Vascular interventional surgery robot

Abstract

The present invention provides a vascular interventional surgery robot, including a multi-point posture adjustment platform, on which at least two mechanical arms are arranged, and a tube-wire continuous pushing and twisting module is detachably mounted at the end of the mechanical arm, and the interventional surgical instrument is clamped by the tube-wire continuous pushing and twisting module, and the mechanical arm can adjust the operation point and operation posture of the interventional surgical instrument, and the tube-wire continuous pushing and twisting module can drive the interventional surgical instrument to move axially and rotate circumferentially to achieve coordinated operation of the interventional surgical instrument. The arm-hand coordinated vascular interventional surgery robot of the present invention includes a multi-point posture adjustment platform and a tube-wire continuous pushing and twisting module, which, while imitating the coordinated operation of the arm and hand of the doctor in the interventional surgery, gives play to the advantages of the robot, realizes the layout of more operation points of the interventional surgical instruments, and realizes the coordinated operation of various vascular interventional surgical instruments such as catheters, guidewires, microcatheters, microguidewires, and balloons.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-end medical equipment manufacturing and relates to a medical device, in particular to a vascular interventional surgery robot. Background Art

[0002] Cardiovascular and cerebrovascular diseases have seriously affected people's health and are the biggest health challenge facing mankind today.

[0003] Medical robots are bringing disruptive changes to the traditional medical field due to their advantages such as precision, stability, safety and efficiency. Vascular intervention technology is an emerging means of diagnosing and treating cardiovascular and cerebrovascular diseases. Under the guidance of medical images, doctors use catheters along the vascular cavity to directly reach the lesions in the body (such as coronary arteries and blood vessels in the brain, liver, kidneys, etc.), and then use catheters to deliver diagnostic agents or surgical instruments (such as balloons, stents, coils, etc.) to perform minimally invasive diagnosis and treatment of lesions farther away in the body. However, vascular intervention surgery is a typical high-complexity, high-risk surgery; doctors need to be exposed to X-rays for a long time during surgery, and even if they wear lead clothes, they cannot be fully protected, which is very harmful to the body; and wearing heavy lead clothes for a long time often causes certain damage to the doctor's spine and lower limbs.

[0004] As a type of minimally invasive surgery, vascular intervention surgery avoids the need for opening the cavity and the skull, thereby reducing surgical risks and alleviating the pain of patients. At the same time, there are fewer postoperative complications and a shorter recovery period, so vascular intervention surgery robots have become a hot research and development hotspot in the field of high-end medical equipment. At present, many research institutions and medical companies at home and abroad have carried out research on vascular intervention surgery robots, using robots to replace doctors' hands to operate catheters / guidewires at the bedside. Doctors control the robots through master-slave remote operation to perform surgical actions, thereby achieving isolation from X-rays.

[0005] For example, the invention patent of Beijing Institute of Technology with application number: 201710544625.8 and publication date: 2017.11.24 discloses a catheter guidewire collaborative operation system and control method of an interventional surgical robot. It uses a single slide rail to independently control two sliders to achieve a large-stroke operation of the catheter guidewire. However, it clamps the tail end of the catheter for axial pushing, which can easily cause the catheter to bend abnormally and unable to move forward. In addition, it uses a reciprocating dragging scheme with a stroke limit. When the catheter guidewire pushing module reaches the stroke limit, even if the doctor wants to continue to deliver it forward, the operation needs to be interrupted. , waiting for the robot to return empty; at the same time, multiple sliders are arranged on the slide rail to control the way different instrument operation modules are controlled, resulting in a long gap in the device, which is not conducive to disinfection and aseptic isolation; such as the invention patent of Beijing Weimai Medical Equipment Co., Ltd. with application number: 201910620805.9 and publication date: 2019.09.17, which discloses a vascular interventional surgery robot with automatic alternating delivery of double splints, avoiding the problem of empty return of the robot, but its twisting operation is achieved by rubbing the splints up and down relative to each other, resulting in limited twisting accuracy of the guide wire (especially the micro guide wire with a diameter of 0.1mm).

[0006] The above scheme is a relatively advanced research on vascular interventional surgical robots in China, but there are the following problems: (1) Some vascular interventional robots can only operate a single catheter or guidewire and cannot achieve coordinated operation of the catheter and guidewire; (2) Non-coaxial delivery interventional robots require doctors to manually deliver the catheter to the vicinity of the target location, which limits the scope of application of surgical procedures; (3) Single-rail, multi-slide, reciprocating drag interventional robots have travel limits, which may interrupt the doctor's normal operation during surgery. At the same time, the long gap of the device is not conducive to disinfection and sterile isolation; (4) The delivery method of clamping the tail end of the catheter is easy to cause abnormal bending of the catheter and its inability to continue moving forward due to the slender and flexible characteristics of the catheter. Even if a sleeve guide is used, the propulsion resistance will increase. Summary of the invention

[0007] The present invention provides a vascular interventional surgery robot to achieve large-stroke coordinated operation of vascular interventional surgery instruments such as catheters and guidewires.

[0008] In order to solve the above technical problems, the following technical solutions are proposed:

[0009] The present invention provides a vascular interventional surgery robot, comprising a multi-point posture adjustment platform, on which at least two robotic arms are arranged, at the ends of which a tube-wire continuous pushing and twisting module is detachably installed, and the interventional surgical instrument is clamped by the tube-wire continuous pushing and twisting module. The robotic arm can adjust the operating point and operating posture of the interventional surgical instrument, and the tube-wire continuous pushing and twisting module can drive the interventional surgical instrument to move axially and rotate circumferentially to achieve coordinated operation of the interventional surgical instrument.

[0010] Furthermore, a first tube-wire positioning robotic arm and a second tube-wire positioning robotic arm are provided on the multi-point posture adjustment platform, a first tube-wire continuous pushing and twisting module is provided at the end of the first tube-wire positioning robotic arm, and a second tube-wire continuous pushing and twisting module is provided at the end of the second tube-wire positioning robotic arm. The first tube-wire continuous pushing and twisting module is arranged close to the surgical incision position of the patient, and the second tube-wire continuous pushing and twisting module is arranged away from the surgical incision position of the patient.

[0011] Furthermore, the first tube-filament continuous pushing and twisting module clamps the front end of the first device, the end of the first device is connected to the second tube-filament continuous pushing and twisting module, the second device is inserted into the first device, and the second device is clamped by the second tube-filament continuous pushing and twisting module. The first tube-filament continuous pushing and twisting module drives the first device to move axially and rotate circumferentially, and the second tube-filament continuous pushing and twisting module drives the second device to move axially and rotate circumferentially.

[0012] Furthermore, the second tube-filament continuous pushing and twisting module is movably arranged relative to the first tube-filament continuous pushing and twisting module, so that the second tube-filament continuous pushing and twisting module can follow the axial movement of the first device.

[0013] Furthermore, a third wire positioning robotic arm is provided on the multi-point posture adjustment platform, and at least one wire continuous pushing and twisting module is provided at the end of the third wire positioning robotic arm. The wire continuous pushing and twisting module on the third wire positioning robotic arm is located between the first wire continuous pushing and twisting module and the second wire continuous pushing and twisting module.

[0014] Furthermore, a third tube-wire continuous pushing and twisting module is provided at the end of the third tube-wire positioning robot arm, the first tube-wire continuous pushing and twisting module clamps the front end of the first instrument, the end of the first instrument is connected to the third tube-wire continuous pushing and twisting module, the second instrument is inserted into the first instrument, the second instrument is clamped by the third tube-wire continuous pushing and twisting module, the first tube-wire continuous pushing and twisting module drives the first instrument to move axially and rotate circumferentially, and the third tube-wire continuous pushing and twisting module drives the second instrument to move axially and rotate circumferentially.

[0015] Furthermore, the third tube-filament continuous pushing and twisting module is movably arranged relative to the first tube-filament continuous pushing and twisting module, so that the third tube-filament continuous pushing and twisting module can follow the axial movement of the first device.

[0016] Furthermore, a fourth tube-wire continuous pushing and twisting module is also provided at the end of the third tube-wire positioning robot arm, the fourth tube-wire continuous pushing and twisting module clamps the front end of the third instrument, the end of the third instrument is connected to the second tube-wire continuous pushing and twisting module, the fourth instrument is inserted into the third instrument, the fourth instrument is clamped by the second tube-wire continuous pushing and twisting module, the fourth tube-wire continuous pushing and twisting module drives the third instrument to move axially and rotate circumferentially, and the second tube-wire continuous pushing and twisting module drives the fourth instrument to move axially and rotate circumferentially.

[0017] Furthermore, the second tube-filament continuous pushing and twisting module is movably arranged relative to the fourth tube-filament continuous pushing and twisting module, so as to enable the second tube-filament continuous pushing and twisting module to follow the axial movement of the third device.

[0018] Furthermore, the multi-point posture adjustment platform includes a mounting plate, a first sliding unit is arranged on the mounting plate, a second sliding unit is arranged on the robotic arm, the second sliding unit of the robotic arm is slidably arranged on the first sliding unit of the mounting plate, and the robotic arm can slide along the mounting plate to realize the tube wire continuous pushing and twisting module at the end of the robotic arm to follow the axial movement of the corresponding interventional surgical instrument.

[0019] Furthermore, the tube wire continuous pushing and twisting module includes:

[0020] The clamping and delivery module comprises clamping parts arranged opposite to each other, on which a rotatable conveyor belt is arranged, and the interventional surgical instrument is clamped by the conveyor belt on the clamping parts arranged opposite to each other, and the relative rotation of the conveyor belt can drive the interventional surgical instrument to move axially;

[0021] The rotation control mechanism is connected to the clamping and delivery module, and can drive the clamping and delivery module to rotate to achieve circumferential rotation of the interventional surgical instrument. The axis of the axial movement of the interventional surgical instrument driven by the clamping and delivery module coincides with the axis of the circumferential rotation of the interventional surgical instrument driven by the rotation control mechanism.

[0022] Furthermore, the tube wire continuous pushing and twisting module includes a shell, a first chamber and a second chamber are arranged inside the shell, a clamping and delivery module is arranged in the first chamber, the clamping and delivery module includes a box and a box cover that are interlocked, and a clamping part is arranged inside the box, and the box is detachably arranged in the first chamber; a delivery control mechanism is arranged in the second chamber, and the delivery control mechanism is connected to the clamping and delivery module to drive the clamping part in the clamping and delivery module to move.

[0023] Furthermore, the clamping part includes a support frame, on which two rotatable delivery shafts are provided, gears are provided at both ends of the delivery shafts, and teeth are provided on the corresponding inner rings on both sides of the conveyor belt. The conveyor belt is sleeved on the outer sides of the two delivery shafts, and the teeth on the conveyor belt are meshed with the gears on the delivery shafts. The straight part of the conveyor belt located between the two delivery shafts is used to clamp the interventional surgical instrument so that the conveyor belt is in surface contact with the interventional surgical instrument.

[0024] Furthermore, the delivery control mechanism includes a delivery power source, a delivery transmission mechanism and a delivery drive shaft connected in sequence, the delivery drive shaft is connected to the clamping part in the clamping delivery module, the delivery transmission mechanism transmits the power of the delivery power source to the delivery drive shaft, and the delivery drive shaft drives the clamping part in the clamping delivery module to move.

[0025] Furthermore, the tube wire continuous pushing and twisting module includes a mounting frame and a shell, the clamping and delivery module is arranged in the shell, the shell is rotatably arranged on the mounting frame, the mounting frame is arranged at the end of the robotic arm, and the rotation control mechanism is connected to the shell, which can drive the shell to rotate on the mounting frame to realize the circumferential rotation of the interventional surgical instrument.

