A master control device for an interventional surgical robot

Abstract

The present invention relates to a master control device for an interventional surgical robot, which includes an all-in-one machine, a bracket, a control box and a foot pedal. The all-in-one machine and the control box are connected and assembled into one body through the bracket. The all-in-one machine is an all-in-one desktop computer configured with a touch screen. The all-in-one machine is connected to the control box through a communication line and a power line. The all-in-one machine receives the control signals on the control box to complete the control of the slave end actuator and monitors the state of the slave end actuator in real time. The control box includes a control box panel and a control box housing. A guide wire movement control mechanism, a guide wire rotation control mechanism and a catheter movement control mechanism are arranged on the control box panel. An external interface is provided on the rear end face of the control box housing. The foot pedal is connected to the control box through a sensor line and serves as an enabling switch for the master end control to prevent misoperation by the user. Compared with the prior art, the present invention can independently control the movement of the catheter and the guide wire, assist the doctor to complete complex interventional surgical operations, and effectively reduce the dependence of complex operations on the doctor's experience.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgical robots, and more specifically, to a master control device for an interventional surgical robot. Background Art

[0002] At present, during the process of vascular interventional surgery, doctors need to wear heavy protective equipment such as lead aprons and operate under X-rays. Doctors observe the images taken by the angiography system and manually control the catheter and guide wire to reach the lesion in the human body through the blood vessels under its guidance, and then diagnose and treat the lesions in the blood vessels. Since the human blood vessels are curved, narrow and have many branches, and the blood vessel wall is relatively fragile, this poses great requirements for the operation accuracy of doctors and requires very delicate operation techniques. Long-term refined surgical operations are bound to cause doctor operation fatigue, which may affect the surgical effect. At the same time, even if wearing radiation-proof lead clothing, it cannot guarantee that doctors will not be irradiated by rays. Moreover, the heavy lead clothing will not only affect the operation accuracy of doctors, but also cause a great burden on doctors' bodies in the long term and have a chronic impact on doctors' physical health.

[0003] By means of robot technology, operating the catheter and guide wire in a teleoperation manner can effectively address these problems, greatly improving the operation accuracy and stability of the surgery, and at the same time effectively reducing the harm of radiation to interventional doctors and reducing the occurrence probability of intraoperative accidents. Therefore, vascular interventional surgical robots have received increasing attention. This robot system generally adopts a master-slave operation mode, where the slave end execution mechanism is exposed to X-rays to perform the surgery, and doctors control the slave end execution mechanism to work by remotely operating the master end mechanism outside the ward, avoiding X-ray radiation.

[0004] However, most of the master control devices used in the prior art adopt analog joysticks or reciprocating motion mechanisms, and it is difficult to cooperate in operation at some parts where the guide wire and catheter need to advance simultaneously, resulting in low operation accuracy and low surgical efficiency. At the same time, most master devices do not have force feedback settings, and the tactile information of the operating system cannot be fed back to doctors, which is very likely to damage and puncture blood vessels due to improper or excessive operation. In addition, most master control devices cannot cooperate with the injection control of contrast agents, cannot achieve the control of high-pressure injectors outside the operating room, and cannot fully optimize the entire surgical process.

[0005] Therefore, it is an urgent problem for those skilled in the art to provide a master control device for an interventional surgical robot that can meet the actual surgical operation requirements, truly simulate the surgical process, is precise, convenient and has force feedback. Summary of the Invention

[0006] The object of the present invention is to solve the above deficiencies and provide a master control device for an interventional surgical robot, which can independently control the movement of the catheter and guide wire, assist doctors in completing complex interventional surgical operations, and effectively reduce the dependence on doctors' experience in complex surgeries.

[0007] To achieve the above object, a master control device for an interventional surgical robot is designed, including an all-in-one computer 1, a bracket 2, a control box 3 and a foot pedal 4. The all-in-one computer 1 and the control box 3 are connected and assembled into one body through the bracket 2. The all-in-one computer 1 is an all-in-one desktop computer equipped with a touch screen. The all-in-one computer 1 is connected to the control box 3 through a communication line and a power line. The all-in-one computer 1 receives the control signal on the control box 3 to complete the control of the slave actuator and monitors the state of the slave actuator in real time. The control box 3 includes a control box panel 5 and a control box housing 6. A guide wire movement control mechanism, a guide wire rotation control mechanism and a catheter movement control mechanism are arranged on the control box panel 5. An external interface is provided on the rear end face of the control box housing 6. The foot pedal 4 is connected to the control box 3 through a sensor line and serves as an enabling switch for master control to prevent user misoperation.

