A system for rapid charging of an interventional catheter lab robot

Abstract

The present application relates to a kind of system for the quick charging of intervention catheter room robot, including the charging cabinet located outside operating room, with touch screen on it, control host is installed in the shell of charging cabinet, and it is connected with the network where intervention surgical robot is located;Transformer for providing stable suitable power input is installed inside the shell;It has a plurality of charging grid ports for charging outside, each charging grid port has charging socket matched with the plug of battery;Robot charging hole is below charging grid port;Charging robot is automatic walking type robot, it is connected with control host communication, with low power in intervention surgical robot to replace battery for the robot, and the battery after replacement is placed in charging grid port and charges, it has charging head matched with charging hole on it.Charging robot is sent to low power robot with the battery full of electricity in charging cabinet, and battery is replaced, and the battery after replacement is sent back to charging cabinet and charges.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive interventional surgery technology, and more specifically to a system for rapidly charging an interventional catheterization lab robot. Background Technology

[0002] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is a major treatment method. Compared with traditional surgery, it has significant advantages such as smaller incisions and shorter postoperative recovery time. Cardiovascular and cerebrovascular interventional surgery involves a doctor manually inserting catheters, guidewires, and stents into the patient's body to complete the treatment.

[0003] With the increasing use of robots in interventional surgery, more and more different types of robots will be deployed in interventional catheterization labs to assist surgeons in performing procedures. This will improve surgical efficiency, but how to quickly recharge these robots will be a significant challenge.

[0004] Therefore, how to provide a system for rapidly charging interventional catheterization lab robots is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] Therefore, the purpose of this invention is to provide a system for rapid charging of interventional catheterization lab robots, thereby solving the problem of charging interventional surgical robots.

[0006] This invention provides a system for rapidly charging an interventional catheterization lab robot, comprising:

[0007] A charging cabinet, located outside the operating room, features a human-machine interface touchscreen. The control unit is housed within the cabinet's outer casing and connected to the network of the interventional surgical robot. An internal transformer provides a stable and suitable power input. Externally, multiple charging slots, each with a charging connector for the battery, are provided. Below each charging slot is a robot charging port.

[0008] The charging robot is an automatically walking robot that communicates with the control host. It is used to replace the battery of the interventional surgery robot when the battery is low, and to put the replaced battery into the charging slot for charging. It has a charging head that mates with the charging port.

[0009] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a system for rapid charging of interventional catheterization lab robots. By setting up a charging cabinet outside the operating room, the control host of the charging cabinet is connected to the network of the entire interventional surgical robot. The control host receives low battery information from the interventional surgical robot and sends a fully charged battery from the charging cabinet to the low-battery robot via a charging robot for battery replacement. The replaced battery is then returned to the charging cabinet for charging. This solves the problem of charging interventional surgical robots.

[0010] Furthermore, the charging robot includes: a walking chassis, a torso mechanism, and a head mechanism; the walking chassis is used for walking, and a charging robot host is mounted on it, along with a driver, GPS device, and ranging element connected to the charging robot host for controlling actuators, and the charging robot host is communicatively connected to the control host; the torso mechanism is supported on the top of the walking chassis, and the torso mechanism is used for transporting and replacing batteries; the head mechanism is located above the torso mechanism and is used for human-machine interaction and detecting the surrounding environment.

[0011] Furthermore, the walking chassis includes: a base plate, a wheel system installed below the base plate, and four columns fixed above it for supporting the torso mechanism and head mechanism; the charging robot host, the charging robot battery, the driver and GPS device are installed between the four columns; and the charging head is fixed to the side of the base plate facing outward.

[0012] Furthermore, the base plate has two fixing rods on its side, located on both sides of the charging head, and the two fixing rods are fixed in accordance with two fixing holes on the outer shell located on both sides of the charging hole.

[0013] Furthermore, the wheel system consists of four groups, each including an L-shaped component. The top of the L-shaped component is a horizontal section, and the bottom is a vertical section. A rotary servo motor is vertically connected to the horizontal section, and a bearing hole is provided on the vertical section for the output shaft of the axial servo motor to pass through and rotate. The output shaft of the axial servo motor is connected to a wheel for movement. Both the rotary servo motor and the axial servo motor are connected to the driver. The rotary servo motor is fixed in a through groove provided on the base plate.