[0026] Furthermore, the rotation control mechanism includes a rotation power source, a rotation transmission mechanism and a rear sleeve connected in sequence, the rear sleeve is connected to the shell, and the rotation transmission mechanism transmits the driving force of the rotation power source to the rear sleeve and the shell to drive the shell to rotate on the mounting frame.

[0027] Furthermore, the multi-point posture adjustment platform includes a mounting chassis, a control cabin and a detachable support structure. The control cabin is arranged on the mounting chassis. One end of the detachable support structure is connected to the mounting chassis and the control cabin, and the other end is connected to the support module. A mounting plate is provided on the support module, and the robotic arm is provided on the mounting plate. The mounting chassis and the control cabin can be separated from the robotic arm by the detachable support structure so that the mounting chassis and the control cabin can be moved out of the operating space.

[0028] Furthermore, the detachable support structure includes an outer shell support block, a dovetail slider connecting plate, an upper outer shell fixed block and an operating bed support plate. The outer shell support block is connected to the mounting chassis through a support tube. A first sliding unit is provided on the outer shell support block, and a second sliding unit is provided on the dovetail slider connecting plate. The second sliding unit of the dovetail slider connecting plate is slidably arranged on the first sliding unit of the outer shell support block, and the dovetail slider connecting plate can be slidably separated from the outer shell support block; a slot is formed between the dovetail slider connecting plate and the upper outer shell fixed block, and a guide rail claw can be inserted in the slot, and the guide rail claw is connected to the side of the operating bed; a height-adjustable operating bed support plate is arranged at the lower end of the support module, and the operating bed support plate is in conflict with the upper surface of the operating bed.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The arm-hand coordinated vascular interventional surgery robot of the present invention includes a multi-point posture adjustment platform and a tube-wire continuous pushing and twisting module. While imitating the coordinated operation of the arm and hand during interventional surgery by doctors, it gives full play to the advantages of the robot, realizes the layout of more interventional surgical instrument operation points, and realizes the coordinated operation of various vascular interventional surgical instruments such as catheters, guidewires, microcatheters, microguidewires, and balloons.

[0031] (2) The multi-point position adjustment platform of the present invention is different from the existing vascular interventional surgical robot. The multi-point position adjustment platform can flexibly realize the adjustment of the operating points and operating postures of vascular interventional surgical instruments, thereby solving the problem of the non-coaxial delivery interventional robot in the prior art, which requires the doctor to manually deliver the catheter to the vicinity of the target position and limits the application scope of the surgical process.

[0032] (3) The tube-wire continuous pushing and twisting module of the present invention is arranged at the end of the multi-point posture adjustment platform. The tube-wire continuous pushing and twisting module for clamping the catheter clamps the tail end of the catheter sheath, and the tail end of the catheter is fixedly connected to the front end of the tube-wire continuous pushing and twisting module for clamping the guidewire, thereby realizing the coordinated delivery of the catheter and the guidewire, thereby avoiding the problem that the catheter is easily bent abnormally and cannot continue to move forward due to the slender and flexible characteristics of the catheter.

[0033] (4) The tube wire continuous pushing and twisting module of the present invention realizes that the delivery mechanism and the rotation mechanism share the same clamping mechanism to clamp the tube wire, thereby realizing the coupled motion of the rotation of the tube wire and the delivery action, greatly reducing the overall size of the robot, with high control accuracy, realizing the miniaturization and lightweight of the robot, and facilitating transportation and installation.

[0034] (5) The tube-wire continuous pushing and twisting module of the present invention can be detachably connected to the end of the multi-point posture adjustment platform. Its modular design and overall size advantages facilitate disinfection and aseptic isolation, making surgical operations safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the vascular intervention surgery robot of the present invention;

[0036] Figure 2 is a schematic structural diagram of another embodiment of the vascular intervention surgery robot of the present invention;

[0037] Figure 3 for Figure 2 A schematic diagram of the structure of the vascular interventional surgery robot from another perspective;

[0038] Figure 4 It is a schematic diagram of the exploded structure of the mobile chassis in the present invention;

[0039] Figure 5 An exploded view of the support module in the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of the tube wire continuous pushing and twisting module of the present invention after the tube wire is installed;

[0041] Figure 7 It is a schematic diagram of the installation structure of the delivery control mechanism in the tube wire continuous pushing and twisting module of the present invention in the housing;

[0042] Figure 8 It is a structural schematic diagram of the delivery control mechanism in the tube yarn continuous pushing and twisting module of the present invention;

[0043] Fig. 9 It is a structural schematic diagram of a clamping and delivering module in a tube-filament continuous pushing and twisting module in the present invention;

[0044] Fig.10 It is an exploded view of the internal structure of the clamping and delivering module in the tube wire continuous pushing and twisting module of the present invention;

[0045] Fig.11 It is a schematic diagram of the exploded structure of the rotation control mechanism in the tube wire continuous pushing and twisting module of the present invention;

[0046] Fig.12 It is a schematic diagram of the bottom structure of the clamping and delivering module in the tube wire continuous pushing and twisting module of the present invention;

[0047] Fig.13 It is a schematic diagram of the quick disassembly structure of the tube wire continuous pushing and twisting module in the present invention, removing the rotating cover, the clamping and delivering module, and the mounting frame;

[0048] Fig.14 It is a schematic diagram of the overall structure of the tube wire continuous pushing and twisting module in the present invention;

[0049] Fig.15 This is a schematic diagram of the posture of the vascular intervention robot in the present invention when performing surgery on a patient.

[0050] Description of the markings in the figure:

[0051] 1 mobile chassis; 2 support module; 3 installation platform; 4 first tube wire positioning mechanical arm; 5 second tube wire positioning mechanical arm; 6 first tube wire continuous pushing and twisting module; 7 second tube wire continuous pushing and twisting module; 8 third tube wire positioning mechanical arm; 9 third tube wire continuous pushing and twisting module; 10 fourth tube wire continuous pushing and twisting module; 3-1 installation plate; 3-2 second slide rail; 3-3 second slide slider; 3-4 second slide rail; 3-5 first slide slider; 3-6 first slide rail; 3-7 first slide rail;

[0052] 1-1 control cabin; 1-2 mounting chassis; 1-3 support tube; 2-1 dovetail slide rail; 2-2 dovetail slider; 2-3 dovetail slider connecting plate; 2-4 upper shell fixing block; 2-5 shell support block; 2-6 guide rail claw; 2-7 operating table support plate;

[0053] 6-1, delivery control mechanism; 6-2, clamping delivery module; 6-3, rotation control mechanism; 6-4, mounting frame; 6-5, tube wire;

[0054] 6-1-1, support plate; 6-1-2, delivery motor; 6-1-3, delivery motor driver; 6-1-4, support frame; 6-1-5, first bearing seat; 6-1-6, second bearing seat; 6-1-7, controller; 6-1-8, controller support; 6-1-9, first pulley; 6-1-10, second pulley; 6-1-11, belt; 6-1-12, third bearing seat; 6-1-13 second gear; 6-1-14 third gear; 6-1-15, fourth gear; 6-1-16 fifth gear; 6-1-17 fourth bearing seat; 6-1-18 first gear; 6-1-19, first shaft; 6-1-20, second shaft; 6-1-21, third shaft; 6-1-22, delivery drive shaft; 6-1-23, fourth shaft; 6-1-24, connector; 6-1-25, wireless communication module;

[0055] 6-2-1, box cover; 6-2-2, first clamping part; 6-2-3, second clamping part; 6-2-4, box; 6-2-3-1, upper cover; 6-2-3-2, conveyor belt; 6-2-3-3, support frame; 6-2-3-4, delivery shaft; 6-2-3-5, bearing support frame; 6-2-3-6, plane linear bearing; 6-2-3-7, gear; 6-2-3-8, gear shaft; 6-2-4-1, gear shaft hole; 6-2-4-2, positioning column; 6-2-4-3, tube wire through hole; 6-2-4-4, screw hole;

[0056] 6-3-1, rotating motor; 6-3-2, coupling; 6-3-3, rear isolation sleeve; 6-3-4, conductive slip ring; 6-3-5, sleeve; 6-3-6, worm; 6-3-7, turbine; 6-3-8, rear sleeve; 6-3-9, front isolation sleeve;

[0057] 6-4-1, first worm bearing seat; 6-4-2, rear bearing seat; 6-4-3, second worm bearing seat; 6-4-4, bottom fixing block; 6-4-5, front bearing seat; 6-4-6, rear rotating plate; 6-4-7, rotating shell; 6-4-8, rotating cover; 6-4-9, rotating shaft; 6-4-11; motor isolation plate; 6-4-12, front rotating plate. DETAILED DESCRIPTION

[0058] The present invention is further described below in conjunction with specific embodiments and drawings.

[0059] The vascular interventional surgery robot of the present invention mainly achieves large-stroke, high-precision coordinated delivery of two or more interventional surgical instruments by imitating the doctor's interventional surgical operations, where the interventional surgical instruments include guide catheters, loach guidewires, microcatheters, microguidewires, balloon catheters, etc.

[0060] Specifically, the system mainly includes a multi-point posture adjustment platform and a tube-wire continuous pushing and twisting module. Among them, the multi-point posture adjustment platform includes at least two robotic arms, and the tube-wire continuous pushing and twisting module is detachably installed at the end of the robotic arm. The interventional surgical instrument is clamped by the tube-wire continuous pushing and twisting module. The robotic arm can adjust the operation point and operation posture of the interventional surgical instrument and realize the large-stroke delivery of the interventional surgical instrument; the tube-wire continuous pushing and twisting module can drive the interventional surgical instrument to move axially and rotate circumferentially to realize the coordinated operation of the interventional surgical instrument, specifically, it is used to realize the reliable clamping, continuous delivery, and twisting (circumferential rotation) of the interventional surgical instrument.

[0061] This solution can imitate the doctor's actual operation to adjust the operating position and operating posture of the interventional surgical instrument in three dimensions, and realize the continuous pushing, twisting and coordinated delivery of the interventional surgical instrument, which is more in line with the doctor's operating habits.

[0062] The structure of the vascular interventional surgery robot is described below in conjunction with specific embodiments.

[0063] like Figure 1 As shown, it is a vascular interventional surgical robot of the present invention, and the multi-point posture adjustment platform in the vascular interventional surgical robot includes a mobile chassis 1, a support module 2, a mounting platform 3, a first tube filament positioning mechanical arm 4, and a second tube filament positioning mechanical arm 5.

[0064] The support module 2 includes two support rods, one end of which is fixedly connected to the top of the mobile chassis 1, and the other end is fixedly connected to the mounting platform 3, for supporting the mounting platform 3. The head end of the first tube wire positioning mechanical arm 4 is fixedly connected to one end of the mounting platform 3, and the end is provided with a connecting square platform for fixedly connecting the first tube wire continuous pushing and twisting module 6; the head end of the second tube wire positioning mechanical arm is connected to the other end of the mounting platform 3, and the end is provided with a connecting square platform for fixedly connecting the second tube wire continuous pushing and twisting module 7.

[0065] In this embodiment, the first tube-filament continuous pushing and twisting module 6 clamps the front end of the first device, the end of the first device is connected to the second tube-filament continuous pushing and twisting module 7, the second device is inserted into the first device, and the second device is clamped by the second tube-filament continuous pushing and twisting module 7. The first tube-filament continuous pushing and twisting module 6 drives the first device to move axially and rotate circumferentially, and the second tube-filament continuous pushing and twisting module 7 drives the second device to move axially and rotate circumferentially.