[0008] Further, the bracket 2 is an L-shaped structure composed of a side plate and a bottom plate. The all-in-one computer 1 is installed on the top of the side plate, and the control box 3 is installed at the front of the bottom plate. The all-in-one computer 1 and the control box 3 are connected into one body through the bracket 2 and can be moved as a whole.

[0009] Further, the touch screen of the all-in-one computer 1 is a multi-touch capacitive screen, which enables the user to directly click and operate with hands.

[0010] Further, the all-in-one computer 1 is connected to the high-pressure syringe control system through the external interface on the rear end face of the control box housing 6, and an interface for controlling the external high-pressure syringe is provided on the control interface to realize the control of the high-pressure syringe outside the operating room.

[0011] Further, the catheter movement control mechanism includes a catheter movement control mechanism knob 8, a catheter movement control mechanism knob shaft 16, a catheter movement control mechanism knob bearing 21, and a catheter movement control mechanism encoder 24. The guide wire rotation control mechanism includes a guide wire rotation control mechanism knob 9, a guide wire rotation control mechanism knob shaft 17, a guide wire rotation control mechanism knob bearing 20, and a guide wire rotation control mechanism encoder 23. The guide wire movement control mechanism includes a guide wire movement control mechanism knob 10, a guide wire movement control mechanism knob shaft 18, a guide wire movement control mechanism knob bearing 19, and a guide wire movement control mechanism encoder 22. The catheter movement control mechanism knob 8, the guide wire rotation control mechanism knob 9, and the guide wire movement control mechanism knob 10 are respectively connected to the catheter movement control mechanism encoder 24, the guide wire rotation control mechanism encoder 23, and the guide wire movement control mechanism encoder 22 through the catheter movement control mechanism knob shaft 16, the guide wire rotation control mechanism knob shaft 17, and the guide wire movement control mechanism knob shaft 18, and drive the catheter movement control mechanism encoder 24, the guide wire rotation control mechanism encoder 23, and the guide wire movement control mechanism encoder 22 to rotate synchronously, thereby controlling the movement of the catheter, the rotation of the guide wire, and the movement of the guide wire.

[0012] Further, the catheter movement control mechanism encoder 24, the guide wire rotation control mechanism encoder 23, and the guide wire movement control mechanism encoder 22 are respectively connected to the slave end actuator controller through the external interfaces on the rear end face of the control box housing 6, and are fed back to the all-in-one machine 1 through the slave end actuator controller.

[0013] Further, an emergency stop button 7, a start button 11, a catheter jog forward button 12, a catheter jog backward button 13, a guide wire jog backward button 14, and a guide wire jog forward button 15 are further provided on the control box panel 5. The emergency stop button 7, the start button 11, the catheter jog forward button 12, the catheter jog backward button 13, the guide wire jog backward button 14, and the guide wire jog forward button 15 are all connected to the slave end actuator controller through the external interfaces on the rear end face of the control box housing 6, and are fed back to the all-in-one machine 1 through the slave end actuator controller. The emergency stop button 7 is used to cut off the power supply of the slave end actuator motor. The start button 11 is used to turn on the machine. The catheter jog forward button 12 and the catheter jog backward button 13 are used to achieve the jog movement of the catheter. The guide wire jog backward button 14 and the guide wire jog forward button 15 are used to achieve the jog movement of the guide wire.

[0014] Further, a power supply line, a sensor line, and a communication line of the slave end actuator, a power supply line and a communication line of the all-in-one machine, and a control line of the high-pressure injector are correspondingly connected to the external interfaces on the rear end face of the control box housing 6.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] (1) The present invention is applicable to the master control of interventional surgical robots, can independently control the movement of catheters and guide wires, and solves the problems of existing control ends to a certain extent;

[0017] (2) The present invention facilitates the operation of pushing, feeding, and rotating simultaneously, which is commonly used in clinical practice, provides a convenient, reliable, and highly accurate operation method for doctors, can assist doctors in completing complex interventional surgical operations, and effectively reduces the dependence on doctors' experience in complex surgeries;

[0018] (3) The overall structure of the present invention is simple. The cable connection method adopts a modular design concept, which can be directly plugged and unplugged, facilitating installation, conforming to the ergonomic design, being small in size, light in weight, and convenient for placement and transfer, and is worthy of popularization and application. [Description of the Drawings]

[0019] Figure 1 is the structural schematic diagram of the present invention;

