Translational wire feeding mechanism of vascular intervention robot

Abstract

The present invention proposes a translational wire feeding mechanism of a vascular intervention robot, comprising a first wire pressing and conveying mechanism and a second wire pressing and conveying mechanism used in cooperation with each other, wherein the first crank-connecting rod mechanism can move the first wire pressing and conveying mechanism along a preset trajectory under the action of a corresponding driving mechanism, and the second crank-connecting rod mechanism can move the second wire pressing and conveying mechanism along a preset trajectory under the action of a corresponding driving mechanism, and the movement trajectories of the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism both include a curved segment and a substantially straight segment, and when the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism simultaneously move to the substantially straight segment trajectory, the two cooperate with each other to clamp the guide wire to achieve translational wire feeding. The above-mentioned translational wire feeding mechanism can achieve horizontal movement of the wire pressing and conveying mechanism through the crank-connecting rod mechanism, and since the contact area of ​​the pressure plate in the wire pressing and conveying mechanism is relatively large, there is no phenomenon of the guide wire coming out during the wire feeding process.

Description

Technical Field

[0001] The invention relates to the technical field of wire feeding mechanisms, and in particular to a translational wire feeding mechanism of a vascular intervention robot. Background Art

[0002] Vascular interventional surgery is a method in which doctors, under the guidance of DSA equipment, move guidewires and balloon stents through catheters along blood vessels to accurately reach the lesion for treatment. Traditional vascular interventional surgery is a procedure in which doctors observe the patient's blood vessels through DSA equipment, accurately manipulate the guidewire to move from the puncture site along the human blood vessels to the lesion, and deliver drugs or stents to the site through the guidewire and catheter to achieve minimally invasive treatment.

[0003] In traditional vascular interventional surgery, doctors need to be exposed to radiation for a long time to obtain the patient's vascular imaging information in time. In order to smoothly perform intravascular interventional surgery, the operating doctor needs to wear heavy lead-containing protective clothing to prevent the impact of radiation. At the same time, vascular interventional surgery requires rich clinical experience and superb surgical operation skills. In addition, long-term continuous surgery also poses a great challenge to the doctor's physical strength, which can easily cause fatigue and affect the quality of the surgery.

[0004] The use of intravascular interventional robots can replace doctors in performing intravascular interventional surgeries next to the operating bed, protecting doctors from harm from X-rays. At the same time, it can reduce the learning curve of interventional surgery, improve the situation where traditional interventional surgery is extremely dependent on the doctor's personal experience, and provide more precise operations for vascular interventional surgery.

[0005] When using robots to assist in vascular interventional surgery, using robots to deliver guidewires is one of the most core functions. The operation of guidewires is one of the core contents of vascular interventional surgery and determines the quality of the surgery. At present, the main form of the translational wire feeding mechanism is that the motor drives the active guide wheel to rotate, the driven guide wheel clamps the guide wire, and the main and driven guide wheels roll to achieve the translational movement of the guide wire. During the rolling process of the guide wheel, it is easy to slip and the guide wire slips out of the guide wheel, causing the wire feeding to stagnate. Summary of the invention

[0006] In order to solve the problems existing in the prior art, the present application proposes a translational wire feeding mechanism for a vascular interventional robot, which utilizes the cooperation of two pressure plates to achieve the function of translational wire feeding. Since the contact area of ​​the pressure plates is large, there is no phenomenon of the guide wire coming out during the wire feeding process.

[0007] In order to achieve the above-mentioned objectives, the present application proposes a translational wire feeding mechanism of a vascular interventional robot, comprising a first wire pressing and conveying mechanism and a second wire pressing and conveying mechanism that cooperate with each other. The first crank-connecting rod mechanism is capable of moving the first wire pressing and conveying mechanism along a preset trajectory under the action of a corresponding driving mechanism, and the second crank-connecting rod mechanism is capable of moving the second wire pressing and conveying mechanism along a preset trajectory under the action of a corresponding driving mechanism. The moving trajectories of the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism both include a curved segment and a basically straight segment. When the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism move to a trajectory that is basically a straight segment at the same time, the two cooperate with each other to clamp the guide wire to achieve translational wire feeding.

[0008] In some embodiments, the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism have the same structure and both include a pressing plate, and the pressing plate is connected to the first crank-connecting rod mechanism or the second crank-connecting rod mechanism via a connecting member.

[0009] In some embodiments, a fine-tuning structure is provided in both the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism, the fine-tuning structure includes the connecting piece, the pressure plate is slidably connected to the connecting piece, the connecting piece includes an upper shell and a lower shell connected to each other, the lower shell is connected to a corresponding crank-connecting rod mechanism, an accommodating cavity is formed inside the upper shell and the lower shell, a guide groove is provided on the inner wall of the bottom plate of the lower shell, the pressure plate is fixedly connected to the connecting frame, a sliding shaft is provided on the connecting frame inside the lower shell, the diameter of the sliding shaft is smaller than the width of the guide groove, so that the sliding shaft can slide relative to the guide groove and can also rotate, and first springs are respectively provided on both sides of the guide groove, one end of the first spring is provided at the inner wall of the lower shell, and the other end is provided at the connecting frame, the first spring can always have a force to push the pressure plate outward, and the position of the pressure plate can be fine-tuned by the above-mentioned fine-tuning structure.