[0014] Furthermore, the torso mechanism includes a support plate located on the walking chassis, with a accommodating grid on its top that can move relatively vertically. The accommodating grid has two horizontally arranged compartments, one for accommodating a fully charged battery and the other for accommodating a battery with low charge. The top of the accommodating grid is connected to the head mechanism. A connecting plate extends outward from the end away from the head mechanism, and a retractable and movable gripping and pushing mechanism is provided on the connecting plate opposite the two compartments. The gripping and pushing mechanism is connected to the driver.

[0015] Furthermore, the receiving grid has two brackets fixed on the support plate on both sides, and a vertical linear guide rail is fixed on the inner side of each bracket. A first slider is slidably connected to each vertical linear guide rail, and the first sliders on both sets of brackets are fixed to the outer wall of the receiving grid. The connecting plate has first threaded holes on both sides, and the lead screws of the two vertical lead screw motor assemblies fixed on the support plate cooperate with the two first threaded holes. The vertical lead screw motor assemblies are electrically connected to the driver.

[0016] Furthermore, the grasping and pushing mechanism includes two sets of horizontal linear guides, which are fixed to the connecting plate and located behind the receiving grid. A second slider is slidably connected to each horizontal linear guide, and a push rod is fixed to each set of second sliders. Each push rod has a second threaded hole at its bottom and an electromagnet at its end for attracting iron pieces on the battery. The connecting plate is located outside the two sets of horizontal linear guides and has two horizontal lead screw motor assemblies fixed thereon. The lead screws of the horizontal lead screw motor assemblies engage with the second threaded holes and are electrically connected to the driver.

[0017] Furthermore, the head mechanism includes a turntable, the bottom shaft of which is rotatably connected to the top of the torso mechanism. A shaft gear is fixed to the upward extension of the shaft. A rotary motor is connected to the top of the torso mechanism near the turntable via a first motor bracket. The output shaft of the rotary motor is upward and connected to a motor gear that meshes with the shaft gear. A robot touchscreen is connected to the turntable, and two sets of cameras are fixed to both sides of the robot touchscreen via camera brackets. The rotary motor is connected to the driver.

[0018] Furthermore, a touch screen motor bracket is fixed above the turntable, and a pitch motor is fixed to the side of the touch screen motor bracket. The output shaft of the pitch motor is fixed to the bottom of the camera bracket; the pitch motor is connected to the driver. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 The attached figure is a structural schematic diagram of a system for rapid charging of an interventional catheterization lab robot provided by the present invention;

[0021] Figure 2 The attached diagram shows a schematic diagram of the charging cabinet.

[0022] Figure 3 The attached diagram shows a schematic diagram of the battery structure;

[0023] Figure 4 and Figure 5 The attached diagram shows a schematic diagram of the charging robot;

[0024] Figure 6 The attached diagram shows a schematic diagram of the chassis of the charging robot.

[0025] Figure 7 The attached image is... Figure 6 Exploded view;

[0026] Figure 8 The attached figure shows a schematic diagram of the walking chassis of the charging robot equipped with ultrasonic sensors;

[0027] Figure 9 The attached diagram shows a schematic diagram of the torso and head mechanisms of the charging robot;

[0028] Figure 10 The attached image is... Figure 9 Exploded view. Detailed Implementation

[0029] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0030] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] The use of interventional surgical robots in interventional operating rooms presents several problems with charging the robots in the interventional catheterization chamber: reliance on manual charging makes it easy to forget to charge; charging takes a long time, affecting surgical efficiency; and installing charging devices in the operating room requires a large space, which does not meet the requirements of an operating room.

[0034] Therefore, this invention provides a system for rapid charging of robots in an interventional catheterization lab, enabling continuous operation of each robot within the operating room. It includes a charging cabinet 100 and a corresponding charging robot 200, which can communicate with each other. Since the operating environment is an interventional catheterization lab, a compact structure and small size are desirable. The charging cabinet charges both the battery and the charging robot itself. The system utilizes a rapid charging robot to automatically replace the batteries of other robots; the entire battery replacement process is quick, completed within one minute. Upon receiving a signal indicating a battery replacement is needed, the charging robot automatically carries a fully charged battery, travels to the robot requiring replacement, replaces its old battery with a new one, and then returns the old battery to the charging cabinet outside the operating room for charging. The entire process is automated.

