A femoral artery needle insertion robot

Abstract

A femoral artery needle insertion robot comprises: after planning the needle insertion target through the monitoring results of an ultrasonic probe and an infrared camera, a Z-axis moving module, an X-axis moving module, a Y-axis moving module, and an angle adjustment module adjust the coordinate position and the needle insertion angle of the introduction execution component, the introduction execution component includes a roller for clamping the wire and sheath, a two-petal conical cavity for clamping the needle, and a force sensor component, wherein the clamping gap is adjustable to accommodate wires and sheaths of various sizes, the conical cavity is opened and closed by electromagnetic induction to complete the clamping and release of the needle, and the force sensor detects the needle insertion resistance in real time to facilitate the judgment of the needle insertion status; the needle insertion robot has flexible displacement and high rotational freedom, is suitable for deep needle insertion operations with large individual differences, and has a wide range of applications. More importantly, it can complete needle insertion, wire introduction, and sheath introduction in sequence, with a high degree of functional integration.

Description

Technical Field

[0001] This invention relates to the field of needle insertion in medical device technology, specifically a femoral artery needle insertion robot. Background Art

[0002] In minimally invasive surgery for stroke treatment, a needle is first inserted into the femoral artery in the thigh. Then, a lead and sheath are inserted into the blood vessel. Finally, guided by X-ray, the lead reaches the brain to remove the blood clot. The first step of the procedure, needle insertion, requires the surgeon to locate the femoral artery using ultrasound imaging. After piercing the arterial wall with a needle, the surgeon must sequentially insert the sheath and lead into the femoral artery and then withdraw the needle. Improper operation can easily cause blood vessel rupture, bleeding, and even endanger life. Existing needle insertion robots are mainly used for needle insertion into blood vessels in the arm. Arm blood vessels are shallow under the skin, and the needle insertion angle is relatively fixed, requiring less flexibility in robot operation. For the femoral artery in the thigh, the blood vessel is deeper, with a thicker layer of fat, and the required needle insertion angle varies greatly among individuals. Existing needle insertion robots have limited displacement and rotational freedom. Furthermore, existing needle insertion robots only have a single needle insertion function and cannot achieve the insertion of the sheath and lead required for femoral artery needle insertion in stroke treatment.

[0003] This invention proposes a femoral artery needle insertion robot to solve some or all of the above-mentioned technical problems. Summary of the Invention

[0004] A femoral artery needle insertion robot includes: a support frame, a Z-axis movement module, an X-axis movement module, an angle adjustment module, an insertion execution component, an ultrasonic probe, and an infrared camera. The Z-axis movement module, X-axis movement module, angle adjustment module, and insertion execution component are directly or indirectly fixed to the support frame. The Z-axis movement module and X-axis movement module are used to drive the insertion execution component to move in the Z-axis direction and X-axis direction, respectively. The angle adjustment module is used to adjust the angle of the insertion execution component. The ultrasonic probe and infrared camera are directly or indirectly connected to the support frame, the Z-axis movement module, the X-axis movement module, or the angle adjustment module.

[0005] Preferably, in the femoral artery puncture robot, the insertion execution component includes a first translation device, an insertion drive device, and a needle feeding clamping device. The insertion drive device and the needle feeding clamping device are both connected to the power output end of the first translation device. The insertion drive device includes an insertion drive motor, a lower roller, and an upper roller. The insertion drive motor is installed in a first housing, which is connected to the power output end of the first translation device. The lower roller is installed at the end of the power output shaft of the insertion drive motor extending out of the first housing. The upper roller is provided on the plate surface of the first housing above the lower roller. A clamping gap is formed between the lower roller and the upper roller. The insertion drive motor drives the lower roller to roll, applying a transmission force to the structure located in the clamping gap.

[0006] Preferably, in the femoral artery puncture robot, the drive motor is floatingly mounted in a first housing. The first housing is provided with a first floating plate, a second floating plate, a guide rod, a second electromagnet device, and a wire connected to a power source. The first floating plate is fixed to the inner wall of the first housing. The first floating plate and the second floating plate are floatingly connected by a spring. The second electromagnet device is fixed to the second floating plate. The surface of the first housing is machined with a wire groove for the wire to run. The wire is connected to the second electromagnet device. The guide rod, whose lower end is fixed to the second floating plate, passes through a guide hole in the surface of the first floating plate.