[0010] In some embodiments, the first crank-connecting rod mechanism includes a first connecting rod fixedly connected to the lower shell body in the first wire pressing and conveying mechanism or fixedly connected to the first connecting shaft and the second connecting shaft arranged on the lower surface of the lower shell body, the first connecting rod is hinged to the second connecting rod and the third connecting rod through the shaft respectively, the other end of the second connecting rod is hinged to one end of the first crank through the shaft, the other end of the first crank is fixed to the second rotating shaft, the second rotating shaft is hinged to the first upper support frame arranged on the base plate, the second rotating shaft can rotate under the action of the corresponding driving mechanism, the first crank is above the first upper support frame, and the A fourth connecting rod is hinged to the warp axis in the middle of the second connecting rod, and the warp axis at the other end of the fourth connecting rod is hinged to the first upper support frame, a fifth connecting rod is hinged to the warp axis at the other end of the third connecting rod, and the warp axis at the other end of the fifth connecting rod is hinged to the first upper support frame, and the warp axis at the fourth connecting rod in the middle of the second connecting rod and the fifth connecting rod at the other end of the third connecting rod are respectively hinged to the sixth connecting rod; so that the first connecting rod, the second connecting rod, the third connecting rod and the sixth connecting rod constitute a set of parallel four-bar linkage mechanism; the first upper support frame, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod also constitute a set of parallel four-bar linkage mechanism, and the above connecting rods are all straight-line-shaped;

[0011] The second crank-connecting rod mechanism includes a seventh connecting rod fixedly connected to the lower shell body in the second wire pressing and conveying mechanism or fixedly connected to the first connecting shaft and the second connecting shaft arranged on the lower surface of the lower shell body, the seventh connecting rod upper warp shaft is hinged to the eighth connecting rod and the ninth connecting rod respectively, the other end of the eighth connecting rod is hinged to one end of the second crank through the warp shaft, the other end of the second crank is fixed on the fourth rotating shaft, the fourth rotating shaft is hinged to the second upper support frame arranged on the base plate, and the fourth rotating shaft can rotate under the action of the corresponding driving mechanism, the second crank is located below the second upper support frame, and is hinged at the middle part of the eighth connecting rod through the warp shaft The axis is hinged with a tenth connecting rod, the other end of the tenth connecting rod is hinged with the second upper support frame through the axis, the other end of the ninth connecting rod is hinged with an eleventh connecting rod through the axis, the other end of the eleventh connecting rod is hinged with the second upper support frame through the axis, the tenth connecting rod in the middle of the eighth connecting rod and the eleventh connecting rod at the other end of the ninth connecting rod are respectively hinged with the twelfth connecting rod through the axis; the seventh connecting rod, the eighth connecting rod, the ninth connecting rod and the twelfth connecting rod constitute a group of parallel four-bar linkage; the second upper support frame, the tenth connecting rod, the eleventh connecting rod and the twelfth connecting rod also constitute a group of parallel four-bar linkage, and the above connecting rods are all straight.

[0012] In some embodiments, the structure of the driving mechanism that drives the first crank-connecting rod mechanism and the second crank-connecting rod mechanism is as follows: it includes an input shaft, the input shaft can rotate under the action of a motor, the input shaft drives the first bevel gear to rotate, the first bevel gear is meshed with the second bevel gear, the second bevel gear is arranged on the driving shaft, the driving shaft is rotatably mounted on the lower support frame arranged on the lower surface of the substrate, the two ends of the driving shaft are respectively provided with a third bevel gear and a fifth bevel gear, the third bevel gear is meshed with the fourth bevel gear arranged on the first rotating shaft, the first rotating shaft is rotatably mounted on the substrate, or is rotatably connected to the substrate and the first upper support frame respectively, a first spur gear is provided on the first rotating shaft between the substrate and the first upper support frame, the first spur gear The gear train is meshed with the second spur gear arranged on the second rotating shaft, and the second rotating shaft is rotatably mounted on the first upper support frame, or is respectively rotatably connected to the base plate and the first upper support frame, and a first crank is provided on the second rotating shaft above the first upper support frame; the fifth bevel gear is meshed with the sixth bevel gear arranged on the third rotating shaft, and the third rotating shaft is respectively rotatably connected to the base plate and the second upper support frame, and a third spur gear is provided on the third rotating shaft above the second upper support frame, and the third spur gear is meshed with the fourth spur gear arranged on the fourth rotating shaft, and the fourth rotating shaft is rotatably mounted on the second upper support frame, or is respectively rotatably connected to the base plate and the second upper support frame, and a second crank is provided on the fourth rotating shaft below the second upper support frame.

[0013] In some embodiments, the first crank-connecting rod mechanism includes a curved first connecting rod, one end of the first connecting rod is hinged to a first connecting shaft arranged on the lower surface of a lower shell body in the first wire pressing and conveying mechanism, a torsion spring is sleeved on the first connecting shaft, two ends of the torsion spring are respectively fixed to the lower shell body and the first connecting rod, and a limiting boss and a limiting block that cooperate with each other are provided on the lower shell body and the first connecting rod; the other end of the first connecting rod is hinged to one end of the first crank through an axis, the other end of the first crank is fixed to a second rotating shaft, the second rotating shaft is hinged to a first upper support frame arranged on a base plate, or the second rotating shaft is hinged to the base plate and the first upper support frame respectively, the second rotating shaft can rotate under the action of a corresponding driving mechanism, and the first crank is located below the first upper support frame; a second connecting rod is hinged to the axis in the middle part of the first connecting rod, and the other end of the second connecting rod is hinged to the first upper support frame through an axis;

[0014] The second crank-connecting rod mechanism includes a curved seventh connecting rod, one end of the seventh connecting rod is hinged to the first connecting shaft arranged on the lower surface of the lower shell body in the second wire pressing and conveying mechanism, and a torsion spring is sleeved on the first connecting shaft, and the two ends of the torsion spring are respectively fixed on the lower shell body and the seventh connecting rod, and the lower shell body and the seventh connecting rod are provided with limit bosses and limit blocks that cooperate with each other; the other end of the seventh connecting rod is hinged to one end of the second crank through the shaft, and the other end of the second crank is fixed on the fourth rotating shaft, and the fourth rotating shaft is hinged to the second upper support frame arranged on the base plate, or the fourth rotating shaft is respectively hinged to the base plate and the second upper support frame, and the fourth rotating shaft can rotate under the action of the corresponding driving mechanism, and the second crank is below the second upper support frame; an eighth connecting rod is hinged to the shaft in the middle part of the seventh connecting rod, and the other end of the eighth connecting rod is hinged to the second upper support frame through the shaft.