[0066] Specifically, the embodiment of the present invention is described with the first instrument being a catheter and the second instrument being a guidewire. The first tube-wire continuous pushing and twisting module 6 at the end of the first tube-wire positioning mechanical arm 4 is used to control the axial movement (delivery) and circumferential rotation (twisting) of the catheter, and the second tube-wire continuous pushing and twisting module 7 at the end of the second tube-wire positioning mechanical arm 5 is used to control the axial movement (delivery) and circumferential rotation (twisting) of the guidewire. The layout of the first tube-wire positioning mechanical arm 4 and the second tube-wire positioning mechanical arm 5 is convenient for actual operation. The operating point of the catheter at the end of the first tube-wire positioning mechanical arm 4 is positioned near the catheter sheath at the root of the patient's thigh, and the guidewire operating point at the end of the second tube-wire positioning mechanical arm 5 is at the end away from the root of the thigh.

[0067] During the actual operation, the doctor can adjust the position and posture of each joint of the first tube wire positioning mechanical arm 4 and the second tube wire positioning mechanical arm 5 by controlling the main end manipulator to adjust the operating position and pitch angle of the tube wire continuous pushing and twisting module connected to the end of each mechanical arm. The operating position and pitch scheduling of the two mechanical arms can also be adjusted to a suitable position at the operation site by manual dragging.

[0068] Specifically, by adjusting the position of each joint of the first tube wire positioning mechanical arm 4, the operating point of the catheter clamped by the first tube wire continuous pushing and twisting module 6 fixedly connected to its end is positioned near the catheter sheath at the root of the human thigh. Wherein, the catheter sheath is an existing medical device, which is punctured into the femoral artery by the doctor through percutaneous puncture before the operation, and is used to seal the puncture port and guide the interventional catheter into the femoral artery. Performing catheter delivery near the catheter sheath avoids the bending phenomenon that occurs when the existing interventional surgical robot performs catheter delivery. The position of each joint of the second tube wire positioning mechanical arm 5 is adjusted so that the operating point of the guide wire clamped by the second tube wire continuous pushing and twisting module 7 fixedly connected to its end is positioned to the side away from the root of the thigh and close to the calf, so as to facilitate the coordinated delivery of the guide wire and the catheter. It should be noted that the end of the catheter in the embodiment of the present invention can be rotatably connected to the Y valve at the front end of the second tube wire continuous pushing and twisting module 7, wherein the Y valve is an existing medical device and will not be introduced in detail here.

[0069] Further, the second tube-wire continuous pushing and twisting module 7 is movably arranged relative to the first tube-wire continuous pushing and twisting module 6, so as to realize the second tube-wire continuous pushing and twisting module 7 following the axial movement of the first instrument. Specifically, in the process of the first tube-wire continuous pushing and twisting module 6 controlling the axial movement (delivery) of the catheter, since the end of the catheter is connected to the front end of the second tube-wire continuous pushing and twisting module 7, it is necessary to control the second tube-wire continuous pushing and twisting module 7 at the end of the second tube-wire positioning mechanical arm 5 to move with the axial movement (delivery) of the catheter to form a coordinated delivery. Specifically, it can be set to set the end trajectory of the second tube-wire positioning mechanical arm 5 to a straight line parallel to the mounting platform 3, and the trajectory of each joint of the second tube-wire positioning mechanical arm 5 is not unique, so as to realize a motion path that does not interfere with other parts during the operation. And its moving speed is set to be the same as the speed of the first tube-wire positioning mechanical arm 4 delivering the catheter, in order to prevent the catheter from being broken due to the speed difference between the two during the delivery process.

[0070] When doctors perform vascular interventional surgery, the catheters mentioned in the above embodiments are relatively thick in diameter and cannot reach the lesions of blood vessels with thinner diameters. At this time, when doctors deliver the catheters and guidewires to the corresponding positions, they need to withdraw the guidewires and replace them with microcatheters and microguidewires with smaller diameters to continue delivery. Therefore, the embodiments of the present invention introduce three robotic arms, which can complete the delivery of catheters, guidewires, microcatheters, microguidewires or other interventional surgical instruments without disassembling modules during the operation.

[0071] like Figure 2 As shown, it is another embodiment of the vascular interventional surgery robot of the present invention. Compared with the previous embodiment, the multi-point posture adjustment platform of the vascular interventional surgery robot also includes a third tube wire positioning mechanical arm 8, and the end of the third tube wire positioning mechanical arm 8 is provided with at least one tube wire continuous pushing and twisting module. The tube wire continuous pushing and twisting module on the third tube wire positioning mechanical arm 8 is located between the first tube wire continuous pushing and twisting module and the second tube wire continuous pushing and twisting module. Specifically, the head end of the third tube wire positioning mechanical arm 8 is connected between the first tube wire positioning mechanical arm 4 and the second tube wire positioning mechanical arm 5 on the mounting platform 3, and the end of the third tube wire positioning mechanical arm 8 is connected to two connecting square platforms, which are respectively used to connect the third tube wire continuous pushing and twisting module 9 and the fourth tube wire continuous pushing and twisting module 10. Of course, it can be understood that the end of the third tube wire positioning mechanical arm 8 can also be connected to only one connecting square platform for connecting a tube wire continuous pushing and twisting module.

[0072] It is understandable that after the third tube-wire positioning mechanical arm 8 is set between the first tube-wire positioning mechanical arm 4 and the second tube-wire positioning mechanical arm 5, the clamping mode of receiving the surgical instrument will also change accordingly. For example, the end of the third tube-wire positioning mechanical arm 8 is provided with a third tube-wire continuous pushing and twisting module 9, the first tube-wire continuous pushing and twisting module 6 clamps the front end of the first instrument, the end of the first instrument is connected to the third tube-wire continuous pushing and twisting module 9, the second instrument is plugged into the inside of the first instrument, the second instrument is clamped by the third tube-wire continuous pushing and twisting module 9, the first tube-wire continuous pushing and twisting module 6 drives the first instrument to move axially and rotate circumferentially, and the third tube-wire continuous pushing and twisting module 9 drives the second instrument to move axially and rotate circumferentially. And the third tube-wire continuous pushing and twisting module 9 is movably arranged relative to the first tube-wire continuous pushing and twisting module 6 to achieve the third tube-wire continuous pushing and twisting module 9 to follow the axial movement of the first instrument.

[0073] Furthermore, the end of the third tube-wire positioning mechanical arm 8 is also provided with a fourth tube-wire continuous pushing and twisting module 10, which clamps the front end of the third device, and the end of the third device is connected to the second tube-wire continuous pushing and twisting module 7, and the fourth device is plugged into the third device, and the fourth device is clamped by the second tube-wire continuous pushing and twisting module 7, and the fourth tube-wire continuous pushing and twisting module 10 drives the third device to move axially and rotate circumferentially, and the second tube-wire continuous pushing and twisting module 7 drives the fourth device to move axially and rotate circumferentially. And the second tube-wire continuous pushing and twisting module 7 is movably arranged relative to the fourth tube-wire continuous pushing and twisting module 10, so as to realize that the second tube-wire continuous pushing and twisting module 7 follows the axial movement of the third device.

[0074] It should be noted that the robotic arm used in the multi-point posture adjustment platform of the embodiment of the present invention can be a robotic arm structure in the prior art, which is referred to as an active robotic arm here, and the posture of the robot end can be changed by controlling the posture of each joint. It can also be an autonomously built dragging system with multiple joints, which is referred to as a passive robotic arm here. The posture adjustment function of the robotic arm is that the medical staff manually drags it to the appropriate operation point during preoperative preparation. During the operation, the robotic arm maintains the corresponding posture without controlling the joint movement. The doctor controls the horizontal movement of the robotic arm to complete the corresponding axial movement (delivery) and circumferential rotation (twisting) of the tube wire. It can be imagined that the robotic arm can also be replaced by other structures. The function that can be realized by this structure is that its head end is connected to the support structure, and the end can realize the positioning of the preoperative drag test.

[0075] Since the catheter guidewire needs to be delivered in a coordinated manner, when the robot arm is a dragging system with multiple joints, the multi-point posture adjustment platform includes a mounting plate, a first sliding unit is arranged on the mounting plate, a second sliding unit is arranged on the robot arm, and the second sliding unit of the robot arm is slidably arranged on the first sliding unit of the mounting plate. The robot arm can slide along the mounting plate to achieve the follow-up of the axial movement of the corresponding interventional surgical instrument by the continuous pushing and twisting module of the tube wire at the end of the robot arm. Specifically, a slide rail is also fixedly installed on the mounting platform 3 in the present invention. When the robot has two robot arms, one slide rail is arranged. When the robot has three robot arms, two slide rails can be arranged, which is conducive to independently controlling the horizontal movement of the robot arm.

[0076] The embodiments of the present invention refer to Figure 2 , Figure 3 , in the case of three mechanical arms, the first slide rail 3-7 and the second slide rail 3-2 are arranged on the mounting platform 3, wherein the first slide rail 3-7 includes the first slide rail 3-6 and the first slide block 3-5, and the second slide rail 3-2 includes the second slide rail 3-4 and the second slide block 3-3. The first slide rail 3-6 is installed in parallel on the mounting platform 3, and the third tube wire positioning mechanical arm 8 is fixedly connected to the first slide block 3-5 on the first slide rail 3-6; the second slide rail 3-4 is installed in parallel on the mounting platform 3, and the second tube wire positioning mechanical arm 5 is fixedly connected to the second slide block 3-3 on the second slide rail 3-4. The third tube wire positioning mechanical arm 8 can be driven by the driving device to move horizontally on the first slide rail 3-6 and the second tube wire positioning mechanical arm 5 on the second slide rail 3-4. In the embodiment of the present invention, by controlling the corresponding tube wire positioning mechanical arm to move horizontally on the slide rail, the coordinated delivery of the catheter guidewire can be achieved.

[0077] The tube wire continuous pushing and twisting module of the embodiment of the present invention is installed at the end of the multi-point posture adjustment platform robot arm and is detachable; it is used to achieve reliable clamping, continuous delivery (axial movement), and twisting (circumferential rotation) operations on interventional surgical instruments.

[0078] like Figures 6 to 14 As shown, it is a tube wire continuous pushing and twisting module in the present invention, which consists of Figure 6 It can be seen that the tube wire continuous pushing and twisting module includes a delivery control mechanism 6-1, a clamping delivery module 6-2, a rotation control mechanism 6-3 and a mounting frame 6-4, wherein: the vascular interventional instrument passes through the clamping delivery module 6-2 and is clamped by the clamping delivery module 6-2, and a rotatable unit is provided in the clamping delivery module 6-2, and the rotatable unit drives the vascular interventional instrument to move axially; Fig. 9 , 10As shown, the clamping and delivery module 6-2 includes a clamping part arranged opposite to each other, and a rotatable conveyor belt is arranged on the clamping part. The vascular interventional instrument is clamped by the conveyor belt on the clamping part arranged opposite to each other, and the relative rotation of the conveyor belt can drive the vascular interventional instrument to move axially. The rotation control mechanism 6-3 is connected to the clamping and delivery module 6-2, and can drive the clamping and delivery module 6-2 to rotate to achieve the circumferential rotation of the vascular interventional instrument. In addition, the clamping and delivery module 6-2 is arranged in a shell, and the shell is rotatably arranged on a mounting frame 6-4. The rotation control mechanism 6-3 is connected to the shell, and can drive the shell to rotate on the mounting frame 6-4 to achieve the circumferential rotation of the vascular interventional instrument. The axis of the clamping and delivery module driving the vascular interventional instrument to move axially coincides with the axis of the rotation control mechanism 6-3 driving the vascular interventional instrument to rotate circumferentially.