[0007] Preferably, in the femoral artery puncture robot, the needle feeding clamping device includes a first clamping block and a second clamping block. The first clamping block is directly or indirectly connected to the power output end of the first translation device. The second clamping block is connected to the first clamping block, and a clamping channel is formed between the first clamping block and the second clamping block. The needle located in the clamping channel moves to the target position under the action of the transmission force.

[0008] Preferably, in the femoral artery puncture robot, the first clamping block and the second clamping block are floatingly connected. The floating connection structure includes a floating shaft, a spring, and a floating drive device. One end of the floating shaft is fixed perpendicularly to the surface of the second clamping block, and the other end passes through the first clamping block. The spring is sleeved on the outside of the floating shaft, and both ends of the spring abut against the surfaces of the first clamping block and the second clamping block, respectively. The floating drive device is used to drive the relative movement between the first clamping block and the second clamping block.

[0009] Preferably, in the femoral artery puncture robot, the floating drive device is a first electromagnet device. The two parts of the first electromagnet device are respectively installed on the plates of the first clamping block and the second clamping block. When energized, the first electromagnet device generates an attractive force, causing the first clamping block and the second clamping block to move closer to each other. After de-energization, the second clamping block returns to its original position under the action of the spring.

[0010] Preferably, in the femoral artery puncture robot, the clamping channel is a conical cavity consisting of two parts respectively disposed on the opposite surfaces of the first clamping block and the second clamping block.

[0011] Preferably, in the femoral artery puncture robot, the insertion execution component further includes a force sensor component, which includes a force sensor and a needle delivery slide rail. The force sensor and the needle delivery slide rail are located at the same installation height and are both fixed to the power output end plate of the first translation device. The needle delivery clamping device is fixed to the slider of the needle delivery slide rail. Slider limit blocks are provided at both ends of the needle delivery slide rail. The needle delivery clamping device can move a short distance along the needle delivery slide rail.

[0012] Preferably, in the femoral artery puncture robot, the power output end of the Z-axis movement module is connected to the X-axis movement module, the power output end of the X-axis movement module is connected to the angle adjustment module, the power output end of the angle adjustment module is connected to the induction execution component, and the ultrasonic probe and infrared camera are connected to the angle adjustment module.

[0013] Preferably, in the femoral artery puncture robot, the angle adjustment module includes a first rotary motor, or further includes one or more of a second translation device, a first motor, and a second rotary motor. The first rotary motor is fixed to the power output end of the second translation device, and the power output end of the first rotary motor is fixed to the first translation module via a rotating seat. The power output end of the first motor is fixed to the second translation device, and the first motor is fixedly connected to the power output end of the second rotary motor via an indirect fixing plate. The second rotary motor is connected to the power output end of the X-axis movement module, and the X-axis movement module is fixedly connected to the power output end of the Z-axis movement module. The Z-axis movement module is fixed to the support frame. The ultrasonic probe is fixed to the power output end of the second motor, and the second motor and the infrared camera are both directly or indirectly fixed to the second translation device.

[0014] Preferably, in the femoral artery puncture robot, the support frame is provided with a partition cavity through a partition plate. A Y-axis moving module is provided on the upper plate surface of the partition plate. Slide rails are provided on the upper plate surfaces of the two side plates of the partition cavity. The upper plate surface of the partition cavity is fixed to the power output end of the Y-axis moving module and to the sliders of the two side slide rails.

[0015] The working principle is as follows:

[0016] The ultrasonic probe and infrared camera provide visual feedback. After the needle insertion target is determined, the four-dimensional coordinates of the imported execution component can be adjusted through the Z-axis movement module, X-axis movement module, Y-axis movement module, and angle adjustment module. The angle adjustment module includes angle rotation adjustment in multiple directions, which can meet the needs of a large range of needle insertion angles. Furthermore, the angle adjustment module is equipped with a second translation device, which allows for flexible angle rotation and needle insertion, greatly improving the displacement and rotational freedom of the needle insertion robot.