[0015] In some embodiments, the structure of the driving mechanism that drives the first crank-connecting rod mechanism and the second crank-connecting rod mechanism is as follows: it includes an input shaft, the input shaft can rotate under the action of a motor, the input shaft drives the first bevel gear to rotate, the first bevel gear is meshed with the second bevel gear, the second bevel gear is arranged on the driving shaft, the driving shaft is rotatably mounted on a lower support frame arranged on the lower surface of the substrate, a third bevel gear and a fifth bevel gear are respectively arranged at both ends of the driving shaft, the third bevel gear is meshed with a fourth bevel gear arranged on the first rotating shaft, the first rotating shaft is rotatably connected to the substrate and the first upper supporting frame respectively, a first spur gear is arranged on the first rotating shaft above the first upper supporting frame, the first spur gear is meshed with a fourth bevel gear arranged on the second rotating shaft The gear train is meshed with the second spur gear on the gear train, the second shaft is rotatably mounted on the first upper support frame, or is rotatably connected to the base plate and the first upper support frame respectively, and a first crank is provided on the second shaft below the first upper support frame; the fifth bevel gear is meshed with the sixth bevel gear arranged on the third shaft, the third shaft is rotatably connected to the base plate and the second upper support frame respectively, a third spur gear is provided on the third shaft above the second upper support frame, the third spur gear is meshed with the fourth spur gear arranged on the fourth shaft, the fourth shaft is rotatably mounted on the second upper support frame, or is rotatably connected to the base plate and the second upper support frame respectively, and a second crank is provided on the fourth shaft below the second upper support frame.

[0016] The present application also proposes a translational wire feeding mechanism for a vascular intervention robot, comprising two groups of the above-mentioned translational wire feeding mechanisms, wherein the phase difference between the two groups of translational wire feeding mechanisms is 180° to achieve intermittent transmission of the guide wire.

[0017] The present application also proposes a translational wire feeding mechanism for a vascular interventional robot, comprising three groups of the above-mentioned translational wire feeding mechanisms, wherein the phases of the three groups of translational wire feeding mechanisms differ by 120° in sequence to achieve continuous wire feeding.

[0018] In some embodiments, a sliding mechanism is also provided, through which the pressure plate located on the same side of the guide wire can be moved in a direction away from the guide wire. At this time, each group of translational wire feeding mechanisms shares a base plate, a first upper support frame and a second upper support frame, and the sliding mechanism includes a slide groove fixedly connected to the base plate, and the slide groove corresponds to the first upper support frame / the second upper support frame, and the first upper support frame / the second upper support frame is fixed on the slide plate, and the slide plate can slide in the slide groove; the first rotating shaft / the third rotating shaft is rotatably connected to the slide plate and passes through a slide hole provided on the slide groove, and a connecting plate provided on the lower surface of the slide plate passes through the slide hole, and the third bevel gear / the fifth bevel gear is rotatably mounted on the connecting plate, and the third bevel gear / the fifth bevel gear is rotatably mounted on the connecting plate. The gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train

[0019] In some embodiments, each group of translational wire feeding mechanisms shares an input shaft, and each group of translational wire feeding mechanisms is linked via a transmission mechanism. When the input shaft rotates, each group of translational wire feeding mechanisms will move.

[0020] The beneficial effect of the scheme of the present application lies in the translational wire feeding mechanism of the above-mentioned vascular intervention robot, which utilizes the cooperation of two pressure plates to realize the function of translational wire feeding. Since the contact area of ​​the pressure plates is large, there is no phenomenon of the guide wire coming out during the wire feeding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the first embodiment is shown.

[0022] Figure 2 Shows Figure 1 Another angle view of.

[0023] Figure 3 Shows Figure 2 Schematic diagram of the local structure.

[0024] Figure 4 A schematic diagram of the moving trajectory of the wire pressing and conveying mechanism is shown.

[0025] Figure 5 A schematic structural diagram of a lower shell of a connecting member connected to a pressing plate is shown.

[0026] Figure 6 A schematic structural diagram showing the movable connection between the pressing plate and the lower shell is shown.

[0027] Figure 7 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the second embodiment is shown.

[0028] Figure 8 Shows Figure 7 Another angle view of.

[0029] Fig. 9 Shows Figure 8 Schematic diagram of the local structure.

[0030] Fig.10 A partial structural schematic diagram of the sliding mechanism is shown.

[0031] Fig.11 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the third embodiment is shown.

[0032] Fig.12 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the fourth embodiment is shown.

[0033] Fig.13 Shows Fig.12 Schematic diagram of the local structure.

[0034] Fig.14 (a) and (b) are schematic diagrams showing the shape of the first connecting rod in the fourth embodiment.

[0035] Fig.15 A schematic diagram showing the connection relationship between the connecting member and the first connecting rod in the fourth embodiment is shown.

[0036] Fig.16 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the fifth embodiment is shown.

[0037] Fig.17 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the sixth embodiment is shown.