[0035] Specifically, see Appendix Figure 1-3 The charging cabinet 100 is located outside the operating room and has a human-machine interface touchscreen 103. The control host is installed inside the outer shell 101 of the charging cabinet 100 and is connected to the network of the interventional surgical robot. It can receive signals indicating which robot needs a battery replacement. The touchscreen 103 receives and feeds back information, which is then transmitted to the control host for data processing and storage. The outer shell 101 contains a transformer for providing a stable and suitable power input. It has multiple charging slots 102 on its exterior, up to ten slots, to meet the charging needs of the surgical robot batteries. Each charging slot 102 has a charging socket that mates with the plug 108 of the battery 105. Below each charging slot 102 is a robot charging hole 106. The charging robot 200 is an autonomous walking robot that communicates with the control host. It is used to replace the batteries of the interventional surgical robots with low battery levels and to place the replaced batteries into the charging slots 102 for charging. It has a charging head 204 that mates with the charging hole 106.

[0036] During charging, the charging port 108 at the bottom of battery 105 connects to the charging plug inside the charging cabinet 100. An iron plate 107 is installed at the front of battery 105, which attracts and connects to the electromagnet inside the charging cabinet, securing the battery. When a battery 105 is placed in the charging cell 102, the system automatically begins charging until the battery is fully charged. Once fully charged, the system automatically cuts off the power and displays a notification on the touchscreen. It also sends a message to the charging robot 200, allowing the robot to quickly locate the ready battery. The system can support simultaneous charging of 10 battery packs, effectively meeting the battery replacement needs of multiple robots. When the charging robot itself runs out of power, it can charge on the charging platform below the charging cabinet. The charging cabinet has two charging platforms, allowing two charging robots 200 to charge simultaneously.

[0037] See appendix Figure 4 and 5 The charging robot 200 may include: a walking chassis, a torso mechanism, and a head mechanism; the walking chassis is used for walking, and a charging robot host 210 is mounted on it, as well as a driver 201 for controlling actuators, a GPS device, and a ranging element connected to the charging robot host 210, and the charging robot host 210 is communicatively connected to the control host; the torso mechanism is supported on the top of the walking chassis, and the torso mechanism is used for transporting and replacing the battery 105; the head mechanism is located above the torso mechanism and is used for human-machine interaction and detecting the surrounding environment.

[0038] See appendix Figure 6 and7 The walking chassis is used to enable the robot's movement and support the upper structure. It includes: a base plate 203, with a wheel system mounted below it and four uprights 202 fixed above it to support the torso and head mechanisms; the charging robot host 210, the charging robot's battery 105, the driver 201, and a GPS device are installed between the four uprights 202; the charging head 204 is fixed to the outward-facing side of the base plate 203. The charging robot host 210 can be equipped with a GPS device, Bluetooth, and WIFI (Bluetooth is used for short-range communication, and WIFI can compensate for the range of Bluetooth communication) to achieve system positioning and wireless communication. The ranging element can be an ultrasonic sensor; see appendix. Figure 8 A first ultrasonic sensor S1 and a second ultrasonic sensor S2 are respectively installed in the walking direction of the base plate 203 for distance measurement.

[0039] Advantageously, the base plate 203 has two fixing rods 205 on its side, located on both sides of the charging head 204. These two fixing rods 205 are correspondingly engaged with two fixing holes 104 on the outer casing 101 located on both sides of the charging port 106 for fixation. The charging robot 200 needs to be moved to insert the fixing rods 205 into the fixing holes 104 to secure the robot. This also connects the charging head 204 to the charging port 106. After connection, the system will begin automatically charging the charging robot 200.

[0040] See appendix Figure 7 The wheel system consists of four groups, each including an L-shaped component 208. The top of the L-shaped component 208 is a horizontal section, and the bottom is a vertical section. A rotary servo motor 207 is vertically connected to the horizontal section, and a bearing hole is provided on the vertical section for the output shaft of an axial servo motor 206 to pass through and rotate. The output shaft of the axial servo motor 206 is connected to a wheel 209 for movement. Both the rotary servo motor 207 and the axial servo motor 206 are connected to the driver 201. The rotary servo motor 207 is fixed in a through groove provided on the base plate 203.