[0017] In addition to needle insertion, the imported execution component needle-injection robot can also perform manual wire insertion and sheath insertion, demonstrating a high degree of functional integration. The specific operation steps are as follows:

[0018] The lead wire passes through the needle hole and through the clamping gap between the upper and lower rollers. The first and second clamping blocks in the needle feeding clamping device close, and the needle is placed in the conical cavity. The guide execution component moves forward to drive the needle into the blood vessel. During this process, the force sensor monitors the needle insertion resistance in real time. After successful needle insertion, the guide execution component moves backward to withdraw the needle and at the same time, the guide drive motor is turned on. The roller rotates and moves the lead wire toward the blood vessel, so that the lead wire stays in the blood vessel to stop bleeding.

[0019] The first and second clamping blocks in the needle insertion clamping device separate, releasing the needle. A sheath is then placed over the lead wire. The lower roller moves downwards, changing the clamping gap between the two rollers, allowing the sheath to pass through the gap. The insertion drive motor is then activated, causing the rollers to rotate and clamp the sheath, inserting it into the blood vessel. The lower roller then moves downwards to release the sheath. This completes the three operations: needle insertion, lead wire insertion, and sheath insertion.

[0020] By setting the upper cover of the support frame as a movable plate in the Y direction, the limitations on the needle insertion position are further reduced.

[0021] The advantages are as follows:

[0022] (1) The femoral artery needle insertion robot of the present invention can be used for needle insertion operations in areas with deep blood vessels and thick fat layers;

[0023] (2) The femoral artery needle insertion robot of the present invention has a large needle insertion displacement and high rotational freedom, and is suitable for needle insertion operations with large individual differences;

[0024] (3) The femoral artery needle insertion robot of the present invention further improves the controllability and needle insertion accuracy by supporting, guiding and releasing through the clamping channel during the needle insertion process;

[0025] (4) The femoral artery puncture machine involved in this invention can perform multiple functions such as puncture, wire insertion, and sheath insertion, and has a high degree of integration. Attached Figure Description

[0026] The specific embodiments are further described below with reference to the accompanying drawings, wherein:

[0027] Figure 1 This is a schematic diagram of the femoral artery needle insertion robot involved in this invention;

[0028] Figure 2 This is a schematic diagram of the structure of the actuation component introduced into the femoral artery needle insertion robot involved in the present invention;

[0029] Figure 3 , 4 This is a schematic diagram of the insertion execution component structure of the femoral artery puncture machine involved in the present invention;

[0030] The specific structure corresponding to the number is as follows:

[0031] Support frame 1, partition 11, Y-axis moving module 12, Z-axis moving module 2, X-axis moving module 3, first translation device 4, infeed drive device 5, infeed drive motor 51, lower roller 52, upper roller 53, needle feeding clamping device 6, first clamping block 61, second clamping block 62, floating shaft 63, spring 64, floating drive device 65, conical cavity 66, first housing 7, first floating plate 71, second floating plate 72, guide rod 73, second electromagnet device 74, wire 75, force sensor assembly 8, force sensor 81, needle feeding slide rail 82, first rotary motor 91, second translation device 92, first motor 93, second rotary motor 94, ultrasonic probe 10, second motor 101, infrared camera 11.

[0032] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0033] Specific implementation case 1:

[0034] A femoral artery needle insertion robot includes: a support frame 1, a Z-axis movement module 2, an X-axis movement module 3, an angle adjustment module, an insertion and execution component, an ultrasonic probe 10, and an infrared camera 11. Figure 1As shown, the Z-axis moving module 2 is directly fixed to the support frame 1. The power output end of the Z-axis moving module 2 is connected to the X-axis moving module 3. The power output end of the X-axis moving module 3 is connected to the angle adjustment module. The power output end of the angle adjustment module is connected to the induction execution component. The ultrasonic probe 10 and the infrared camera 11 are connected to the angle adjustment module. The Z-axis moving module 2 and the X-axis moving module 3 are used to drive the induction execution component to move in the Z-axis direction and the X-axis direction, respectively. The angle adjustment module is used to adjust the angle of the induction execution component. The ultrasonic probe 10 and the infrared camera 11 are connected to the angle adjustment module. The induction execution component is used for needle insertion. Furthermore, the support frame 1 is provided with a partition cavity through the partition 11. The upper plate surface of the partition 11 is provided with a Y-axis moving module 12. The upper plate surfaces of the two side plates of the partition cavity are provided with slide rails. The upper plate surface of the partition cavity is fixed to the power output end of the Y-axis moving module 12 and to the sliders of the two side slide rails.