[0038] Figure numerals: A-guide wire, 1-first wire pressing and conveying mechanism, 2-second wire pressing and conveying mechanism, 3-first crank-connecting rod mechanism, 4-second crank-connecting rod mechanism, 5-driving mechanism, 6-base plate, 7-first upper support frame, 8-second upper support frame, 9-lower support frame, 10-sliding mechanism, 11-transmission mechanism, 101-pressing plate, 102-connecting member, 1021-upper shell, 1022-lower shell, 1023-connecting frame, 1024-sliding shaft, 102 5-accommodating cavity, 1026-guide groove, 1027-first spring, 1028-first connecting shaft, 1029-second connecting shaft, 10210-torsion spring, 10211-limiting boss, 301-first connecting rod, 302-second connecting rod, 303-first crank, 304-third connecting rod, 305-fourth connecting rod, 306-fifth connecting rod, 307-sixth connecting rod, 308-limiting block, 401-seventh connecting rod, 402-eighth connecting rod, 403-first 2nd crank, 404-9th connecting rod, 405-10th connecting rod, 406-11th connecting rod, 407-12th connecting rod, 501-input shaft, 502-first bevel gear, 503-second bevel gear, 504-driving shaft, 505-third bevel gear, 506-fourth bevel gear, 507-second spur gear, 508-fifth bevel gear, 509-sixth bevel gear, 5010-third rotating shaft, 5011-third spur gear, 5012-fourth spur gear, 5 013-the fourth rotating shaft, 1001-the sliding groove, 1002-the sliding plate, 1003-the sliding hole, 1004-the connecting plate, 1005-the ball spline shaft, 1006-the handle, 1007-the cam, 1008-the first limiting block, 1009-the second limiting block, 10010-the second spring, 1101-the first pulley, 1102-the second pulley, 1103-the first belt, 1104-the third pulley, 1105-the fourth pulley, 1106-the second belt. DETAILED DESCRIPTION

[0039] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0040] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0041] like Figure 1As shown, the translational wire feeding mechanism of the vascular intervention robot involved in the present application includes a first wire pressing and conveying mechanism 1 and a second wire pressing and conveying mechanism 2 that cooperate with each other. The first crank-connecting rod mechanism 3 can move the first wire pressing and conveying mechanism 1 along a preset trajectory under the action of the corresponding driving mechanism 5, and the second crank-connecting rod mechanism 4 can move the second wire pressing and conveying mechanism 2 along a preset trajectory under the action of the corresponding driving mechanism 5. The movement trajectories of the first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 are mirror-symmetrical, and both include a curved segment part and a substantially straight segment part, such as Figure 4 As shown, when the first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 simultaneously move to a trajectory that is basically a straight line segment, the two cooperate with each other to clamp the guide wire A to achieve translational wire feeding.

[0042] The first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 have the same structure and both include a pressing plate 101, and the pressing plate 101 is connected to the first crank-connecting rod mechanism 3 or the second crank-connecting rod mechanism 4 via a connecting member 102, and the pressing plate 101 is located above the first crank-connecting rod mechanism 3 and the second crank-connecting rod mechanism 4, so as to avoid interference with the connecting rods in the two crank-connecting rod mechanisms during movement when moving along a preset trajectory.

[0043] Since it is impossible to achieve absolutely straight wire feeding, a fine-tuning structure is provided in the first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 involved in the present application, so as to be able to fine-tune the pressing plate 101. When the pressing plate 101 performs wire feeding movement at a trajectory that is basically a straight line segment, the two pressing plates 101 can fully clamp the guide wire A. Specifically, the fine-tuning structure includes a connecting member 102, the pressing plate 101 is slidably connected to the connecting member 102, the connecting member 102 includes an upper shell 1021 and a lower shell 1022 that are connected, the lower shell 1022 is connected to a corresponding crank connecting rod mechanism, a receiving cavity 1025 is formed inside the upper shell 1021 and the lower shell 1022, a guide groove 1026 is provided on the inner wall of the bottom plate of the lower shell 1022, the pressing plate 101 is fixedly connected to a connecting frame 1023, and a sliding shaft 1024 is provided on the connecting frame 1023 inside the lower shell 1022, The diameter of the sliding shaft 1024 is smaller than the width of the guide groove 1026, so that the sliding shaft 1024 can slide relative to the guide groove 1026 and also rotate. A first spring 1027 is provided on both sides of the guide groove 1026, one end of the first spring 1027 is arranged on the inner wall of the lower shell 1022, and the other end is arranged on the connecting frame 1023. The first spring 1027 can always have a force to push the pressure plate 101 outward, and the position of the pressure plate 101 can be fine-tuned through the above-mentioned fine-tuning structure to meet usage requirements.

[0044] Example 1

[0045] like Figures 1 to 6 As shown, in the present embodiment, the first crank-connecting rod mechanism 3 includes a first connecting rod 301 fixedly connected to the lower shell 1022 in the first wire pressing and conveying mechanism 1 or fixedly connected to the first connecting shaft 1028 and the second connecting shaft 1029 arranged on the lower surface of the lower shell 1022, the first connecting rod 301 is hinged to the second connecting rod 302 and the third connecting rod 304 through the shaft respectively, the other end of the second connecting rod 302 is hinged to one end of the first crank 303 through the shaft, the other end of the first crank 303 is fixed on the second rotating shaft, the second rotating shaft is hinged to the first upper support frame 7 arranged on the base plate 6, the second rotating shaft can rotate under the action of the corresponding driving mechanism 5, the first crank 303 is above the first upper support frame 7, and the second connecting rod 3 02, a fourth connecting rod 305 is hinged to the warp axis in the middle part, and the other end of the fourth connecting rod 305 is hinged to the first upper support frame 7 through the warp axis, and the other end of the third connecting rod 304 is hinged to the warp axis with the fifth connecting rod 306, and the other end of the fifth connecting rod 306 is hinged to the first upper support frame 7 through the warp axis, and the fourth connecting rod 305 in the middle part of the second connecting rod 302 and the fifth connecting rod 306 at the other end of the third connecting rod 304 are respectively hinged to the sixth connecting rod 307 through the warp axis; so that the first connecting rod 301, the second connecting rod 302, the third connecting rod 304 and the sixth connecting rod 307 constitute a group of parallel four-bar linkage; the first upper support frame 7, the fourth connecting rod 305, the fifth connecting rod 306 and the sixth connecting rod 307 also constitute a group of parallel four-bar linkage, and the above connecting rods are all straight.