[0041] The rotary servo motor 207 can control the overall rotation of the wheel 209, and the axial servo motor 206 can control the forward and backward movement of the wheel 209. When the two work together, the four sets of wheels move together, enabling the entire vehicle to move in all directions.

[0042] The torso mechanism is used to push and retract the battery, as well as to raise and lower the system. The torso mechanism can extend and retract forward and backward, and up and down, pushing the battery out when needed. After the action is completed, it can be retracted. Through the coordinated operation of the entire system, the battery replacement can be completed.

[0043] See appendix Figure 9 and 10 Specifically, it includes a support plate 225 located on the walking chassis. The support plate 225 has a accommodating grid 2271 on its top that can move relatively vertically. The accommodating grid 2271 has two horizontally arranged accommodating compartments, one for accommodating a fully charged battery 105 and the other for accommodating a battery 105 with less charge. The top of the accommodating grid 2271 is connected to the head mechanism. A connecting plate 227 extends outward from the end away from the head mechanism. A retractable and movable gripping and pushing mechanism is provided on the connecting plate 227 opposite to the two accommodating compartments. The gripping and pushing mechanism is connected to the driver 201.

[0044] Advantageously, the receiving grid 2271 has two brackets 226 fixed on the support plate 225 on both sides. Each bracket 226 has a vertical linear guide rail 224 fixed on its inner side, and each vertical linear guide rail 224 has a first slider slidably connected to it. The first sliders on both sets of brackets 226 are fixed to the outer wall of the receiving grid 2271. The connecting plate 227 has first threaded holes on both sides. The lead screws in the two vertical lead screw motor assemblies 212 and 228 fixed on the support plate 225 engage with the two first threaded holes, and the vertical lead screw motor assemblies 212 and 228 are electrically connected to the driver 201. Thus, lifting and lowering are achieved by the vertical lead screw motor assemblies 212 and 228 engaging with the first threaded holes on the left and right sides of the connecting plate 227, respectively.

[0045] See appendix Figure 5 and 10 The grasping and pushing mechanism includes two sets of horizontal linear guides 216, which are fixed to the connecting plate 227 and located behind the receiving grid 2271. Each horizontal linear guide 216 has a second slider slidably connected to it, and each set of second sliders has a push rod 211 fixed to it. Each push rod 211 has a second threaded hole at its bottom and an electromagnet 223 at its end for attracting the iron piece 107 on the battery 105. The connecting plate 227 is located outside the two sets of horizontal linear guides 216 and has two horizontal lead screw motor assemblies 229 fixed to it. The lead screw of the horizontal lead screw motor assembly 229 engages with the second threaded hole and is electrically connected to the driver 201. Thus, the extension and retraction of the push rod are achieved through the engagement of the horizontal lead screw motor assembly 229 with the second threaded hole. The electromagnet 223 at the front end of the push rod engages with the iron piece on the battery for grasping the battery.

[0046] See appendix Figure 5 and 9The head mechanism includes a turntable 218, the bottom shaft of which is rotatably connected to the top of the torso mechanism. A shaft gear is fixed to the upward extension of the shaft. A rotary motor 217 is connected to the top of the torso mechanism near the turntable 218 via a first motor bracket 215. The output shaft of the rotary motor 217 is upward and connected to a motor gear 214 that meshes with the shaft gear. A robot touchscreen 222 is connected to the turntable 218. Two sets of cameras 221 are fixed on both sides of the robot touchscreen 222 via camera brackets 213. The rotary motor 217 is connected to the driver 201.

[0047] The head unit is responsible for the system's observation and output. Two cameras are used to observe the external environment. A touchscreen provides feedback to the user and receives user commands, serving as the user's control interface. The head can move omnidirectionally for better environmental observation.

[0048] See appendix Figure 5 and 9 A touch screen motor bracket 219 is fixed above the turntable 218, and a pitch motor 220 is fixed to the side of the touch screen motor bracket 219. The output shaft of the pitch motor 220 is fixed to the bottom of the camera bracket 213. The pitch motor 220 is connected to the driver 201.