[0035] The import execution component includes a first translation device 4 and a needle feeding clamping device 6, wherein the needle feeding clamping device 6 is connected to the power output end of the first translation device 4. The needle feeding clamping device 6 includes a first clamping block 61 and a second clamping block 62. The first clamping block 61 is directly or indirectly connected to the power output end of the first translation device 4, and the second clamping block 62 is connected to the first clamping block 61. The first clamping block 61 and the second clamping block 62 form a clamping channel, in which the needle is clamped and moved to the target position under the action of a transmission force.

[0036] Furthermore, the first clamping block 61 and the second clamping block 62 are connected in a floating manner. The floating connection structure includes a floating shaft 63, a spring 64, and a floating drive device 65. One end of the floating shaft 63 is fixed perpendicularly to the surface of the second clamping block 62, and the other end passes through the first clamping block 61. The spring 64 is sleeved on the outside of the floating shaft 63, and both ends of the spring 64 abut against the surfaces of the first clamping block 61 and the second clamping block 62, respectively. The floating drive device 65 is used to drive the floating movement of the first clamping block 61 and the second clamping block 62.

[0037] Optionally, the floating drive device 65 is a first electromagnet device. The two parts of the first electromagnet device are respectively installed on the plates of the first clamping block 61 and the second clamping block 62. When energized, the first electromagnet device attracts each other, causing the first clamping block 61 and the second clamping block 62 to move closer to each other. After de-energization, the second clamping block 62 returns to its original position under the force of the spring 64.

[0038] Optionally, the clamping channel is a two-lobed conical cavity 66 machined on the opposing surfaces of the first clamping block 61 and the second clamping block 62. When the first clamping block 61 and the second clamping block 62 are close to each other (i.e., the two-lobed conical cavity 65 is closed), such as... Figure 4 As shown), the needle plug at the tip of the needle is held in the conical cavity 65.

[0039] Alternatively, the first translation device 4 and the Y-axis moving module 12 can be a motor, a lead screw, a lead screw nut assembly, or other moving modules available in the prior art, such as a cylinder module.

[0040] Specific Implementation Case 2:

[0041] Based on the specific implementation case 1, such as Figure 3 , Figure 4 As shown, the import execution component also includes a force sensor component 8, which includes a force sensor 81 and a needle feeding slide rail 82. The force sensor 81 and the needle feeding slide rail 82 are located at the same installation height and are both fixed to the power output end plate of the first translation device 4. The needle feeding clamping device 6 is fixed to the slider of the needle feeding slide rail 82. The two ends of the needle feeding slide rail 82 are provided with slider limit blocks. The needle feeding clamping device 6 can move a short distance along the needle feeding slide rail 82.

[0042] The working principle of force sensor 81 is as follows:

[0043] The needle holder 6 has a very small sliding distance. Its main function is to contact the force sensor 81 during sliding and transmit the sensed force data to the background software. The software judges the needle delivery status based on the sensed force value. For example, the sensed force increases as the needle pierces the fat layer and enters the blood vessel, and decreases sharply after the needle enters the blood vessel, indicating that the needle tip has entered the blood vessel. The software then directs the execution component to move backward and retract the needle. By setting the force sensor component 8, the needle insertion status can be monitored in real time.

[0044] Specific Implementation Case 3:

[0045] Based on Specific Implementation Case 1, the import execution component further includes an import drive device 5. The import drive device 5 is connected to the power output end of the first translation device 4. The import drive device 5 includes an import drive motor 51, a lower roller 52, and an upper roller 53. The import drive motor 51 is installed in the first housing 7. The first housing 7 is connected to the power output end of the first translation device 4. The lower roller 52 is installed at the end of the power output shaft of the import drive motor 51 extending out of the first housing 7. The upper roller 53 is provided on the plate surface of the first housing 7, located above the lower roller 52. A clamping gap is formed between the lower roller 52 and the upper roller 53. The import drive motor 51 drives the lower roller 52 to roll, applying a transmission force to the structure in the clamping gap.