[0020] Figure 2 is the structural schematic diagram of the control box of the present invention;

[0021] Figure 3 is the structural schematic diagram of the control box panel of the present invention;

[0022] Figure 4 is the exploded view of the control box panel of the present invention;

[0023] Figure 5 is the schematic diagram of the master - end force feedback control of the present invention;

[0024] In the figure: 1. All - in - one machine; 2. Bracket; 3. Control box; 4. Foot pedal; 5. Control box panel; 6. Control box housing; 7. Emergency stop button; 8. Knob of catheter movement control mechanism; 9. Knob of guide wire rotation control mechanism; 10. Knob of guide wire movement control mechanism; 11. Start button; 12. Catheter jog forward button; 13. Catheter jog backward button; 14. Guide wire jog backward button; 15. Guide wire jog forward button; 16. Knob shaft of catheter movement control mechanism; 17. Knob shaft of guide wire rotation control mechanism; 18. Knob shaft of guide wire movement control mechanism; 19. Knob bearing of guide wire movement control mechanism; 20. Knob bearing of guide wire rotation control mechanism; 21. Knob bearing of catheter movement control mechanism; 22. Encoder of guide wire movement control mechanism; 23. Encoder of guide wire rotation control mechanism; 24. Encoder of catheter movement control mechanism. [Detailed Implementation Modes]

[0025] The present invention provides a master control device for an interventional surgical robot, which includes an all-in-one computer 1, a bracket 2, a control box 3 and a foot pedal 4. The all-in-one computer 1 and the control box 3 are connected and assembled into one body through the bracket 2, that is, the bracket 2 is used to connect and assemble the control box 3 and the all-in-one computer 1, making the entire master control device movable, so that it can be placed at the position where the user needs to place it; the all-in-one computer 1 is an all-in-one desktop computer equipped with a touch screen and serves as the master controller of the interventional surgical robot; the all-in-one computer 1 is connected to the control box 3 through a communication line and a power line. The all-in-one computer 1 receives the control signal on the control box 3 to complete the control of the slave end actuator and monitors the state of the slave end actuator in real time; the control box 3 includes a control box panel 5 and a control box housing 6. A guide wire movement control mechanism, a guide wire rotation control mechanism and a catheter movement control mechanism are arranged on the control box panel 5. An external interface is provided on the rear end face of the control box housing 6 for transmitting sensor signals and other control signals; the foot pedal 4 is connected to the control box 3 through a sensor line. The foot pedal 4 serves as an enabling switch for master control to prevent the user from misoperating, that is, the foot pedal 4 is used for the enabling signal of master control to avoid the control mechanism on the control box 3 from being accidentally triggered.

[0026] Among them, the bracket 2 is an L-shaped structure composed of a side plate and a bottom plate. The all-in-one computer 1 is installed on the top of the side plate, and the control box 3 is installed in the front of the bottom plate. The all-in-one computer 1 and the control box 3 are connected into one body through the bracket 2 and are integrally movable. The touch screen of the all-in-one computer 1 is a high-definition display screen and is a multi-touch capacitive screen, and the user can directly click and operate with hands. The all-in-one computer 1 is connected to the controller of the slave end actuator through a communication line. The operation interface of the all-in-one computer 1 displays the state information of the control mechanism on the control box panel 5, the state information of the slave end actuator, the force feedback information, and realizes the motion control of the slave end actuator. The all-in-one computer 1 can be connected to the high-pressure injector control system through the external interface on the rear end face of the control box housing 6, and an interface for controlling the external high-pressure injector is provided on the control interface to realize the control of the high-pressure injector outside the operating room.