[0049] Rotary motor 217 controls the horizontal rotation of the entire head mechanism, while pitch motor 220 controls the vertical movement of the head mechanism, i.e., pitch motion. This allows for flexible movement of the entire head mechanism, enabling the robot to observe objects from various angles. Touchscreen 222 is used for human-machine interaction, allowing for operations to be performed on the touchscreen, and system information is also displayed on it. Two sets of cameras 221 act as the robot's eyes, observing the surrounding environment. The information obtained is sent to the host computer 210 for analysis and processing.

[0050] The charging robot 200 can receive low battery warnings from other robots, indicating the need for battery replacement. Upon receiving the warning, the charging robot activates GPS positioning and plans its route. It then loads a fully charged battery 105 onto its body, leaving another battery compartment empty. Following the GPS-determined route, it drives autonomously to the target robot. It communicates with the target robot to initiate battery replacement mode. Moving to the target robot's battery location, it first removes the old battery and places it in the empty battery compartment. Then, it places the new battery on the robot and sends a command to the target robot to indicate the battery replacement is complete. The entire process is simple in structure and easy to operate, allowing it to be completed within one minute, ensuring efficient task completion. After completing the actions, the charging robot 200 transports the old battery back to the charging cabinet 100 along the original route and places it into an unoccupied charging slot 102 to begin charging. The charging robot 200 then awaits other requests.

[0051] This invention solves the problems of existing interventional robots, which can only be charged manually. With the increase in the number of surgeries, the workload of the staff in the operating room is heavy, the robot charging time is long, and it is easy to forget to charge. In addition, the installation of charging devices takes up a lot of space in the operating room, which affects the efficiency of surgery.

[0052] This invention enables a charging robot to automatically replace batteries for each robot, resulting in a short replacement time, a fully automated process, and reduced manpower. When a robot's battery is low, it automatically sends a signal to the charging robot's network. Upon receiving the battery replacement instruction, the charging robot immediately replaces the battery. This ensures that each robot always has sufficient power. The overall structure is simple, employing a modular design, resulting in low cost, ease of use, and simple operation. It does not occupy space in the interventional catheterization chamber, effectively meeting the environmental requirements of the operating room. The external charging cabinet design allows for efficient battery reuse and can also charge the charging robot itself. It can also be expanded to charge all robots within the hospital. In this invention, the charging robot can drive autonomously and automatically plan its route.

[0053] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0054] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A system for rapidly charging an interventional catheterization lab robot, characterized in that, include: A charging cabinet (100) is located outside the operating room and has a human-computer interaction touch screen (103). A control host is installed inside the outer shell (101) of the charging cabinet (100) and connected to the network of the interventional surgical robot. A transformer for providing a stable and suitable power input is installed inside the outer shell (101). Multiple charging slots (102) are located on the outside of the cabinet, each slot having a charging socket that mates with the plug (108) of a battery (105). A robot charging port (106) is located below each charging slot (102). A charging robot (200) is an automatically walking robot that is connected to the control host for replacing the battery of the interventional surgery robot when the battery is low, and placing the replaced battery into the charging slot (102) for charging. The charging robot has a charging head (204) that mates with the charging hole (106). The charging robot (200) includes: a walking chassis, a torso mechanism, and a head mechanism; the walking chassis is used for walking, and a charging robot host (210) is mounted on it, along with a driver (201) for controlling actuators, a GPS device, and a ranging element connected to the charging robot host (210); the charging robot host (210) is communicatively connected to the control host; the torso mechanism includes a support plate (225), which is located on the walking chassis, and its top has a movable section that can move relatively vertically. A receiving rack (2271) has two horizontally arranged receiving compartments, one for receiving and transporting a fully charged battery (105) and the other for receiving and transporting a battery (105) with less charge; the top of the receiving rack (2271) is connected to the head mechanism; a connecting plate (227) extends outward from the end away from the head mechanism, and a retractable and movable gripping and pushing mechanism is provided on the connecting plate (227) opposite to the two receiving compartments, the gripping and pushing mechanism being connected to the driver (201); After receiving a low battery warning from the robot, the charging robot (200) will activate GPS positioning and plan a route. Then, it will load a fully charged battery (105) into one compartment on its torso and leave the other compartment empty. Based on the route determined by GPS, it will drive autonomously and communicate with the target robot to activate the battery replacement mode. Then, it will move to the battery position on the target robot, remove the old battery and place it in the empty compartment. Then, it will place the new battery on the robot and send a command to the target robot to notify that the battery replacement is complete.