[0046] The second crank-connecting rod mechanism 4 includes a seventh connecting rod 401 fixedly connected to the lower shell body 1022 in the second wire pressing and conveying mechanism 2 or fixedly connected to the first connecting shaft 1028 and the second connecting shaft 1029 arranged on the lower surface of the lower shell body 1022, the seventh connecting rod 401 is hinged to the eighth connecting rod 402 and the ninth connecting rod 404 through the shaft respectively, the other end of the eighth connecting rod 402 is hinged to one end of the second crank 403 through the shaft, the other end of the second crank 403 is fixed on the fourth rotating shaft 5013, the fourth rotating shaft 5013 is hinged to the second upper support frame 8 arranged on the base plate 6, the fourth rotating shaft 5013 can rotate under the action of the corresponding driving mechanism 5, the second crank 403 is located below the second upper support frame 8, and is hinged to the eighth connecting rod 402. The middle warp axis is hinged with the tenth connecting rod 405, and the other end of the warp axis of the tenth connecting rod 405 is hinged with the second upper support frame 8; the other end of the ninth connecting rod 404 is hinged with the eleventh connecting rod 406, and the other end of the warp axis of the eleventh connecting rod 406 is hinged with the second upper support frame 8; the tenth connecting rod 405 in the middle of the eighth connecting rod 402 and the eleventh connecting rod 406 at the other end of the ninth connecting rod 404 are respectively hinged with the twelfth connecting rod 407; so that the seventh connecting rod 401, the eighth connecting rod 402, the ninth connecting rod 404 and the twelfth connecting rod 407 constitute a group of parallel four-bar linkage; the second upper support frame 8, the tenth connecting rod 405, the eleventh connecting rod 406 and the twelfth connecting rod 407 also constitute a group of parallel four-bar linkage, and the above connecting rods are all linear.

[0047] The structure of the driving mechanism 5 that drives the first crank-connecting rod mechanism 3 and the second crank-connecting rod mechanism 4 is as follows: it includes an input shaft 501, and the input shaft 501 can rotate under the action of the motor, and the input shaft 501 drives the first bevel gear 502 to rotate, and the first bevel gear 502 is meshed with the second bevel gear 503, and the second bevel gear 503 is arranged on the driving shaft 504, and the driving shaft 504 is rotatably mounted on the lower support frame 9 arranged on the lower surface of the base plate 6, and the two ends of the driving shaft 504 are respectively provided with a third bevel gear 505 and a fifth bevel gear 508, and the third bevel gear 505 is meshed with the fourth bevel gear 506 arranged on the first rotating shaft, and the first rotating shaft is rotatably mounted on the base plate 6, or is respectively rotatably connected with the base plate 6 and the first upper support frame 7, and a first spur gear is arranged on the first rotating shaft between the base plate 6 and the first upper support frame 7, and the first spur gear is meshed with the fourth bevel gear 506 arranged on the second rotating shaft. The first crank 303 is arranged on the second rotating shaft above the first upper support frame 7; the fifth bevel gear 508 is meshed with the sixth bevel gear 509 arranged on the third rotating shaft 5010, and the third rotating shaft 5010 is respectively connected to the substrate 6 and the second upper support frame 8, and a third spur gear 5011 is arranged on the third rotating shaft 5010 above the second upper support frame 8, and the third spur gear 5011 is meshed with the fourth spur gear 5012 arranged on the fourth rotating shaft 5013, and the fourth rotating shaft 5013 is rotatably installed on the second upper support frame 8, or is respectively connected to the substrate 6 and the second upper support frame 8, and a second crank 403 is arranged on the fourth rotating shaft 5013 below the second upper support frame 8.

[0048] During specific use, when the input shaft 501 is driven to rotate, the drive shaft 504 can be driven to rotate, and then the first crank 303 and the second crank 403 can be rotated. After that, under the action of the first crank-connecting rod mechanism 3 and the second crank-connecting rod mechanism 4, the two pressure plates 101 can be moved along a preset trajectory. When the first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 simultaneously move to a trajectory that is basically a straight line segment, the two cooperate with each other to clamp the guide wire A to achieve intermittent linear wire feeding.

[0049] Example 2

[0050] like Figures 7-10As shown, in this embodiment, two groups of translational wire feeding mechanisms in Example 1 are included, and the phase difference between the two groups of translational wire feeding mechanisms is 180°, so as to shorten the intermittent time and improve the wire feeding efficiency. Specifically, the two groups of translational wire feeding mechanisms can use a large base plate 6, a first upper support frame 7, a second upper support frame 8 and an input shaft 501. When an input shaft 501 is used, the two groups of translational wire feeding mechanisms are linked through a transmission mechanism 11. The transmission mechanism 11 includes a first pulley 1101 and a second pulley 1102 respectively arranged on two drive shafts 504. The first pulley 1101 and the second pulley 1102 are connected by a first belt 1103. Therefore, when the input shaft 501 rotates, the two drive shafts 504 will rotate, so that the intermittent transmission of the guide wire A is realized, but the intermittent time is shorter than that of Example 1.