[0046] Furthermore, such as Figure 3 As shown, the drive motor 51 is floatingly installed in the first housing 7. The first housing 7 is provided with a first floating plate 71, a second floating plate 72, a guide rod 73, a second electromagnet device 74, and a wire 75 connected to the power supply. The first floating plate 71 is fixed to the inner wall of the first housing 7. The first floating plate 71 and the second floating plate 72 are floatingly connected by a spring. The second electromagnet device 74 is fixed to the second floating plate 72. The plate surface of the first housing 7 is machined with a wire groove 76 for the wire 75 to run. The wire 75 is connected to the second electromagnet device 74. The guide rod 73, whose lower end is fixed to the second floating plate 72, passes through the guide hole on the plate surface of the first floating plate 71.

[0047] The clamping gap between the upper roller 53 and the lower roller 52 can be increased by energizing the second electromagnet device 74 to attract the first floating plate 71. After placing wires or sheaths of different sizes into the clamping gap, the upper roller 53 and the lower roller 52 will clamp the wires or sheaths in the clamping gap and roll them to be conveyed after the power is turned off.

[0048] The introductory drive device 5 is added to the introductory execution component. While satisfying the needling requirement, a wire can be inserted into the needle hole or a sheath can be attached to one end of the wire. At the same time as the needle penetrates the blood vessel to complete the needling, the wire can be introduced simultaneously. After the needle is withdrawn, the sheath is placed in the clamping gap and attached to one end of the wire. The wire introduction and sheath introduction are completed under the action of the introductory drive motor 51.

[0049] Specific Implementation Case 4:

[0050] Based on specific implementation cases 1-3, such as Figure 1As shown, the angle adjustment module includes a first rotary motor 91, a second translation device 92, a first motor 93, and a second rotary motor 94. The power output end of the first rotary motor 91 is fixed to the power output end of the second translation device 92, and the power output end of the first rotary motor 91 is fixed to the first translation module 4 via a rotating seat. The power output end of the first motor 93 is fixed to the second translation device 92, and the first motor 93 is fixedly connected to the power output end of the second rotary motor 94 via an indirect fixing plate. The second rotary motor 94 is connected to the power output end of the X-axis moving module 3. The X-axis moving module 3 is fixedly connected to the power output end of the Z-axis moving module 2. The Z-axis moving module 2 is fixed to the support frame 1. The ultrasonic probe 10 is fixed to the power output end of the second motor 101, and the second motor 101 and the infrared camera 11 are both fixed to the second translation device 92.

[0051] Alternatively, the second translation device 92 may be a motor, a lead screw, a lead screw and nut assembly, or other movable modules available in the prior art, such as a cylinder module.

[0052] Based on specific implementation cases 1-4, implementation case 1 illustrates that after the ultrasonic probe and infrared camera provide visual feedback to determine the needle insertion target, the X, Y, and Z axis movement module drives the guide execution component to move to the target position and adjusts it to a suitable needle insertion angle under the action of the angle adjustment module to perform the needle insertion operation. In implementation case 2, by setting up a force sensor component 8, the needle insertion status can be monitored in real time to avoid puncturing blood vessels and accurately withdraw the needle. In another implementation case, by adding a guide drive device 5 to the guide execution component, the automatic guide of wires and sheaths can be met, making the needle insertion robot more versatile. Implementation case 4 specifically illustrates the specific structure of the angle adjustment module. The special structural setting demonstrates the rotational freedom of the guide execution component, which can meet the needs of needle insertion and guide operations under conditions of large differences.

[0053] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A femoral artery needle insertion robot, comprising: A support frame, a Z-axis moving module, an X-axis moving module, an angle adjustment module, an import execution component, an ultrasonic probe, and an infrared camera are characterized in that: the Z-axis moving module, the X-axis moving module, the angle adjustment module, and the import execution component are directly or indirectly fixed to the support frame; the Z-axis moving module and the X-axis moving module are respectively used to drive the import execution component to move in the Z-axis direction and the X-axis direction; the angle adjustment module is used to adjust the angle of the import execution component; and the ultrasonic probe and the infrared camera are directly or indirectly connected to the support frame, the Z-axis moving module, the X-axis moving module, or the angle adjustment module. The import execution component includes a first translation device, an import drive device, and a needle feeding clamping device. The import drive device and the needle feeding clamping device are both connected to the power output end of the first translation device. The import drive device includes an import drive motor, a lower roller, and an upper roller. The import drive motor is installed in a first housing. The first housing is connected to the power output end of the first translation device. The lower roller is installed at the end of the power output shaft of the import drive motor extending out of the first housing. The upper roller is provided on the plate surface of the first housing above the lower roller. A clamping gap is formed between the lower roller and the upper roller. The import drive motor drives the lower roller to roll, applying a transmission force to the structure located in the clamping gap.