[0079] In the embodiment of the present invention, reference Fig. 9 The clamping and delivery module 6-2 also includes a box cover 6-2-1 and a box 6-2-4. The box cover 6-2-1 is buckled on the upper part of the box 6-2-4. The two clamping parts are connected to the inside of the box 6-2-4. The axial side wall of the box 6-2-4 is provided with a tube wire passing hole. The distance between the two clamping parts is consistent with the diameter of the tube wire, so that the tube wire can be clamped without damaging the tube wire. Specifically, the two clamping parts are fixed in the box 6-2-4 through the corresponding screw holes and screws at the bottom of the box 6-2-4.

[0080] It should be noted that, for different types of pipe wire diameters, different specifications of clamping and delivering modules 6-2 can be selectively used, and the distance between the two clamping parts in the clamping and delivering modules 6-2 of different specifications is different. Specifically, different distances between the two clamping parts are achieved by using delivery shafts 6-2-3-4 of different diameters or installing gears of different diameters on the delivery shafts 6-2-3-4 and using conveyor belts 6-2-3-2 of corresponding lengths.

[0081] One embodiment of the present invention, referring to Fig.10The two clamping parts are respectively a first clamping part 6-2-2 and a second clamping part 6-2-3. The first clamping part 6-2-2 and the second clamping part 6-2-3 have the same structure and are mirror-imaged. The tube wire is clamped between the first clamping part 6-2-2 and the second clamping part 6-2-3, and the first clamping part 6-2-2 and the second clamping part 6-2-3 drive the tube wire to move axially. The following description takes the second clamping part 6-2-3 as an example, the rotatable part of the clamping part is the conveyor belt 6-2-3-2, the clamping part also includes a support frame 6-2-3-3 and two rotatable delivery shafts 6-2-3-4, the two delivery shafts 6-2-3-4 are rotatably connected to the two sides of the support frame 6-2-3-3, specifically, the bearings on the two identical delivery shafts 6-2-3-4 are symmetrically installed in the bearing holes on both sides of the support frame 6-2-3-3, the two identical delivery shafts 6-2-3-4 can be one driving shaft and the other driven shaft, or both can be driven shafts or driving shafts.

[0082] The conveyor belt 6-2-3-2 is sleeved on the outside of the two delivery shafts 6-2-3-4, wherein the straight portion of the conveyor belt 6-2-3-2 located between the two delivery shafts 6-2-3-4 is used to clamp interventional surgical instruments such as tube wires, so that the clamping portion is in surface contact with the tube wire, and the rotation of the two delivery shafts 6-2-3-4 is controlled to control the rotation of the conveyor belt 6-2-3-2, thereby realizing the axial movement of the tube wire.

[0083] In another embodiment of the present invention, gears are installed on the upper and lower sides of the delivery shaft 6-2-3-4, and teeth are provided on the inner rings of the upper and lower sides of the conveyor belt 6-2-3-2. When the conveyor belt 6-2-3-2 is sleeved on the delivery shaft, the teeth on the inner ring of the conveyor belt 6-2-3-2 mesh with the gears on the delivery shaft 6-2-3-4 to form meshing transmission force. Specifically, two upper and lower gears 2-3-7 are fixedly installed on the gear shaft 6-2-3-8 in upper and lower positions, and steel wire retaining rings and bearings for shafts are installed on the gear shafts outside the two gears 2-3-7. The two gears are symmetrically installed on the gear shaft 6-2-3-8 to form the delivery shaft 6-2-3-4. It is understandable that setting the conveyor belt 6-2-3-2 and the delivery shaft 6-2-3-4 in the form of gear meshing can improve the delivery effect of the filament, but the above method can also be not adopted, for example, the conveyor and delivery shafts can be directly connected together, as long as the delivery of the filament can be achieved.

[0084] In another embodiment of the present invention, a support structure is provided on the inner side of the conveyor belt 6-2-3-2. When the vascular interventional instrument is clamped by the conveyor belt on the clamping part arranged oppositely, the support structure can support the conveyor belt 6-2-3-2 in the direction of the vascular interventional instrument to improve the clamping force of the conveyor belt on the vascular interventional instrument. Specifically, the support structure can be a plane linear bearing 6-2-3-6, and the support frame 6-2-3-3 is an inverted T-shaped structure, including a horizontal bottom surface and a middle vertical part. The plane linear bearing 6-2-3-6 is fixedly connected to the middle vertical part, and is used to support the middle straight part of the conveyor belt 6-2-3-2 to achieve a more stable clamping force on the tube wire.

[0085] Specifically, the bearing support frame 2-3-5 is fixedly installed on the middle vertical part of the support frame 6-2-3-3 by connecting screws, and the plane linear bearing 6-2-3-6 is connected to the bearing support frame 2-3-5; then the conveyor belt 6-2-3-2 is placed from top to bottom, so that the two delivery shafts 6-2-3-4 and the plane linear bearing 6-2-3-6 are all located on the inner side of the conveyor belt 6-2-3-2; then the upper cover 6-2-3-1 is fixed above the middle vertical part of the support frame 6-2-3-3 with screws, and at the same time, the two ends of the upper cover and the horizontal bottom surface of the support frame are fixed with the corresponding bearings and shafts on the two delivery shafts 6-2-3-4 with wire retaining rings to complete the installation of the clamping component; the middle of the conveyor belt 6-2-3-2 is smooth and contacts with the needle rollers on the plane linear bearing 6-2-3-6. During the rotation of the conveyor belt 6-2-3-2, the needle rollers in contact with it can provide support to the toothed belt without increasing friction.

[0086] It should be noted that the two clamping parts should be installed so that the respective plane linear bearings 6-2-3-6 are in a face-to-face position relationship, the tube wire 6-5 passes through the middle of the two clamping parts, and the tube wire contacts the outer surface of the toothed belt of the two clamping parts. In addition, to ensure the positioning of the tube wire on the clamping part, isolation sleeves including a front isolation sleeve 6-3-9 and a rear isolation sleeve 6-3-3 are arranged before and after the clamping and delivery module 6-2, which play a guiding role for the tube wire when clamping the tube wire during preoperative preparation and delivering the tube wire during surgery.

[0087] The clamping and delivery module 6-2 of the present invention clamps the tube wire through two clamping parts similar to the pulley structure, realizes the surface contact between the clamping part and the tube wire, increases the friction between the belt and the tube wire, realizes reliable clamping, and avoids deformation or surface damage of the tube wire caused by excessive clamping force. And the rotating structure of the pulley can realize the continuous delivery (axial movement) of the tube wire, and avoid the empty return phenomenon caused by the reciprocating drag-type delivery structure reaching the stroke limit during the operation, which interrupts the doctor's normal surgical operation. During the delivery process, the isolation sleeves before and after the conveyor belt include the front isolation sleeve 6-3-9 and the rear isolation sleeve 6-3-3, which guide the tube wire so that it is always in the clamping area of ​​the synchronous belt.

[0088] like Figure 7 , 8 As shown, the delivery control mechanism 6-1 includes a delivery power source, a delivery transmission mechanism and a delivery drive shaft connected in sequence. The delivery drive shaft is connected to the clamping part in the clamping delivery module 6-2. The delivery transmission mechanism transmits the power of the delivery power source to the delivery drive shaft, and the delivery drive shaft drives the clamping part in the clamping delivery module to move.

[0089] The delivery drive shaft includes a third rotating shaft system and a fourth rotating shaft system, wherein the third rotating shaft system includes a third shaft 6-1-21, on which a third gear 6-1-14 and a fourth gear 6-1-15 are arranged, the fourth rotating shaft system includes a fourth shaft 6-1-23, on which a fifth gear 6-1-16 is arranged, the third gear 6-1-14 on the third shaft 6-1-21 is meshed with the second gear 6-1-13 in the delivery transmission mechanism, the fourth gear 6-1-15 on the third shaft 6-1-21 is meshed with the fifth gear 6-1-16 on the fourth shaft 6-1-23, the third shaft 6-1-21 and the fourth shaft 6-1-23 are respectively interconnected with the clamping parts in the clamping delivery module 6-2 to transmit the power of the delivery power source to the clamping parts relatively arranged in the clamping delivery module 6-2. When the delivery power source rotates, the power is transmitted to the third rotating shaft system through the delivery transmission mechanism. The third rotating shaft system and the fourth rotating shaft system form a synchronous reverse rotation state through the mutually meshing fourth gear 6-1-15 and fifth gear 6-1-16. Specifically, the delivery power source can be the delivery motor 6-1-2.

[0090] The third shaft 6-1-21 in the third rotating shaft system and the fourth shaft 6-1-23 in the fourth rotating shaft system are respectively interconnected with the delivery shaft 6-2-3-4 (which has the function of a driving shaft) in the first clamping part 6-2-2 and the second clamping part 6-2-3 to transmit the power of the delivery power source to the first clamping part 6-2-2 and the second clamping part 6-2-3.

[0091] Specifically, the third axis 6-1-21 and the fourth axis 6-1-23 of the delivery control mechanism 6-1 are fixed to the fourth bearing seat 6-1-17 through bearings, and the fourth bearing seat 6-1-17 is fixed to the bottom inner surface of the rotating shell 6-4-7 described below; the line connecting the third axis 6-1-21 and the fourth axis 6-1-23 is perpendicular to the tube wire conveying direction, and the upper ends of the third axis 6-1-21 and the fourth axis 6-1-23 pass through the corresponding gear shaft holes 2-4-1 on the support plate 6-1-1 and the box 6-2-4 respectively and are fixed together with the delivery axis of the corresponding clamping component, so as to realize the synchronous reverse rotation of the two clamping components. The first bearing seat 6-1-5 is installed on the third axis 6-1-21 between the third gear 6-1-14 and the fourth gear 6-1-15, and the first bearing seat is fixed to the inside of the rotating lower shell through the support frame 6-1-4 at the same time, and the support frame is perpendicular to the inner bottom surface of the rotating lower shell.

[0092] The delivery transmission mechanism includes a first transmission shaft system and a second transmission shaft system, the first transmission shaft system includes a first shaft 6-1-19, a second pulley 6-1-10 and a first gear 6-1-18 are arranged on the first shaft 6-1-19, the second transmission shaft system includes a second shaft 6-1-20, a second gear 6-1-13 is arranged on the second shaft 6-1-20, the second pulley 6-1-10 on the first shaft 6-1-19 is connected to the first pulley 6-1-9 on the delivery power source through a belt to transmit the power of the delivery power source, the first gear 6-1-18 on the first shaft 6-1-19 is meshed with the second gear 6-1-13 on the second shaft 6-1-20, and the second gear 6-1-13 is meshed with the delivery drive shaft to transmit the power to the delivery drive shaft. Specifically, the second gear 6-1-13 is meshed with the third gear 6-1-14 on the third rotating shaft system to transmit the power to the third rotating shaft system.