[0051] In order to facilitate the insertion of the guide wire A, in the present embodiment, a sliding mechanism 10 is further provided, through which the pressing plate 101 located on the same side of the guide wire A can be moved in a direction away from the guide wire A, and the sliding mechanism 10 includes a slide groove 1001 fixedly connected to the base plate 6, and the slide groove 1001 corresponds to the first upper support frame 7 / the second upper support frame 8 (in the present embodiment, the slide groove 1001 corresponds to the first upper support frame 7), the first upper support frame 7 / the second upper support frame 8 is fixed on the slide plate 1002, and the slide plate 1002 can Sliding in the slide groove 1001, in order to make the sliding effect better, a slider is provided on the lower surface of the slide plate 1002, and a slide rail used in conjunction with the slider is provided on the slide groove 1001; the first rotating shaft / third rotating shaft 5010 is rotatably connected with the slide plate 1002 and passes through a sliding hole 1003 arranged on the slide groove 1001, and a connecting plate 1004 (for example, two) arranged on the lower surface of the slide plate 1002 passes through the sliding hole 1003, and the third bevel gear 505 / fifth bevel gear 508 is rotatably installed on the connecting plate 1004, and the third bevel gear The wheel 505 / fifth bevel gear 508 can rotate under the action of the ball spline shaft 1005 set at the end of the driving shaft 504, and when the slide plate 1002 slides, the connecting plate 1004 together with the third bevel gear 505 / fifth bevel gear 508 can slide along the ball spline shaft 1005; the first upper support frame 7 / second upper support frame 8 is rotatably mounted with a handle 1006, and the handle 1006 is provided with a cam 1007. When the handle 1006 is rotated, the cam 1007 can be pressed against the inner wall of the slide groove 1001, so that the slide plate 1002 slides. 002 slides, thereby causing the corresponding pressure plate 101 to move in the direction away from the guide wire A, and a first limit block 1008 and a second limit block 1009 for limiting the rotation range of the cam 1007 are also provided on the first upper support frame 7 / the second upper support frame 8, or on the slide plate 1002, and a second spring 10010 is provided on both sides of the slide groove 1001, one end of the second spring 10010 is connected to the slide groove 1001, and the other end is connected to the slide plate 1002, and the pressure plate 101 can be reset by the second spring 10010.

[0052] When the guide wire A needs to be loaded, the handle 1006 is rotated. During the rotation, the cam 1007 can abut against the inner wall of the slide groove 1001, so that the slide plate 1002 slides, and then the corresponding pressure plate 101 moves away from the guide wire A. At this time, the cam 1007 is limited by the first limit block 1008; after the guide wire A is inserted, under the action of the second spring 10010, the handle 1006 can also be rotated in the opposite direction to realize the resetting of the pressure plate 101. At this time, the cam 1007 is limited by the second limit block 1009.

[0053] Example 3

[0054] like Fig.11 As shown, in this embodiment, three groups of translational wire feeding mechanisms in embodiment 1 are included, and the phases of the three groups of translational wire feeding mechanisms are sequentially different by 120°, so as to realize continuous wire feeding. Specifically, the three groups of translational wire feeding mechanisms can use a large base plate 6, a first upper support frame 7, a second upper support frame 8 and an input shaft 501. When an input shaft 501 is used, the three groups of translational wire feeding mechanisms are linked by a transmission mechanism 11, and the transmission mechanism 11 includes a first pulley 1101 and a second pulley 1102 respectively provided on one group of two adjacent drive shafts 504, and the first pulley 1101 and the second pulley 1102 are connected by a first belt 1103, and a third pulley 1104 and a fourth pulley 1105 are respectively provided on another group of two adjacent drive shafts 504, and the third pulley 1104 and the fourth pulley 1105 are connected by a second belt 1106. Therefore, when the input shaft 501 rotates, the three drive shafts 504 will rotate, so that the continuous transmission of the guide wire A is realized.

[0055] In order to facilitate the insertion of the guide wire A, a sliding mechanism 10 is further provided in the present embodiment. The structure and arrangement of the sliding mechanism 10 are the same as those in Embodiment 2, and will not be described in detail herein.

[0056] Example 4

[0057] like Figures 12 to 15 As shown, in this embodiment, the first crank-connecting rod mechanism 3 includes a first connecting rod 301 in a curved shape, one end of the first connecting rod 301 is hinged to a first connecting shaft 1028 arranged on the lower surface of the lower shell 1022 in the first wire pressing and conveying mechanism 1, a torsion spring 10210 is sleeved on the first connecting shaft 1028, and the two ends of the torsion spring 10210 are respectively fixed to the lower shell 1022 and the first connecting rod 301, and a limiting boss 10211 and a limiting block 308 that cooperate with each other are provided on the lower shell 1022 and the first connecting rod 301; the other end of the first connecting rod 301 is hinged to a first connecting shaft 1028 arranged on the lower surface of the lower shell 1022 One end of the first crank 303 is hinged to one end of the first crank 303 through an axis, the other end of the first crank 303 is fixed on a second rotating shaft, the second rotating shaft is hinged to the first upper support frame 7 arranged on the base plate 6, or the second rotating shaft is hinged to the base plate 6 and the first upper support frame 7 respectively, and the second rotating shaft can rotate under the action of the corresponding driving mechanism 5. In this embodiment, the first crank 303 is located below the first upper support frame 7; a second connecting rod 302 is hinged to the axis in the middle part of the first connecting rod 301, and the other end of the second connecting rod 302 is hinged to the first upper support frame 7 through an axis.

