotic slave device as in claim 1, wherein: The main body is provided with a holder for clamping the first elongated medical instrument or / and the second elongated medical instrument.

7. An interventional robotic slave device as in claim 1, wherein: An exchange mechanism is further included for clamping, delivering or rotating the rapid exchange catheter.

8. An interventional surgical robot slave device comprising a body having a fixed drive device, a first mobile drive device and a second mobile drive device mounted thereon, the fixed drive device being fixedly mounted to a distal-most end of the body, the first mobile drive device and the second mobile drive device being movable in the direction of the body, characterised in that: The first mobile driving device comprises a first support unit, a first delivery unit and a first rotating part, the second mobile driving device comprises a second support unit, a second delivery unit and a second rotating part, the first support unit is used for clamping, delivering and rotating the first elongated medical instrument together with the fixed driving device, the first delivery unit, the first rotating part and the second support unit are used for clamping, delivering and rotating the second elongated medical instrument, the second delivery unit and the second rotating part are used for clamping, delivering and rotating the third elongated medical instrument, the second delivery unit releases the third elongated medical instrument when the second mobile driving device moves, the fixed driving device is provided with a fixed delivery unit for continuously delivering the first elongated medical instrument, wherein during the delivery process, the first mobile driving device can move synchronously with the fixed delivery unit to maintain the cooperative control of the first elongated medical instrument.

9. An interventional robotic slave device as in claim 8, wherein: The second support unit is used for delivering and rotating the second elongated medical instrument synchronously with the first delivery unit and the first rotating part. The first mobile driving device comprises a first support unit for clamping, delivering and rotating the first elongated medical instrument together with the fixed driving device, a first delivery unit and a first rotating part for clamping, delivering and rotating the second elongated medical instrument, the first delivery unit releases the second elongated medical instrument when the first mobile driving device moves, the fixed driving device is provided with a fixed delivery unit for continuously delivering the first elongated medical instrument, wherein during the delivery process, the first mobile driving device can move synchronously with the fixed delivery unit to maintain the cooperative control of the first elongated medical instrument. The fixed driving device is provided with a fixed rotating part, and the first support unit is used for delivering and rotating the first elongated medical instrument synchronously with the fixed delivery unit and the fixed rotating part. The first support unit comprises a first connecting assembly, the front end of the first connecting assembly is provided with a matching mechanism fixedly connected with the first elongated medical instrument, a first rotating gear is arranged on the matching mechanism, and the matching mechanism can be driven to rotate when the first rotating gear rotates. The first connecting assembly has a long hole penetrating therein, and the axis of the long hole coincides with the axis of the first rotating gear. The first support unit further comprises a first motor, and the output gear of the first motor is engaged with the first rotating gear. The main body is provided with a holder for clamping the first elongated medical instrument or / and the second elongated medical instrument. An exchange mechanism is further included for clamping, delivering or rotating the rapid exchange catheter. The first mobile driving device comprises a first support unit, a first delivery unit and a first rotating part, the second mobile driving device comprises a second support unit, a second delivery unit and a second rotating part, the first support unit is used for clamping, delivering and rotating the first elongated medical instrument together with the fixed driving device, the first delivery unit, the first rotating part and the second support unit are used for clamping, delivering and rotating the second elongated medical instrument, the second delivery unit and the second rotating part are used for clamping, delivering and rotating the third elongated medical instrument, the second delivery unit releases the third elongated medical instrument when the second mobile driving device moves, the fixed driving device is provided with a fixed delivery unit for continuously delivering the first elongated medical instrument, wherein during the delivery process, the first mobile driving device can move synchronously with the fixed delivery unit to maintain the cooperative control of the first elongated medical instrument. The second support unit is used for delivering and rotating the second elongated medical instrument synchronously with the first delivery unit and the first rotating part.

10. An interventional robotic slave device as in claim 9, wherein: The second support unit comprises a second connecting assembly, a front end of the second connecting assembly is provided with a matching mechanism fixedly connected with the second elongated medical instrument, a second rotating gear is arranged on the matching mechanism, and the matching mechanism can be driven to rotate when the second rotating gear rotates.

11. An interventional robotic slave device as in claim 10, wherein: The second connecting assembly is internally provided with a long hole, and an axis of the long hole coincides with an axis of the second rotating gear.

12. An interventional robotic slave device as in claim 11, wherein: The second support unit further comprises a second motor, and an output gear of the second motor is engaged with the second rotating gear.

13. An interventional robotic slave device as in claim 8, wherein: The main body is arranged with a holder for clamping the first, second and / or third elongated medical instruments.

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