[0093] Specifically, the second pulley 6-1-10 is installed at the lower part of the first shaft 6-1-19, and the first gear 6-1-18 is fixedly installed on the upper part of the first shaft 6-1-19 through bearings and shaft elastic retaining rings. The rotation of the second pulley 6-1-10 drives the first shaft 6-1-19 to rotate, and the rotation of the first shaft 6-1-19 drives the first gear 6-1-18 to rotate, thereby realizing that the first gear 6-1-18 rotates along the fixed shaft (first shaft) under the drive of the delivery motor 6-1-2; A second shaft 6-1-20 and a third shaft 6-1-21 are also arranged in front of the first shaft 6-1-19 along the tube wire conveying direction. The second gear 6-1-13 is fixedly installed on the second shaft 6-1-20 through a bearing and a shaft with an elastic retaining ring. The first gear 6-1-18 and the second gear 6-1-13 are meshed for transmission; the third gear 6-1-14 is fixedly installed on the third shaft 6-1-21 through a bearing and a shaft with an elastic retaining ring. The second gear 6-1-13 and the third gear 6-1-14 are meshed for transmission. Meshing transmission, three gears are meshed in sequence at the same height, the bearings for fixing the corresponding gears above the first shaft 6-1-19, the second shaft 6-1-20 and the third shaft 6-1-21 are installed in the corresponding bearing holes below the support plate 6-1-1; the fourth gear 6-1-15 is also installed on the third shaft 6-1-21 located below the third gear 6-1-14, and the fourth gear 6-1-15 and the fifth gear 6-1-16 are externally meshed, and the fifth gear is installed on the fourth shaft 6-1-23. Through the meshing transmission of the fourth gear 6-1-15 and the fifth gear 6-1-16 of the same size, the fourth shaft 6-1-23 is driven to rotate, and the rotation direction of the fourth shaft is opposite to that of the third shaft 6-1-21, and the rotation speed is equal.

[0094] like Fig.14 As shown, the continuous pushing and twisting robot for vascular interventional instruments provided by the embodiment of the present invention also includes a shell, a first chamber and a second chamber are arranged inside the shell, a clamping and delivery module 6-2 is arranged in the first chamber, a delivery control mechanism 6-1 is arranged in the second chamber, and the delivery control mechanism 6-1 is connected to the clamping and delivery module 6-2 to drive the rotatable unit in the clamping and delivery module 6-2 to move. In addition, the shell includes a rotating cover 6-4-8, which can open or close the first chamber, and the box 6-2-4 is detachably arranged in the first chamber of the shell.

[0095] In addition, the shell also includes a rotating shell 6-4-7, a rotating plate and a motor isolation plate 6-4-11. The rotating shell 6-4-7 is used to fix the delivery control mechanism 6-1, and together with the support plate 6-1-1, the rotating plate and the motor isolation plate 6-4-11, a closed space is formed as a second chamber to isolate the delivery control mechanism 6-1 from the external space; the delivery drive shaft of the delivery control mechanism 6-1 extends out through the rotating sealing hole on the support plate 6-1-1, and is connected to the delivery shaft of the clamping delivery module 6-2, so as to transmit power to the rotatable part of the clamping part, thereby realizing the axial delivery of the catheter guidewire; when the rotating cover 6-4-8 is buckled, it forms a first chamber with the support plate 6-1-1, the rotating plate and the motor isolation plate 6-4-11 to isolate the clamping delivery module 6-2 from the external space. It should be noted that when the delivery control mechanism 6-1 and the clamping delivery module 6-2 transmit power, it can be that: the delivery drive shaft of the delivery control mechanism 6-1 is a semicircular shaft, and the delivery shaft of the clamping delivery module 6-2 is a hollow shaft, and its hole is a semicircular hole. When installed, the semicircular shaft is inserted into the semicircular hole to transmit power; it can also be that: the delivery drive shaft of the delivery control mechanism 6-1 and the delivery shaft of the clamping delivery module 6-2 are connected by a key to transmit power, or other power transmission structures, which are not limited to the present invention.

[0096] Specifically, the rotating plate includes a front rotating plate 6-4-12 and a rear rotating plate 6-4-6, the rear rotating plate 6-4-6 is an irregular circular plate, the height of the rear rotating plate 6-4-6 is greater than that of the front rotating plate 6-4-12, a rear isolation sleeve 6-3-3 is arranged at a position coaxial with the front isolation sleeve 6-3-9 on the front rotating plate 6-4-12, the rear rotating plate 6-4-6 and the front rotating plate 6-4-12 are fitted and fixed to the two side surfaces of the rotating shell 6-4-7; the support plate 6-1-1 is fixed between the rear rotating plate 6-4-6 and the front rotating plate 6-4-12 and the rotating shell 6-4-7, and is not completely closed, a motor isolation plate 6-4-11 is fixed on the left side of the support plate 6-1-1, the support plate 6-1-1, the rotating plate and the motor isolation plate 6-4-11 together form a closed space, presenting a shape similar to a cylinder, and a delivery control mechanism 6-1 is installed in the closed space. In addition, the delivery motor 6-1-2 and the motor driver 6-1-3 are installed in the space enclosed by the upper part of the rotating shell 6-4-7 and the motor isolation plate 6-4-11.

[0097] Furthermore, a controller support plate 6-1-8 is fixedly installed on the lower surface of the support plate 6-1-1, and a controller 6-1-7 (such as an STM32 board) is fixed on the controller support plate 6-1-8. The master end sends a signal, and the controller 6-1-7 in the slave end receives instructions through the wireless communication module 6-1-25 to control the movement of the delivery motor 6-6-1-2; the delivery motor 6-6-1-2 and the delivery motor driver 6-1-3 are both located inside the delivery motor housing 6-4-10, and are fixed to the motor isolation plate 6-4-11 at the square hole in front of the delivery motor housing 6-4-10.

[0098] In the embodiment of the present invention, the rotating cover 6-4-8 forms a rotatable structure via the rotating shaft 6-4-9 and the rotating shell 6-4-7; a snap structure is provided on the outer side of the support plate 6-1-1 and the outer side of the corresponding position of the rotating cover 6-4-8, and the two can realize the connection and separation of the rotating cover 6-4-8 and the support plate 6-1-1 through the snap; the rotating cover 6-4-8, the motor isolation plate 6-4-11 and the support plate 6-1-1 constitute a first chamber space to isolate the clamping delivery module 6-2 from the external space.

[0099] Furthermore, a support plate 6-1-1 is provided between the first chamber and the second chamber, and a connecting piece 6-1-24 and a rotating sealing hole 6-1-23 are provided on the support plate 6-1-1. Figure 7 ) is provided with a positioning column 6-2-2-4 and a gear shaft hole 2-4-2, the box 6-2-4 is installed on the support plate 6-1-1, the positioning column 6-2-2-4 on the box is connected to the connecting piece 6-1-24 on the support plate 6-1-1, and the delivery drive shaft of the delivery control mechanism passes through the rotating sealing hole 6-1-23 on the support plate 6-1-1 and the gear shaft hole on the box and is connected to the clamping delivery module 6-2.

[0100] like Fig.11 As shown, the rotation control mechanism 6-3 includes a rotation power source, a rotation transmission mechanism, and a rear sleeve 6-3-8 connected in sequence. The rotation transmission mechanism is used to transmit the driving force of the rotation power source to the rear sleeve 6-3-8. The rear sleeve 6-3-8 is fixedly connected to the rear rotating plate 6-4-6 of the shell. The rotation transmission mechanism transmits the driving force of the rotation power source to the rear sleeve 6-3-8 and the shell to drive the shell to rotate on the mounting frame. Thus, the shell and the delivery control mechanism 6-1 and the clamping delivery module 6-2 installed in the shell are driven to rotate as a whole by the driving force of the rotation power source, and the catheter or guidewire clamped by the clamping delivery module 6-2 is driven to rotate synchronously. The rotation power source is a rotation motor 6-3-1.

[0101] Specifically, the rotary transmission mechanism includes a turbine 6-3-7 and a worm 6-3-6, the worm 6-3-6 is connected to a rotary power source, the turbine 6-3-7 is key-connected to a rear sleeve 6-3-8, the worm 6-3-6 is connected to a power shaft of the rotary power source, and the driving force of the rotary power source is transmitted to the rear sleeve 6-3-8 through the meshing transmission of the turbine 6-3-7 and the worm 6-3-6. It is understandable that the above-mentioned rotary transmission mechanism can also adopt other structural forms in the art, such as bevel gears, etc., as long as the structure that can achieve the change of transmission direction. In addition, in the present invention, the rotary power source is vertically arranged with the transmission direction of the housing and the internal mechanism from the perspective of saving space. According to actual conditions, it can also be set to the same transmission direction, as long as the housing and the internal mechanism can be rotated by the rotary power source.

[0102] Specifically, the rotating motor 6-3-1 is connected to the worm 6-3-6 through a coupling 6-3-2. The two sides of the worm 6-3-6 are supported by bearings on the first worm bearing seat 6-4-1 and the second worm bearing seat 6-4-3. The turbine 6-3-7 meshing with the worm 6-3-6 is installed on the rear sleeve 6-3-8 together with the sleeve 3-5 and the bearing in sequence. The rear sleeve 6-3-8 and the rear rotating plate 6-4-6 are fixed by screws; the conductive slip ring 6-3-4 is installed inside the rear sleeve 6-3-8, and the rear of the conductive slip ring 6-3-4 is fixed behind the rear bearing seat 6-4-2.

[0103] The rear sleeve 6-3-8 is connected to the conductive slip ring 6-3-4, and the cables inside the housing pass through the rear sleeve 6-3-8 and are connected to the conductive slip ring 6-3-4. The conductive slip ring 6-3-4 used in the present invention belongs to the application category of electrical contact sliding connection, and can realize a precise data signal transmission device of two relatively rotating mechanisms; the conductive slip ring 6-3-4 is a cylindrical slip ring, which is a device that can rotate freely around its own center line as the axis, the front and rear rotating plates 6-4-6 of the conductive slip ring 6-3-4 are fixed, and the rear and rear bearing seat 6-4-2 are fixed. The front part of the conductive slip ring 6-3-4 connected to the rotating plate is a rotatable structure, and the rear part of the conductive slip ring connected to the rear bearing seat is a fixed structure; in the present invention, the rotating motor 6-3-1 drives the rear sleeve 6-3-8 fixed to the turbine 6-3-7 through the worm 6-3-6, the shell and the delivery control mechanism 6-1 and the clamping delivery module 6-2 installed in the shell to rotate, wherein the delivery motor 6-1-2 and the controller 6-1-7 components are wired transmission components, and their data transmission lines are transmitted to the non-rotating outside through the conductive slip ring 6-3-4. The conductive slip ring 6-3-4 structure used in the present invention is mainly used to realize the connection between the delivery control mechanism that needs to rotate and the non-rotating external power supply and data communication line. As an alternative, a built-in battery can be used for energy supply and a wireless communication module can be used for data communication.

[0104] Furthermore, the mounting frame 6-4 includes a front bearing seat 6-4-5, a rear bearing seat 6-4-2 and a fixing block 6-4-4. The housing is arranged between the front bearing seat 6-4-5 and the rear bearing seat 6-4-2, and corresponding bearing holes are arranged on the front bearing seat 6-4-5, the housing and the rear bearing seat 6-4-2 respectively. The housing is connected to the front bearing seat 6-4-5 and the rear bearing seat 6-4-2 respectively through bearings, and the central holes of the bearings on the housing, the front bearing seat 6-4-5 and the rear bearing seat 6-4-3 and the clamping position of the vascular interventional instrument in the clamping delivery module 6-2 are coaxially arranged.