[0058] The second crank-connecting rod mechanism 4 includes a curved seventh connecting rod 401, one end of the seventh connecting rod 401 is hinged to a first connecting shaft 1028 arranged on the lower surface of the lower shell 1022 in the second wire pressing and conveying mechanism 2, a torsion spring 10210 is sleeved on the first connecting shaft 1028, the two ends of the torsion spring 10210 are respectively fixed to the lower shell 1022 and the seventh connecting rod 401, and a limiting boss 10211 and a limiting block 308 that cooperate with each other are provided on the lower shell 1022 and the seventh connecting rod 401; the other end of the seventh connecting rod 401 is connected to the lower shell 1022 through the shaft. One end of the second crank 403 is hinged, and the other end of the second crank 403 is fixed on the fourth rotating shaft. The fourth rotating shaft is hinged to the second upper support frame 8 arranged on the base plate 6, or the fourth rotating shaft is hinged to the base plate 6 and the second upper support frame 8 respectively. The fourth rotating shaft can rotate under the action of the corresponding driving mechanism 5. In this embodiment, the second crank 403 is located below the second upper support frame 8; the eighth connecting rod 402 is hinged to the middle part of the seventh connecting rod 401 through the axis, and the other end of the eighth connecting rod 402 is hinged to the second upper support frame 8 through the axis.

[0059] The structure of the driving mechanism 5 for driving the first crank-connecting rod mechanism 3 and the second crank-connecting rod mechanism 4 is as follows, which is basically consistent with Example 1: it includes an input shaft 501, and the input shaft 501 can rotate under the action of the motor, and the input shaft 501 drives the first bevel gear 502 to rotate, the first bevel gear 502 is meshed with the second bevel gear 503, and the second bevel gear 503 is arranged on the driving shaft 504, and the driving shaft 504 is rotatably mounted on the lower support frame 9 arranged on the lower surface of the base plate 6, and the two ends of the driving shaft 504 are respectively provided with a third bevel gear 505 and a fifth bevel gear 508, and the third bevel gear 505 is meshed with the fourth bevel gear 506 arranged on the first rotating shaft, and the first rotating shaft is rotatably connected with the base plate 6 and the first upper supporting frame 7 respectively, and a first spur gear is provided on the first rotating shaft on the first upper supporting frame 7, and the first spur gear is meshed with the second spur gear arranged on the second rotating shaft The gears 507 are meshed with each other, and the second rotating shaft is rotatably installed on the first upper support frame 7, or is respectively rotatably connected to the substrate 6 and the first upper support frame 7, and a first crank 303 is provided on the second rotating shaft below the first upper support frame 7; the fifth bevel gear 508 is meshed with the sixth bevel gear 509 arranged on the third rotating shaft 5010, and the third rotating shaft 5010 is respectively rotatably connected to the substrate 6 and the second upper support frame 8, and a third spur gear 5011 is provided on the third rotating shaft 5010 above the second upper support frame 8, and the third spur gear 5011 is meshed with the fourth spur gear 5012 arranged on the fourth rotating shaft 5013, and the fourth rotating shaft 5013 is rotatably installed on the second upper support frame 8, or is respectively rotatably connected to the substrate 6 and the second upper support frame 8, and a second crank 403 is provided on the fourth rotating shaft 5013 below the second upper support frame 8.

[0060] In a specific use process, when the input shaft 501 is driven to rotate, the driving shaft 504 can be driven to rotate, thereby rotating the first crank 303 and the second crank 403. After that, under the action of the first crank-connecting rod mechanism 3 and the second crank-connecting rod mechanism 4, the two pressing plates 101 can be moved along a preset trajectory. When the first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 simultaneously move to a trajectory that is basically a straight line segment, the two pressing plates 101 contact each other, and the first wire pressing and conveying mechanism 1 can rotate relative to the first connecting rod 301, and the second wire pressing and conveying mechanism 2 can rotate relative to the seventh connecting rod 401. Rotate until the two pressure plates 101 are completely in contact, that is, parallel to the guide wire A, and the two cooperate with each other to clamp the guide wire A to achieve intermittent translational wire feeding; when the first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 move to the curved section of the moving trajectory, the two pressure plates 101 are separated. At this time, under the action of the torsion spring 10210, the first wire pressing and conveying mechanism 1 rotates relative to the first connecting rod 301, and the second wire pressing and conveying mechanism 2 rotates relative to the seventh connecting rod 401. The cooperation of the limiting boss 10211 and the limiting block 308 can prevent the first wire pressing and conveying mechanism 1 and the second wire pressing and conveying mechanism 2 from rotating freely.

[0061] Example 5

[0062] like Fig.16 As shown, in this embodiment, two groups of translational wire feeding mechanisms in Example 4 are included, and the phase difference between the two groups of translational wire feeding mechanisms is 180°, so as to shorten the intermittent time and improve the wire feeding efficiency. Specifically, the two groups of translational wire feeding mechanisms can use a large base plate 6, a first upper support frame 7, a second upper support frame 8 and an input shaft 501. When an input shaft 501 is used, the two groups of translational wire feeding mechanisms are linked through a transmission mechanism 11. The transmission mechanism 11 includes a first pulley 1101 and a second pulley 1102 respectively arranged on two drive shafts 504. The first pulley 1101 and the second pulley 1102 are connected by a first belt 1103. Therefore, when the input shaft 501 rotates, the two drive shafts 504 will rotate, so that the intermittent transmission of the guide wire A is realized, but the intermittent time is shorter than that of Example 4.

[0063] In order to facilitate the insertion of the guide wire A, a sliding mechanism 10 is further provided in the present embodiment. The structure and arrangement of the sliding mechanism 10 are the same as those in Embodiment 2, and will not be described in detail herein.