[0027] In the present invention, the catheter movement control mechanism, the guide wire movement control mechanism, and the guide wire rotation control mechanism all include a knob, a knob shaft, a knob bearing, and an encoder. The encoder is connected to the knob by the knob shaft, and the knob drives the encoder to rotate synchronously to control the guide wire or catheter to complete corresponding actions. Specifically, the catheter movement control mechanism includes a catheter movement control mechanism knob 8, a catheter movement control mechanism knob shaft 16, a catheter movement control mechanism knob bearing 21, and a catheter movement control mechanism encoder 24. The guide wire rotation control mechanism includes a guide wire rotation control mechanism knob 9, a guide wire rotation control mechanism knob shaft 17, a guide wire rotation control mechanism knob bearing 20, and a guide wire rotation control mechanism encoder 23. The guide wire movement control mechanism includes a guide wire movement control mechanism knob 10, a guide wire movement control mechanism knob shaft 18, a guide wire movement control mechanism knob bearing 19, and a guide wire movement control mechanism encoder 22. The catheter movement control mechanism knob 8, the guide wire rotation control mechanism knob 9, and the guide wire movement control mechanism knob 10 are respectively connected to the catheter movement control mechanism encoder 24, the guide wire rotation control mechanism encoder 23, and the guide wire movement control mechanism encoder 22 through the catheter movement control mechanism knob shaft 16, the guide wire rotation control mechanism knob shaft 17, and the guide wire movement control mechanism knob shaft 18, and drive the catheter movement control mechanism encoder 24, the guide wire rotation control mechanism encoder 23, and the guide wire movement control mechanism encoder 22 to rotate synchronously, thereby controlling the catheter movement, the guide wire rotation, and the guide wire movement. The encoder signal is connected to the slave end actuator controller through the external interface on the rear end face of the control box housing 6 and is fed back to the all-in-one machine through the slave end actuator controller. Specifically, the catheter movement control mechanism encoder 24, the guide wire rotation control mechanism encoder 23, and the guide wire movement control mechanism encoder 22 are respectively connected to the slave end actuator controller through the external interface on the rear end face of the control box housing 6 and are fed back to the all-in-one machine 1 through the slave end actuator controller.

[0028] In the present invention, an emergency stop button 7, a start button 11, a catheter jog forward button 12, a catheter jog backward button 13, a guide wire jog backward button 14, and a guide wire jog forward button 15 are also provided on the control box panel 5. The emergency stop button 7, the start button 11, the catheter jog forward button 12, the catheter jog backward button 13, the guide wire jog backward button 14, and the guide wire jog forward button 15 are all connected to the slave end actuator controller through the external interface on the rear end face of the control box housing 6 and are fed back to the all-in-one machine 1 through the slave end actuator controller. The emergency stop button 7 is used to cut off the power supply of the slave end actuator motor. The start button 11 is used to turn on the machine. The catheter jog forward button 12 and the catheter jog backward button 13 are used to realize the jog movement of the catheter. The guide wire jog backward button 14 and the guide wire jog forward button 15 are used to realize the jog movement of the guide wire.

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] As shown in the appended Figure 1 figure, the present invention provides a master control device for an interventional surgical robot, comprising an all-in-one machine 1, a control box 3, a bracket 2 and a foot pedal 4. The bracket 2 connects the all-in-one machine 1 and the control box 3 together, making the whole device movable and capable of being placed at the position where the user needs to place it. The foot pedal 4 is placed on the ground, and only after the foot pedal is triggered, the motion control of the slave end actuator on the operation interface of the all-in-one machine 1 will take effect. At the same time, only after the foot pedal is triggered, the control mechanism on the control box panel 5 will be enabled, and the motion control of the guide wire and the catheter can be realized.

[0031] As shown in the appended Figure 3 figure, the control box panel 5 is provided with an emergency stop button 7, a start button 11, a catheter jog forward button 12, a catheter jog backward button 13, a guide wire jog backward button 14 and a guide wire jog forward button 15. In case of any accident during the operation, the emergency stop button 7 can be pressed. At this time, the power supply of the motor of the slave end actuator will be cut off, and the slave end actuator cannot continue to execute the master end control command. After the problem is solved, the emergency stop button can be released, and the system can resume normal operation. The catheter jog forward button 12 and the catheter jog backward button 13 can realize the jog motion of the catheter with a step size of 1 mm, and the guide wire jog backward button 14 and the guide wire jog forward button 15 can realize the jog motion of the guide wire with a step size of 1 mm. When the guide wire or the catheter is approaching the target position, the jog mode can be used to control its positioning accuracy.

[0032] As shown in the appended Figure 3 and the appended Figure 4 figure, the guide wire movement control mechanism comprises a guide wire movement control mechanism knob 10, a guide wire movement control mechanism knob shaft 18, a guide wire movement control mechanism knob bearing 19 and a guide wire movement control mechanism encoder 22; the guide wire rotation control mechanism comprises a guide wire rotation control mechanism knob 9, a guide wire rotation control mechanism knob shaft 17, a guide wire rotation control mechanism knob bearing 20 and a guide wire rotation control mechanism encoder 23; the catheter movement control mechanism comprises a catheter movement control mechanism knob 8, a catheter movement control mechanism knob shaft 16, a catheter movement control mechanism knob bearing 21 and a catheter movement control mechanism encoder 24; the encoder is connected to the knob through the knob shaft and the knob bearing to realize the synchronous rotation of the knob and the encoder. Since the knob and the encoder rotate synchronously, the angle and speed of the user's hand-held control knob can be judged by the rotation angle and speed of the encoder. The all-in-one machine controls the motion of the slave end actuator by collecting the rotation angle and speed of the encoder, through a certain proportional scaling, and a hand tremor removal algorithm, so as to realize the control of the motion displacement and motion speed of the guide wire or the catheter.