[0105] Specifically, a bearing hole is provided at the upper end of the front rotating plate 6-4-12, and the front bearing seat 6-4-5 and the bottom of the rear bearing seat 6-4-2 are fixed together by a bottom fixing block 6-4-4 to form a "concave"-shaped structure. The front bearing seat 6-4-5 and the upper part of the front rotating plate 6-4-12 are connected together by bearings passing through corresponding bearing holes, and a bearing hole is also provided on the rear rotating plate 6-4-6 at a position at the same height as the front rotating plate 6-4-12. The rear rotating plate 6-4-6 and the rear bearing seat 6-4-2 and the rotation control mechanism 3 are connected in turn by corresponding bearings. The rear bearing seat 6-4-2 and the front bearing seat 6-4-5 serve as supports, so that the space surrounded by the rotating cover 6-4-8, the delivery motor housing 6-4-10, the rotating housing 6-4-7, the rear rotating plate 6-4-6 and the front rotating plate 6-4-12 can rotate around the location of the two bearings; the bottom fixing block 6 -4-4 The side close to the rear bearing seat is a semi-enclosed boss structure, and the left and right side surfaces of the semi-enclosed boss structure are respectively connected to the first worm bearing seat 6-4-1 and the second worm bearing seat 6-4-3 by bolts, and the other side surface of the semi-enclosed boss structure is fixed to the rear bearing seat 6-4-2 by bolts, that is, the bottom fixing block 6-4-4 and the front bearing seat 6-4-5, the rear bearing seat 6-4-2, the first worm bearing seat 6-4-1 and the second worm bearing seat 6-4-3 are all fixed by bolts, forming the supporting structure of the continuous pushing and twisting robot of the vascular interventional instrument of the present invention, that is, the mounting frame 6-4.

[0106] It should be noted that the box 6-2-4 is provided with a tube wire passing hole 6-2-4-3 on the front and rear sides. The tube wire passing hole 6-2-4-3 on the front and rear sides of the box 6-2-4 is coaxial with the corresponding seals on the front and rear mounting plates for the tube wire to pass through. After the tube wire passes through, it is coaxial with the bearing holes on the front bearing seat 6-4-5, the rear bearing seat 6-4-2 and the rear rotating plate 6-4-6 at the same height as the front rotating plate 6-4-12 to achieve coaxial operation when the tube wire rotates.

[0107] In this application, the dimensions, output power, torque, speed, etc. of the delivery motor and the rotation motor are selected according to the space and power requirements during use. In this embodiment, the length of the robot in the front-to-back direction is about 10-15 cm, preferably within 12.5 cm. The tube wire mentioned above is a general term, which can refer to surgical instruments such as catheters, guide wires, microcatheters, micro guide wires, balloon catheters or loach guide wires.

[0108] The following is a detailed description of the installation, tube wire installation and delivery twisting operation of the detachable module clamping delivery module 6-2 of the present invention:

[0109] First, the clamping and delivery module 6-2 is a detachable modular clamping mechanism, and its installation steps are as follows:

[0110] The first clamping part 6-2-2 and the second clamping part 6-2-3 of the clamping delivery module 6-2 are installed in the box 6-2-4, and are fixed to the box 6-2-4 by screws under the box 6-2-4. The box cover 6-2-1 is fixed to the box 6-2-4 by buckles, and the installation of the clamping delivery module 6-2 is completed. Figure 7 As shown, there are two identical positioning columns 6-2-4-2 on the lower surface of the box 6-2-4, and two matching connectors 6-1-24 are installed above the support plate 6-1-1. The positioning columns 6-2-4-2 are fixed in the corresponding connectors 6-1-24 to complete the installation and fixation of the clamping delivery module 6-2.

[0111] The clamping and delivering module 6-2 is a modular structure. By changing the size of the internal gear 2-3-7 and the length of the conveyor belt 6-2-3-2, the distance between the two conveyor belts 6-2-3-2 can be changed; further, the clamping of pipes with different diameters can be achieved. In this embodiment, the clamping and delivering modules 6-2 with different specifications can be set. The distance between the two clamping parts in the clamping and delivering modules 6-2 with different specifications is different. The clamping and delivering modules 6-2 with different distances can be set according to the form of an arithmetic progression.

[0112] The operating method of the continuous pushing and twisting robot for vascular interventional instruments of the present invention comprises:

[0113] receiving a tube-wire control instruction, wherein the tube-wire control instruction includes one or more of axial delivery, axial withdrawal, and twisting;

[0114] According to the tube wire control instruction, the movement of the delivery motor 6-1-2 and the rotation motor 6-3-1 is controlled to realize the corresponding tube wire control operation.

[0115] Further, the installation steps of the tube wire are:

[0116] After completing the installation of the clamping and delivery module 6-2, the rear isolation sleeve 6-3-3 is inserted from the middle hole of the conductive slip ring 6-3-4 at the back to the position of the clamping and delivery module 6-2, and the front isolation sleeve 6-3-9 is inserted from the middle hole of the front bearing seat 6-4-5 at the front to the position of the clamping and delivery module 6-2, so that the rear isolation sleeve 6-3-3, the clamping and delivery module 6-2 and the front 6-isolation sleeve 6-3-9 form a closed space for the delivery of the tube wire; first, the delivery motor 6-1-2 is controlled to rotate to drive the conveyor belt 6-2-3-2 in the clamping and delivery module 6-2 to rotate forward first, and then the tube wire is manually introduced from the rear isolation sleeve 6-3-3 to the area where the plane bearing of the clamping and delivery module 6-2 is located and stops, and driven by the conveyor belt 6-2-3-2, the tube wire will automatically pass through the middle of the front isolation sleeve 6-3-9 to complete the installation of the tube wire.

[0117] Wherein, the axial delivery operation control method of the tube wire is:

[0118] The master end sends a signal, the slave end wireless communication module 6-1-22 receives the signal, and sends it to the delivery motor driver 6-1-3, which controls the delivery motor 6-1-2 to rotate, driving the first pulley 6-1-9 to rotate, and driving the second pulley 6-1-10 to rotate via the belt 6-1-11. The second pulley 6-1-10 and the first gear 6-1-18 are both mounted on the first shaft 6-1-19, so the first gear 6-1-18 rotates, and the motion is transmitted to the third gear 6-1-14 through the mutually meshing second gear 6-1-13. The third gear 6-1-14 and the fourth gear 6-1-15 are both mounted on the third shaft 6-1-21, so the fourth gear 6-1-15 rotates. Since the fourth gear 6-1-15 and the fifth gear 6-1-16 are externally meshed and equal in size, the fourth shaft 6-1-23 where the fifth gear 6-1-16 is located rotates, and the rotation direction is opposite to that of the third shaft 6-1-21, and the rotation speed is equal. The upper surfaces of the third shaft 6-1-21 and the fourth shaft 6-1-23 are located above the support plate 6-1-1 and are connected to the gear shaft 6-2-3-8 in the clamping component. Therefore, the toothed conveyor belts 6-2-3-2 on the first clamping component 6-2-2 and the second clamping component 2-3 are driven to rotate in opposite directions and at equal speeds, thereby jointly driving the axial delivery of the tube wire.

[0119] The twisting operation control method of the tube wire is:

[0120] The main end controller sends a signal to control the output shaft of the rotating motor 6-3-1 to rotate, which drives the worm 6-3-6 to rotate through the coupling 6-3-2. The worm 6-3-6 and the turbine 6-3-7 mesh and move, so the turbine 6-3-7 rotates around. The turbine 6-3-7 is fixedly connected to the rear sleeve 6-3-8, and the rear sleeve 6-3-8 is fixedly connected to the rear rotating plate 6-4-6. Since the rear rotating plate 6-4-6 is fixedly connected to the support plate 6-1-1, and the support plate 6-1-1 is fixedly connected to the clamping and delivery module 6-2, the clamping and delivery module 6-2 rotates around the axial direction of the tube wire; the inner tube wire of the clamping and delivery module 6-2 is clamped by the two toothed conveyor belts 6-2-3-2, and then rotates around its own axial direction to realize the rotation of the tube wire.

[0121] The axial delivery and torsional coupling operation control method of the tube wire is:

[0122] According to the process of the rotational motion control of the tube wire, the contact state between the tube wire and the toothed conveyor belt 6-2-3-2 is not changed, so the delivery and rotational coupling motion can be realized. According to the axial delivery motion control step of the tube wire and the rotational motion control step of the tube wire, the main end sends a signal to control the motion of the rotation motor 6-3-1 and the delivery motor 6-1-2 at the same time, so as to realize the axial delivery and rotational coupling motion.

[0123] In addition, if Figure 4 , Figure 5 As shown, the mobile chassis 1 includes a control cabin 1-1, a mounting chassis 1-2, and a detachable support structure. The control cabin 1-1 is arranged on the mounting chassis 1-2, one end of the detachable support structure is connected to the mounting chassis 1-2 and the control cabin 1-1, and the other end is connected to the support module, a mounting plate is arranged on the support module, and the robotic arm is arranged on the mounting plate. The mounting chassis and the control cabin 1-1 can be separated from each other by the detachable support structure and the robotic arm, so as to move the mounting chassis and the control cabin out of the surgical space. The mounting chassis 1-2 is supported on the ground by four universal load-bearing wheels to facilitate the movement of the robot, and the control cabin 1-1 is installed on the mounting chassis 1-2.

[0124] The detachable support structure includes four support tubes 1-3, an outer shell support block 2-5, a dovetail slider connecting plate 2-3, an upper outer shell fixed block 2-4, two guide rail claws 2-6, two dovetail slide rails 2-1, two dovetail sliders 2-2, and two operating table support plates 2-7; the outer shell support block 2-5 is connected to the mounting chassis 1-2 through the support tube, a first sliding unit is arranged on the outer shell support block 2-5, a second sliding unit is arranged on the dovetail slider connecting plate 2-3, the second sliding unit of the dovetail slider connecting plate 2-3 is slidably arranged on the first sliding unit of the outer shell support block 2-5, and the dovetail slider connecting plate 2-3 can be slidably separated from the outer shell support block 2-5; a slot is formed between the dovetail slider connecting plate and the upper outer shell fixed block 2-4, and the guide rail claw 2-6 can be inserted in the slot, and the guide rail claw 2-6 is connected to the side of the operating table; a height-adjustable operating table support plate 2-7 is arranged at the lower end of the support module, and the operating table support plate is in conflict with the upper surface of the operating table.

[0125] One end of the four support cylinders 1-3 is fixedly connected to the mounting chassis 1-2, and the other end is fixedly connected to the outer shell support block 2-5. Two dovetail slide rails 2-1 are fixedly connected to both sides of the upper end of the outer shell support block 2-5. Two dovetail sliders 2-2 are fixedly connected to the corresponding positions of the dovetail slider connecting plate 2-3. When the dovetail slider 2-2 slides out of the dovetail slide rail 2-1, the upper end of the dovetail slider connecting plate 2-3 is separated from the outer shell support block 2-5.

[0126] The upper shell fixing block 2-4 is fixedly connected to the upper end of the dovetail slider connecting plate 2-3, and its lower surface and the upper surface of the dovetail slider connecting plate 2-3 form a slot for plugging in the guide rail claw 2-6, and the T-slot at the other end of the guide rail claw 2-6 is engaged with the T-rail on the side of the operating bed. The two operating bed support plates 2-7 are connected to the lower ends of the two support rods of the support module 2 of the multi-point posture adjustment platform, and are used to contact the upper surface of the operating bed board. The two operating bed support plates 2-7 have a height-adjustable fastening device.