2. The femoral artery needle insertion robot as described in claim 1, characterized in that: The drive motor is floatingly installed in the first housing. The first housing is provided with a first floating plate, a second floating plate, a guide rod, a second electromagnet device, and a wire connected to the power supply. The first floating plate is fixed to the inner wall of the first housing. The first floating plate and the second floating plate are floatingly connected by a spring. The second electromagnet device is fixed to the second floating plate. The surface of the first housing is machined with a wire groove for the wire to run. The wire is connected to the second electromagnet device. The guide rod, whose lower end is fixed to the second floating plate, passes through the guide hole on the surface of the first floating plate.

3. The femoral artery needle insertion robot as described in claim 1, characterized in that: The needle feeding clamping device includes a first clamping block and a second clamping block. The first clamping block is directly or indirectly connected to the power output end of the first translation device. The second clamping block is connected to the first clamping block, and a clamping channel is formed between the first clamping block and the second clamping block. The clamping channel is a two-lobed conical cavity respectively set on the opposite plate surface of the first clamping block and the second clamping block. The needle moves to the target position under the clamping and transmission force of the conical cavity.

4. The femoral artery needle insertion robot as described in claim 3, characterized in that: The first clamping block and the second clamping block are connected in a floating manner. The floating connection structure includes a floating shaft, a spring, and a floating drive device. One end of the floating shaft is fixed perpendicularly to the surface of the second clamping block, and the other end passes through the first clamping block. The spring is sleeved on the outside of the floating shaft, and both ends of the spring abut against the surfaces of the first clamping block and the second clamping block, respectively. The floating drive device is used to drive the relative movement between the first clamping block and the second clamping block.

5. The femoral artery puncture robot as described in claim 4, characterized in that: The floating drive device is a first electromagnet device. The two parts of the first electromagnet device are respectively installed on the plates of the first clamping block and the second clamping block. When energized, the first electromagnet device generates an attractive force, causing the first clamping block and the second clamping block to move closer to each other. After the power is cut off, the second clamping block returns to its original position under the force of the spring.

6. The femoral artery needle insertion robot as described in claim 3, characterized in that: The import execution component also includes a force sensor component, which includes a force sensor and a needle feeding slide rail. The force sensor and the needle feeding slide rail are located at the same installation height and are both fixed to the power output plate of the first translation device. The needle feeding clamping device is fixed to the slider of the needle feeding slide rail. The two ends of the needle feeding slide rail are provided with slider limit blocks. The needle feeding clamping device can move a short distance along the needle feeding slide rail.

7. The femoral artery needle insertion robot as described in claim 1, characterized in that: The power output end of the Z-axis moving module is connected to the X-axis moving module, the power output end of the X-axis moving module is connected to the angle adjustment module, the power output end of the angle adjustment module is connected to the import execution component, and the ultrasonic probe and infrared camera are connected to the angle adjustment module.

8. The femoral artery needle insertion robot as described in claim 1, characterized in that: The angle adjustment module includes a first rotary motor, or may include one or more of a second translation device, a first motor, and a second rotary motor. The first rotary motor is fixed to the power output end of the second translation device, and the power output end of the first rotary motor is fixed to the first translation device via a rotating seat. The power output end of the first motor is fixed to the second translation device, and the first motor is fixedly connected to the power output end of the second rotary motor via an indirect fixing plate. The second rotary motor is connected to the power output end of the X-axis moving module. The X-axis moving module is fixedly connected to the power output end of the Z-axis moving module. The Z-axis moving module is fixed to the support frame. The ultrasonic probe is fixed to the power output end of the second motor, and the second motor and the infrared camera are both directly or indirectly fixed to the second translation device.

9. The femoral artery needle insertion robot as described in claim 1, characterized in that: The support frame is provided with a partition cavity through a partition plate. A Y-axis moving module is provided on the upper plate surface of the partition plate. Slide rails are provided on the upper plate surfaces of the two side plates of the partition cavity. The upper plate surface of the partition cavity is fixed to the power output end of the Y-axis moving module and to the sliders of the two side slide rails.

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