[0033] The guide wire movement control mechanism, the guide wire rotation control mechanism, and the catheter movement control mechanism can be triggered simultaneously. For example, when the operator rotates the knob 10 of the guide wire movement control mechanism while also rotating the knob 9 of the guide wire rotation control mechanism, the guide wire can move and rotate simultaneously in the blood vessel. When the operator rotates the knob 10 of the guide wire movement control mechanism while also rotating the knob 8 of the catheter movement control mechanism, the guide wire and the catheter can move simultaneously in the blood vessel. Such an operation method makes the surgical method more flexible and can improve the operation accuracy and surgical efficiency.

[0034] During the process of the integrated machine 1 controlling the movement of the guide wire or the catheter, a "beep" prompt sound will be emitted to notify the user that the current guide wire or catheter is in motion. In addition, during the movement of the guide wire or the catheter, the integrated machine 1 will collect the resistance information fed back from the end effector in real time and display it on the interface of the integrated machine 1. When the resistance received by the guide wire or the catheter in the blood vessel is relatively large, the integrated machine will emit a corresponding prompt sound to notify the user to pay attention to the adjustment of the hand knob during the control process, as shown in Figure 5 the attached figure.

[0035] The integrated machine 1 is a multi-touch capacitive screen, and the user can directly click and operate with their hands. On the control interface, there are jog control movement buttons for the guide wire or the catheter, which can achieve jog control with a step size of 1 mm, enabling the guide wire or the catheter to reach the target position more precisely. At the same time, the control interface will also display the status of the end control mechanism in real time, such as information about the movement speed and movement distance of the guide wire or the catheter. In addition, there are high-pressure syringe control buttons left on the control interface, and the user can control the high-pressure syringe through the touch screen buttons.

[0036] When using the device of the present invention, it is first necessary to connect the cables of each component. Specifically, it includes connecting the power supply cable, sensor cable, and communication cable of the slave end actuator to the corresponding interfaces on the rear end face of the control box housing, connecting the power supply cable and communication cable of the all-in-one machine to the corresponding interfaces on the rear end face of the control box housing, and connecting the control cable of the high-pressure syringe to the corresponding interfaces on the rear end face of the control box housing. Press the start button on the control box panel to turn on the machine. After turning on the machine, system status information, force feedback data, and other information of the slave end actuator can be displayed on the control interface of the all-in-one machine. After the system self-check is completed, the master control device can be operated for the operation. The foot pedal is used as the enable switch of the entire system. To prevent accidental operation by the user, when operating the knobs or jog buttons on the operation control panel and the motion control buttons on the control interface of the all-in-one machine, the user needs to trigger the foot pedal simultaneously. The three groups of knobs are independent of each other and can be controlled simultaneously. For example, simultaneously controlling the knob of the guide wire movement control mechanism and the knob of the guide wire rotation control mechanism can achieve the simultaneous advancement and rotation movement of the guide wire, and simultaneously controlling the knob of the guide wire movement control mechanism and the knob of the catheter movement control mechanism can achieve the simultaneous movement of the guide wire and catheter, etc. The movement speed of the guide wire or catheter can be controlled according to the rotation speed of the knob. During the control process, the all-in-one machine will have corresponding voice prompts, and the status information of the slave end control mechanism, such as speed, position, force feedback, etc., will be displayed on the control interface, which can effectively guide the user to complete the interventional operation in a timely manner. The control interface is also equipped with relevant controls for the high-pressure syringe, which can achieve the injection of contrast agent outside the operating room. When the operation is completed, release the start button to turn off the machine.

[0037] The control device described in the present invention is specifically applicable to the master control of an interventional surgical robot, can independently control the movement of the catheter and the guide wire, facilitates the common operation of pushing, feeding, and rotating in clinical practice, provides a convenient, reliable, and highly accurate operation method for doctors, assists doctors in completing complex interventional surgical operations, and effectively reduces the dependence on doctors' experience for complex operations. In addition, the overall structure of the control device is simple, and the cable connection method adopts a modular design concept, which can be directly plugged and unplugged, facilitating installation, conforming to the ergonomic design, and being small in size, light in weight, and convenient for placement and transfer.