[0127] During preoperative preparation, the guide rail clamp 2-6 is clamped in advance to the appropriate position of the T-shaped guide rail on the side of the operating bed, and the medical staff pushes the robot system to the side of the operating bed, inserts the other end of the guide rail clamp into the slot between the dovetail slider connecting plate 2-3 and the upper shell fixing block 2-4, and completes the fastening operation. At this time, the two operating bed support plates 2-7 are in contact with the operating bed surface. Since it has a height-adjustable fastening device, the fastening operation of the operating platform and the operating bed is achieved by adjusting the height of the two operating bed support plates 2-7. After the fastening is completed, the dovetail slide 2-1 on the shell support block 2-5 is slid out from the dovetail slider 2-2 on the dovetail slider connecting plate 2-3 to achieve the separation of the lower end mobile platform of the shell support block 2-5 and the upper end operating platform, and the mounting chassis 1-2 and the control cabin 1-1 are pushed to a position away from the operating bed to save surgical space.

[0128] The above-mentioned interventional surgical robot can be used to complete the corresponding interventional surgical operations. The specific execution processes of the interventional surgical operations with two robotic arms and three robotic arms are described below respectively.

[0129] Fig.15 The figure is a schematic diagram of the posture of the vascular intervention robot in the present invention when performing surgery on a patient. When two robotic arms and two tube-wire continuous pushing and twisting modules are used to perform interventional surgery on a patient, first, a tube-wire continuous pushing and twisting module matching the diameter of the surgical instrument to be operated is selected as the corresponding first tube-wire continuous pushing and twisting module 6 and second tube-wire continuous pushing and twisting module 7, and they are installed at the ends of the first tube-wire positioning robotic arm 4 and the second tube-wire positioning robotic arm 5 respectively;

[0130] Then, the catheter is inserted into the first tube-wire continuous pushing and twisting module 6, the tail end of the catheter is connected to the second tube-wire continuous pushing and twisting module 7 through a Y valve, the guide wire is inserted into the second tube-wire continuous pushing and twisting module 7, and the guide wire is inserted into the catheter; the doctor controls the rotation of each joint of the first tube-wire positioning robotic arm 4 and the second tube-wire positioning robotic arm 5 through the main end controller or by manual dragging, so that each tube-wire continuous pushing and twisting module is positioned to the corresponding surgical operation point at a suitable angle.

[0131] Finally, receiving the wire pushing and twisting operation instructions sent from the main end, and controlling the first wire continuous pushing and twisting module 6 and the second wire continuous pushing and twisting module 7 to perform the wire delivery and twisting operations;

[0132] During the process, when the catheter delivery operation is performed, the second tube wire positioning mechanical arm 5 is controlled to move horizontally on the second slide rail 3-4, and the second tube wire continuous pushing and twisting module 7 is dragged to follow the axial displacement of the catheter to avoid excessive bending and pulling of the catheter; at the same time, the difference between the guide wire delivery displacement received from the main end at each time step and the delivery displacement of the catheter at this time step is used as the guide wire delivery displacement performed by the second tube wire continuous pushing and twisting module 7 at this time step to compensate for the overall movement following of the second tube wire continuous pushing and twisting module 7 to the axial displacement of the catheter. In this way, the large-stroke continuous coordinated delivery operation of the tube wire is realized through the first tube wire continuous pushing and twisting module 6, the second tube wire continuous pushing and twisting module 7, the first tube wire positioning mechanical arm 4 and the second tube wire positioning mechanical arm 5 of the interventional robot.

[0133] It should be noted that when the second tube wire positioning robot arm 5 is an active robot arm, collaborative delivery can be achieved by directly controlling the joints of the robot arm. When the second tube wire positioning robot arm 5 is a passive robot arm, collaborative delivery can be achieved by controlling the movement of the second slide block 3-3 on the second slide track 3-4.

[0134] In actual surgery, it is often necessary to coordinate the operation of more than two catheter and guidewire instruments. When the interventional surgical robot is a dual-arm robot, the catheter is delivered to the terminal position, the catheter needs to be positioned and the guidewire withdrawn, and then the clamping delivery module 6-2 in the first tube-wire continuous pushing and twisting module 6 and the second tube-wire pushing and twisting module 7 is replaced to adapt to other interventional surgical instruments to be performed, such as replacing the clamping delivery module 6-2 of the first tube-wire continuous pushing and twisting module 6 with a clamping delivery module 6-2 adapted to a microcatheter, and replacing the clamping delivery module 6-2 of the second tube-wire continuous pushing and twisting module 7 with a clamping delivery module 6-2 adapted to a microguidewire, and completing the delivery and twisting operations of the microcatheter and microguidewire.

[0135] In addition, the delivery operation of different interventional surgical instruments can be completed by correspondingly increasing the number of continuous pushing and twisting modules and the number of robotic arms. The following takes an interventional surgical robot with three tube-wire positioning robotic arms and four tube-wire continuous pushing and twisting modules as an example to explain its installation operation and control method in detail.

[0136] First, a tube-wire continuous pushing and twisting module matching the diameter of the surgical instrument to be operated is selected as the corresponding first tube-wire continuous pushing and twisting module 6, the second tube-wire continuous pushing and twisting module 7, the third tube-wire continuous pushing and twisting module 9 and the fourth tube-wire continuous pushing and twisting module 10, wherein the first tube-wire continuous pushing and twisting module 6 and the second tube-wire continuous pushing and twisting module 7 are respectively installed on the first tube-wire positioning mechanical arm 4 and the second tube-wire positioning mechanical arm 5, and the third tube-wire continuous pushing and twisting module 9 and the fourth tube-wire continuous pushing and twisting module 10 are installed on the third tube-wire positioning mechanical arm 8;

[0137] Then, the catheter is plugged into the first tube-wire continuous pushing and twisting module 6, the tail end of the catheter is connected to the third tube-wire continuous pushing and twisting module 9 through a Y valve, the guide wire is plugged into the third tube-wire continuous pushing and twisting module 9, and the guide wire is plugged into the catheter. The microcatheter is plugged into the fourth tube-wire continuous pushing and twisting module 10, the tail end of the microcatheter is connected to the second tube-wire continuous pushing and twisting module 7 through a Y valve, the micro guide wire is plugged into the second tube-wire continuous pushing and twisting module 7, and the micro guide wire is plugged into the microcatheter. The doctor controls the rotation of each joint of the first tube-wire positioning mechanical arm 4, the second tube-wire positioning mechanical arm 5, and the third tube-wire positioning mechanical arm 8 through the main end controller or by manual dragging, so that each tube-wire continuous pushing and twisting module is positioned at the corresponding surgical operation point at a suitable angle.

[0138] Finally, the push and twist operation instructions of each tube wire sent from the main end are received to control the push and twist operation of each tube wire continuous push and twist module; according to the general clinical operation steps of intracranial vascular intervention surgery, such as intracranial aneurysm embolization, first, the first tube wire continuous push and twist module 6 and the third tube wire continuous push and twist module 9 are controlled, and the carotid artery is selected to enter through the coordinated operation of the catheter and the guide wire; then, the third tube wire continuous push and twist module 9 is controlled to withdraw the guide wire tip to the Y valve, and contrast agent is injected through the Y valve to perform intracranial angiography to determine the location of the aneurysm; then, the fourth tube wire continuous push and twist module 10 and the second tube wire continuous push and twist module 7 are controlled, and the microcatheter tip is delivered into the aneurysm through the coordinated operation of the microcatheter and the microguidewire; finally, the subsequent aneurysm embolization operation is performed.

[0139] During the period, when the delivery operation of the catheter is performed, by controlling the horizontal movement of the third tube wire positioning mechanical arm 8 and the second tube wire positioning mechanical arm 5 on the first slide rail 3-6 and the second slide rail 3-4, the third tube wire continuous pushing and twisting module 9 and the fourth tube wire continuous pushing and twisting module 10, and the second tube wire continuous pushing and twisting module 7 are dragged to achieve the following of the axial displacement of the catheter and thus achieve coordinated delivery, avoiding excessive bending and pulling of the catheter, and at the same time, the difference between the guidewire delivery displacement of each time step received from the main end and the delivery displacement of the catheter at that time step is used as the guidewire delivery displacement performed by the third tube wire continuous pushing and twisting module 9 at that time step to compensate for the motion following of the axial displacement of the catheter; when the delivery operation of the microcatheter is performed, by controlling the horizontal movement of the second tube wire positioning mechanical arm 5 on the second slide rail 3-4, the second tube wire continuous pushing and twisting module 7 is dragged to achieve the following of the axial displacement of the microcatheter, avoiding excessive bending and pulling of the microcatheter, and at the same time, the difference between the microguidewire delivery displacement of each time step received from the main end and the delivery displacement of the microcatheter at that time step is used as the second tube wire continuous pushing and twisting module 7. The micro-guidewire delivery displacement is performed at this time step to compensate for the motion following of the micro-catheter axial displacement.

[0140] In this way, through the first tube-wire continuous pushing and twisting module 6, the second tube-wire continuous pushing and twisting module 7, the third tube-wire continuous pushing and twisting module 9 and the fourth tube-wire continuous pushing and twisting module 10, the first tube-wire positioning robotic arm 4, the second tube-wire positioning robotic arm 5 and the third tube-wire positioning robotic arm 8 of the interventional robot, a large-stroke continuous coordinated delivery operation of the catheter, guidewire, microcatheter and microguidewire is achieved.

[0141] It should be noted that when the second tube-wire positioning robot arm 5 and the third tube-wire positioning robot arm 8 are active robot arms, coordinated delivery can be achieved by directly controlling the joints of the robot arms. When the second tube-wire positioning robot arm 5 and the third tube-wire positioning robot arm 8 are passive robot arms, coordinated delivery can be achieved by controlling the movement of the first slide block 3-5 and the second slide block 3-3 on the first slide track 3-6 and the second slide track 3-4.

[0142] In addition, whether it is an interventional surgical robot with two robotic arms and two tube-wire continuous pushing and twisting modules, or an interventional surgical robot with three robotic arms and four tube-wire continuous delivery modules, during the delivery process, the twisting operation of the tube-wire pushing and twisting modules is controlled to complete the twisting operation of the catheter, guidewire, microcatheter, microguidewire and other interventional surgical instruments, thereby realizing the selection of the operating direction of the end execution position of the catheter, guidewire, microcatheter, microguidewire and other interventional surgical instruments.

[0143] Furthermore, after the microcatheter is delivered to the patient's lesion location, the microguidewire in the second tube-wire continuous pushing and twisting module 7 needs to be withdrawn, and interventional surgical instruments such as balloons or spring coils that need to perform surgical operations are inserted into the corresponding lesion location. The delivery and twisting operations of the corresponding interventional surgical instruments are controlled by the second tube-wire continuous pushing and twisting module 7 to complete the execution of the balloon and spring coil at the lesion location, and finally the interventional surgery is completed.

[0144] Of course, it is understandable that if the third tube-wire positioning robotic arm 8 is only provided with the third tube-wire continuous pushing and twisting module 9, surgical operations can also be performed, such as realizing the long-stroke continuous coordinated delivery operation of the catheter and the guidewire through the first tube-wire continuous pushing and twisting module 6 on the first tube-wire positioning robotic arm 4 and the third tube-wire continuous pushing and twisting module 9 on the third tube-wire positioning robotic arm 8. After the catheter is delivered to the patient's lesion location, the guidewire in the third tube-wire continuous pushing and twisting module 9 needs to be withdrawn, and the interventional surgical instruments such as balloons or spring coils that need to perform surgical operations are inserted into the corresponding lesion location, and the delivery and twisting operations of the corresponding interventional surgical instruments are controlled by the second tube-wire continuous pushing and twisting module 7 to complete the execution of the balloon and spring coil at the lesion location, and finally complete the interventional surgery.