2. The system for rapid charging of an interventional catheterization lab robot according to claim 1, characterized in that, The torso mechanism is supported on the top of the walking chassis. The torso mechanism is used for transporting and replacing the battery (105). The head mechanism is located above the torso mechanism and is used for human-computer interaction and detecting the surrounding environment.

3. The system for rapid charging of an interventional catheterization lab robot according to claim 2, characterized in that, The walking chassis includes: a base plate (203), a wheel system installed below the base plate (203), and four columns (202) fixed above it for supporting the torso mechanism and head mechanism; the charging robot host (210), the charging robot battery (105), the driver (201) and the GPS device are installed between the four columns (202); the charging head (204) is fixed to the side of the base plate (203) facing outward.

4. A system for rapid charging of an interventional catheterization lab robot according to claim 3, characterized in that, The base plate (203) has two fixing rods (205) on its side and on both sides of the charging head (204). The two fixing rods (205) are fixed in accordance with the two fixing holes (104) on both sides of the charging hole (106) on the outer shell (101).

5. A system for rapid charging of an interventional catheterization lab robot according to claim 3, characterized in that, The wheel system consists of four groups, each including an L-shaped component (208). The top of the L-shaped component (208) is a horizontal section, and the bottom is a vertical section. A rotary servo motor (207) is vertically connected to the horizontal section, and a bearing hole is provided on the vertical section for the output shaft of an axial servo motor (206) to pass through and rotate. The output shaft of the axial servo motor (206) is connected to a wheel (209) for walking. Both the rotary servo motor (207) and the axial servo motor (206) are connected to the driver (201). The rotary servo motor (207) is fixed in a through groove provided on the base plate (203).

6. The system for rapid charging of an interventional catheterization lab robot according to claim 1, characterized in that, The receiving grid (2271) has two brackets (226) fixed on the support plate (225) on both sides. Each bracket (226) has a vertical linear guide rail (224) fixed on its inner side. Each vertical linear guide rail (224) has a first slider slidably connected to it. The first sliders on both sets of brackets (226) are fixed to the outer wall of the receiving grid (2271). The connecting plate (227) has a first threaded hole on both sides. The lead screws in the two vertical lead screw motor assemblies (212, 228) fixed on the support plate (225) cooperate with the two first threaded holes. The vertical lead screw motor assemblies (212, 228) are electrically connected to the driver (201).

7. A system for rapid charging of an interventional catheterization lab robot according to claim 1, characterized in that, The grasping and pushing mechanism includes two sets of horizontal linear guides (216). The horizontal linear guides (216) are fixed on the connecting plate (227) and located behind the receiving grid (2271). Each horizontal linear guide (216) is slidably connected to a second slider. Each set of second sliders is fixed with a push rod (211). Each push rod (211) has a second threaded hole at its bottom and an electromagnet (223) at its end for adsorbing the iron piece (107) on the battery (105). The connecting plate (227) is located outside the two sets of horizontal linear guides (216) and has two horizontal lead screw motor assemblies (229) fixed on it. The lead screw of the horizontal lead screw motor assembly (229) is engaged with the second threaded hole and is electrically connected to the driver (201).

8. A system for rapid charging of an interventional catheterization lab robot according to any one of claims 2-7, characterized in that, The head mechanism includes a turntable (218), the bottom shaft of which is rotatably connected to the top of the torso mechanism. A shaft gear is fixed to the upward extension of the shaft. A rotary motor (217) is connected to the top of the torso mechanism near the turntable (218) via a first motor bracket (215). The output shaft of the rotary motor (217) is upward and connected to a motor gear (214) that meshes with the shaft gear. A robot touch screen (222) is connected to the turntable (218). Two sets of cameras (221) are fixed on both sides of the robot touch screen (222) via camera brackets (213). The rotary motor (217) is connected to the driver (201).

9. A system for rapid charging of an interventional catheterization lab robot according to claim 8, characterized in that, A touch screen motor bracket (219) is fixed above the turntable (218), and a pitch motor (220) is fixed on the side of the touch screen motor bracket (219). The output shaft of the pitch motor (220) is fixed to the bottom of the camera bracket (213). The pitch motor (220) is connected to the driver (201).

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