[0038] 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 master control device for an interventional surgical robot, characterized in that: It includes an all-in-one machine (1), a bracket (2), a control box (3) and a foot pedal (4). The all-in-one machine (1) and the control box (3) are connected and assembled into one body through the bracket (2). The all-in-one machine (1) is an all-in-one desktop computer configured with a touch screen. The all-in-one machine (1) is connected to the control box (3) through a communication line and a power cord. The all-in-one machine (1) receives the control signal on the control box (3) to complete the control of the slave execution mechanism and monitors the state of the slave execution mechanism in real time. The control box (3) includes a control box panel (5) and a control box housing (6). A wire movement control mechanism, a wire rotation control mechanism and a catheter movement control mechanism are arranged on the control box panel (5). An external interface is provided on the rear end face of the control box housing (6). The foot pedal (4) is connected to the control box (3) through a sensor line and serves as an enabling switch for the master control to prevent misoperation by the user. The bracket (2) is an L-shaped structure composed of a side plate and a bottom plate. The all-in-one machine (1) is installed on the top of the side plate, and the control box (3) is installed at the front of the bottom plate. The all-in-one machine (1) and the control box (3) are connected into one body through the bracket (2) and can be moved as a whole. The touch screen of the all-in-one machine (1) is a multi-touch capacitive screen, which enables the user to directly click and operate with hands. The catheter movement control mechanism includes a catheter movement control mechanism knob (8), a catheter movement control mechanism knob shaft (16), a catheter movement control mechanism knob bearing (21) and a catheter movement control mechanism encoder (24). The wire rotation control mechanism includes a wire rotation control mechanism knob (9), a wire rotation control mechanism knob shaft (17), a wire rotation control mechanism knob bearing (20) and a wire rotation control mechanism encoder (23). The wire movement control mechanism includes a wire movement control mechanism knob (10), a wire movement control mechanism knob shaft (18), a wire movement control mechanism knob bearing (19) and a wire movement control mechanism encoder (22). The catheter movement control mechanism knob (8), the wire rotation control mechanism knob (9) and the wire movement control mechanism knob (10) are respectively connected to the catheter movement control mechanism encoder (24), the wire rotation control mechanism encoder (23) and the wire movement control mechanism encoder (22) through the catheter movement control mechanism knob shaft (16), the wire rotation control mechanism knob shaft (17) and the wire movement control mechanism knob shaft (18), and drive the catheter movement control mechanism encoder (24), the wire rotation control mechanism encoder (23) and the wire movement control mechanism encoder (22) to rotate synchronously, so as to control the catheter movement, the wire rotation and the wire movement. The catheter movement control mechanism encoder (24), the wire rotation control mechanism encoder (23) and the wire movement control mechanism encoder (22) are respectively connected to the slave execution mechanism controller through the external interface on the rear end face of the control box housing (6) and are fed back to the all-in-one machine (1) through the slave execution mechanism controller.

2. The master control device of the interventional surgical robot according to claim 1, characterized in that: The all-in-one machine (1) is connected to the high-pressure syringe control system through the external interface on the rear end face of the control box housing (6), and an interface for controlling the external high-pressure syringe is provided on the control interface to achieve the control of the high-pressure syringe outside the operating room.

3. The master control device of the interventional surgical robot according to claim 1 or 2, characterized in that: An emergency stop button (7), a start button (11), a catheter jog forward button (12), a catheter jog backward button (13), a guide wire jog backward button (14), and a guide wire jog forward button (15) are further provided on the control box panel (5). The emergency stop button (7), the start button (11), the catheter jog forward button (12), the catheter jog backward button (13), the guide wire jog backward button (14), and the guide wire jog forward button (15) are all connected to the slave end actuator controller through the external interface on the rear end face of the control box housing (6) and are fed back to the all-in-one machine (1) through the slave end actuator controller. The emergency stop button (7) is used to cut off the power supply of the slave end actuator motor. The start button (11) is used to power on. The catheter jog forward button (12) and the catheter jog backward button (13) are used to achieve the jog movement of the catheter. The guide wire jog backward button (14) and the guide wire jog forward button (15) are used to achieve the jog movement of the guide wire.

4. The master control device of the interventional surgical robot according to claim 1, characterized in that: A power line, a sensor line, and a communication line of the slave end actuator, as well as a power line and a communication line of the all-in-one machine, and a control line of the high-pressure syringe are correspondingly connected to the external interface on the rear end face of the control box housing (6).

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