[0145] It should be noted that the multi-point posture adjustment platform of the present invention is performed by the mechanical arm to perform the terminal positioning. Since the terminal occupies a small space, the doctor can clamp the first tube wire of the catheter and continuously push and twist the module 6 to position it near the catheter sheath during operation. The catheter sheath is an existing medical device. Before the operation, the doctor punctures the femoral artery through percutaneous puncture to seal the puncture port and guide the interventional catheter into the femoral artery. Performing catheter delivery near the catheter sheath avoids the bending phenomenon that occurs when the existing interventional surgical robot delivers the catheter.

[0146] Based on the above description, the vascular intervention surgery robot of the present invention has been fully described. It has the following advantages:

[0147] (1) The arm-hand coordinated vascular interventional surgery robot of the present invention includes a multi-point posture adjustment platform and a tube-wire continuous pushing and twisting module. While imitating the coordinated operation of the doctor's interventional surgery arm and hand, it gives full play to the advantages of the robot, realizes the layout of more interventional surgical instrument operation points, and realizes the coordinated operation of various vascular interventional surgical instruments such as catheters, guidewires, microcatheters, microguidewires, and balloons.

[0148] (2) The multi-point position adjustment platform of the present invention is different from the existing vascular interventional surgical robot. The multi-point position adjustment platform can flexibly realize the adjustment of the operating points and operating postures of vascular interventional surgical instruments, thereby solving the problem of the non-coaxial delivery interventional robot in the prior art, which requires the doctor to manually deliver the catheter to the vicinity of the target position and limits the application scope of the surgical process.

[0149] (3) The tube-wire continuous pushing and twisting module of the present invention is arranged at the end of the multi-point posture adjustment platform, and the tube-wire continuous pushing and twisting module for clamping the catheter is used to clamp the tail end of the catheter sheath, and the tail end of the catheter is fixedly connected to the front end of the tube-wire continuous pushing and twisting module for clamping the guidewire, thereby realizing the coordinated delivery of the catheter and the guidewire, thereby avoiding the problem that the catheter is easily bent abnormally and cannot continue to move forward due to the slender and flexible characteristics of the catheter.

[0150] (4) The tube wire continuous pushing and twisting module of the present invention realizes that the delivery mechanism and the rotation mechanism share the same clamping mechanism to clamp the tube wire, thereby realizing the coupled motion of the rotation of the tube wire and the delivery action, greatly reducing the overall size of the robot, with high control accuracy, realizing the miniaturization and lightweight of the robot, and facilitating transportation and installation.

[0151] (5) The tube-wire continuous pushing and twisting module of the present invention can be detachably connected to the end of the multi-point posture adjustment platform. Its modular design and overall size advantages facilitate disinfection and aseptic isolation, making surgical operations safer. The directional words such as "up", "down", "left", "right", "front", and "back" described in the present invention are relative concepts, with the direction of the tube-wire delivery as front and back, the direction of the rotating cover buckle structure as left, and the direction of the rotating axis as right.

[0152] The examples described in the present invention are merely descriptions of the preferred implementation modes of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should all fall within the protection scope of the present invention.

[0153] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A vascular interventional surgery robot, characterized in that: It comprises a multi-point posture adjustment platform, on which at least two mechanical arms are arranged, and a tube-wire continuous pushing and twisting module is detachably mounted at the end of the mechanical arm. The interventional surgical instrument is clamped by the tube-wire continuous pushing and twisting module. The mechanical arm can adjust the operation point and operation posture of the interventional surgical instrument. The tube-wire continuous pushing and twisting module can drive the interventional surgical instrument to move axially and rotate circumferentially, so as to realize the coordinated operation of the interventional surgical instrument. The multi-point posture adjustment platform is provided with a first tube-wire positioning mechanical arm and a second tube-wire positioning mechanical arm, the end of the first tube-wire positioning mechanical arm is provided with a first tube-wire continuous pushing and twisting module, the end of the second tube-wire positioning mechanical arm is provided with a second tube-wire continuous pushing and twisting module, the first tube-wire continuous pushing and twisting module is arranged close to the surgical wound position of the patient, and the second tube-wire continuous pushing and twisting module is arranged away from the surgical wound position of the patient; the first tube-wire continuous pushing and twisting module clamps the front end of the first instrument, the end of the first instrument is connected to the second tube-wire continuous pushing and twisting module, the second instrument is plugged into the first instrument, the second instrument is clamped by the second tube-wire continuous pushing and twisting module, and the first tube-wire continuous pushing and twisting module The first instrument is driven to move axially and rotate circumferentially, and the second tube-wire continuous pushing and twisting module drives the second instrument to move axially and rotate circumferentially; the second tube-wire continuous pushing and twisting module is movably arranged relative to the first tube-wire continuous pushing and twisting module to achieve the second tube-wire continuous pushing and twisting module following the axial movement of the first instrument; the multi-point posture adjustment platform includes a mounting plate, a first sliding unit is arranged on the mounting plate, a second sliding unit is arranged on the robotic arm, the second sliding unit of the robotic arm is slidably arranged on the first sliding unit of the mounting plate, and the robotic arm can slide along the mounting plate to achieve the tube-wire continuous pushing and twisting module at the end of the robotic arm following the axial movement of the corresponding interventional surgical instrument.

2. The robot according to claim 1, characterized in that: A third wire positioning robotic arm is arranged on the multi-point posture adjustment platform, at the end of which at least one wire continuous pushing and twisting module is arranged, and the wire continuous pushing and twisting module on the third wire positioning robotic arm is located between the first wire continuous pushing and twisting module and the second wire continuous pushing and twisting module.

3. The robot according to claim 2, characterized in that: A third tube-wire continuous pushing and twisting module is provided at the end of the third tube-wire positioning robot arm, the first tube-wire continuous pushing and twisting module clamps the front end of the first instrument, the end of the first instrument is connected to the third tube-wire continuous pushing and twisting module, the second instrument is inserted into the first instrument, the second instrument is clamped by the third tube-wire continuous pushing and twisting module, the first tube-wire continuous pushing and twisting module drives the first instrument to move axially and rotate circumferentially, and the third tube-wire continuous pushing and twisting module drives the second instrument to move axially and rotate circumferentially.

4. The robot according to claim 3, characterized in that: The third tube-filament continuous pushing and twisting module is movably arranged relative to the first tube-filament continuous pushing and twisting module, so that the third tube-filament continuous pushing and twisting module can follow the axial movement of the first device.

5. The robot according to claim 3 or 4, characterized in that: A fourth tube-wire continuous pushing and twisting module is also provided at the end of the third tube-wire positioning robot arm, the fourth tube-wire continuous pushing and twisting module clamps the front end of the third instrument, the end of the third instrument is connected to the second tube-wire continuous pushing and twisting module, the fourth instrument is inserted into the third instrument, the fourth instrument is clamped by the second tube-wire continuous pushing and twisting module, the fourth tube-wire continuous pushing and twisting module drives the third instrument to move axially and rotate circumferentially, and the second tube-wire continuous pushing and twisting module drives the fourth instrument to move axially and rotate circumferentially.

6. The robot according to claim 5, characterized in that: The second tube-filament continuous pushing and twisting module is movably arranged relative to the fourth tube-filament continuous pushing and twisting module, so as to achieve the second tube-filament continuous pushing and twisting module following the axial movement of the third device.

7. The robot according to claim 1, characterized in that: The tube wire continuous twisting module includes: The clamping and delivery module comprises clamping parts arranged opposite to each other, on which a rotatable conveyor belt is arranged, and the interventional surgical instrument is clamped by the conveyor belt on the clamping parts arranged opposite to each other, and the relative rotation of the conveyor belt can drive the interventional surgical instrument to move axially; The rotation control mechanism is connected to the clamping and delivery module, and can drive the clamping and delivery module to rotate to realize the circumferential rotation of the interventional surgical instrument. The axis of axial movement of the interventional surgical instrument coincides with the axis of circumferential rotation of the interventional surgical instrument.

8. The robot according to claim 7, characterized in that: The tube wire continuous pushing and twisting module includes a shell, a first chamber and a second chamber are arranged inside the shell, a clamping and delivery module is arranged in the first chamber, the clamping and delivery module includes a box and a box cover that are interlocked, and a clamping part is arranged inside the box, and the box is detachably arranged in the first chamber; a delivery control mechanism is arranged in the second chamber, and the delivery control mechanism is connected to the clamping and delivery module to drive the clamping part in the clamping and delivery module to move.

9. The robot according to claim 8, characterized in that: The clamping part includes a support frame, on which two rotatable delivery shafts are arranged, gears are arranged at both ends of the delivery shafts, and teeth are arranged on the corresponding inner rings on both sides of the conveyor belt. The conveyor belt is sleeved on the outer sides of the two delivery shafts, and the teeth on the conveyor belt are meshed with the gears on the delivery shafts. The straight part of the conveyor belt located between the two delivery shafts is used to clamp the interventional surgical instrument so that the conveyor belt is in surface contact with the interventional surgical instrument.

10. The robot according to claim 8, characterized in that: The delivery control mechanism includes a delivery power source, a delivery transmission mechanism and a delivery drive shaft connected in sequence. The delivery drive shaft is connected to the clamping part in the clamping delivery module. The delivery transmission mechanism transmits the power of the delivery power source to the delivery drive shaft, and the delivery drive shaft drives the clamping part in the clamping delivery module to move.

11. The robot according to claim 7, characterized in that: The tube wire continuous pushing and twisting module includes a mounting frame and a shell. The clamping and delivery module is arranged in the shell. The shell is rotatably arranged on the mounting frame. The mounting frame is arranged at the end of the robotic arm. The rotation control mechanism is connected to the shell and can drive the shell to rotate on the mounting frame to realize the circumferential rotation of the interventional surgical instrument.

12. The robot according to claim 11, characterized in that: The rotation control mechanism includes a rotation power source, a rotation transmission mechanism and a rear sleeve connected in sequence. The rear sleeve is connected to the shell. The rotation transmission mechanism transmits the driving force of the rotation power source to the rear sleeve and the shell to drive the shell to rotate on the mounting frame.

13. The robot according to claim 1, characterized in that: The multi-point posture adjustment platform includes a mounting chassis, a control cabin and a detachable support structure. The control cabin is arranged on the mounting chassis. One end of the detachable support structure is connected to the mounting chassis and the control cabin, and the other end is connected to the support module. A mounting plate is arranged on the support module, and a robotic arm is arranged on the mounting plate. The mounting chassis and the control cabin can be separated from the robotic arm by the detachable support structure so that the mounting chassis and the control cabin can be moved out of the operating space.

14. The robot according to claim 13, characterized in that: The detachable support structure includes an outer shell support block, a dovetail slider connecting plate, an upper outer shell fixed block and an operating bed support plate. The outer shell support block is connected to the mounting chassis through a support tube. A first sliding unit is arranged on the outer shell support block, and a second sliding unit is arranged on the dovetail slider connecting plate. The second sliding unit of the dovetail slider connecting plate is slidably arranged on the first sliding unit of the outer shell support block, and the dovetail slider connecting plate can be slidably separated from the outer shell support block; a slot is formed between the dovetail slider connecting plate and the upper outer shell fixed block, and a guide rail claw can be inserted in the slot, and the guide rail claw is connected to the side of the operating bed; a height-adjustable operating bed support plate is arranged at the lower end of the support module, and the operating bed support plate is in conflict with the upper surface of the operating bed.

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