[0064] Example 6

[0065] like Fig.17As shown, in this embodiment, three groups of translational wire feeding mechanisms in Embodiment 4 are included, and the phases of the three groups of translational wire feeding mechanisms are sequentially different by 120°, so as to realize continuous wire feeding. Specifically, the three groups of translational wire feeding mechanisms can use a large base plate 6, a first upper support frame 7, a second upper support frame 8 and an input shaft 501. When an input shaft 501 is used, the three groups of translational wire feeding mechanisms are linked by a transmission mechanism 11, and the transmission mechanism 11 includes a first pulley 1101 and a second pulley 1102 respectively arranged on one group of two adjacent drive shafts 504, and the first pulley 1101 and the second pulley 1102 are connected by a first belt 1103, and a third pulley 1104 and a fourth pulley 1105 are respectively arranged on another group of two adjacent drive shafts 504, and the third pulley 1104 and the fourth pulley 1105 are connected by a second belt 1106. Therefore, when the input shaft 501 rotates, the three drive shafts 504 will rotate, so that the continuous transmission of the guide wire A is realized.

[0066] In order to facilitate the insertion of the guide wire A, a sliding mechanism 10 is further provided in the present embodiment. The structure and arrangement of the sliding mechanism 10 are the same as those in Embodiment 2, and will not be described in detail herein.

[0067] The translational wire feeding mechanism of the vascular interventional robot involved in the present application can realize the horizontal movement of the pressure plate through the crank-connecting rod mechanism. By utilizing the cooperation of two pressure plates, the function of translational wire feeding can be realized. Since the contact area of ​​the pressure plate is large, there is no phenomenon of the guide wire coming out during the wire feeding process. In addition, intermittent transmission of the guide wire can be achieved by adopting one or two translational wire feeding mechanisms, and continuous transmission of the guide wire can be achieved by adopting three translational wire feeding mechanisms cooperating with each other.

[0068] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A translational wire feeding mechanism of a vascular intervention robot, characterized in that: It includes a first wire pressing and conveying mechanism and a second wire pressing and conveying mechanism that cooperate with each other. The first crank-connecting rod mechanism can move the first wire pressing and conveying mechanism along a preset trajectory under the action of a corresponding driving mechanism. The second crank-connecting rod mechanism can move the second wire pressing and conveying mechanism along a preset trajectory under the action of a corresponding driving mechanism. The moving trajectories of the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism both include a curved segment and a basically straight segment. When the first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism move to a basically straight segment trajectory at the same time, the two cooperate with each other to clamp the guide wire to achieve linear wire feeding.

2. The translational wire feeding mechanism of the vascular intervention robot according to claim 1, characterized in that: The first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism have the same structure and both include a pressing plate, and the pressing plate is connected to the first crank-connecting rod mechanism or the second crank-connecting rod mechanism via a connecting member.

3. The translational wire feeding mechanism of the vascular intervention robot according to claim 2, characterized in that: The first wire pressing and conveying mechanism and the second wire pressing and conveying mechanism are both provided with a fine-adjusting structure, and the fine-adjusting structure includes the connecting piece, the pressure plate is slidably connected with the connecting piece, the connecting piece includes an upper shell and a lower shell connected to each other, the lower shell is connected with a corresponding crank-connecting rod mechanism, a accommodating cavity is formed inside the upper shell and the lower shell, a guide groove is provided on the inner wall of the bottom plate of the lower shell, the pressure plate is fixedly connected to the connecting frame, and a sliding shaft is provided on the connecting frame inside the lower shell, the diameter of the sliding shaft is smaller than the width of the guide groove, so that the sliding shaft can slide relative to the guide groove and can also rotate, and first springs are respectively provided on both sides of the guide groove, one end of the first spring is arranged on the inner wall of the lower shell, and the other end is arranged on the connecting frame, the first spring can always have a force to push the pressure plate outward, and the position of the pressure plate can be fine-tuned by the above-mentioned fine-adjusting structure.

4. The translational wire feeding mechanism of the vascular intervention robot according to claim 3, characterized in that: The first crank-connecting rod mechanism includes a first connecting rod fixedly connected to the lower shell body in the first wire pressing and conveying mechanism or fixedly connected to the first connecting shaft and the second connecting shaft arranged on the lower surface of the lower shell body, the first connecting rod upper warp axis is hinged to the second connecting rod and the third connecting rod respectively, the other end of the second connecting rod is hinged to one end of the first crank through the warp axis, the other end of the first crank is fixed to the second rotating shaft, the second rotating shaft is hinged to the first upper support frame arranged on the base plate, the second rotating shaft can rotate under the action of the corresponding driving mechanism, the first crank is above the first upper support frame, and the second connecting rod is hinged to the first upper support frame. A fourth connecting rod is hinged to the warp axis in the middle, and the warp axis at the other end of the fourth connecting rod is hinged to the first upper support frame, a fifth connecting rod is hinged to the warp axis at the other end of the third connecting rod, and the warp axis at the other end of the fifth connecting rod is hinged to the first upper support frame, and the warp axis at the fourth connecting rod in the middle of the second connecting rod and the fifth connecting rod at the other end of the third connecting rod are respectively hinged to the sixth connecting rod; so that the first connecting rod, the second connecting rod, the third connecting rod and the sixth connecting rod constitute a set of parallel four-bar linkage mechanism; the first upper support frame, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod also constitute a set of parallel four-bar linkage mechanism, and the above connecting rods are all linear; The second crank-connecting rod mechanism includes a seventh connecting rod fixedly connected to the lower shell body in the second wire pressing and conveying mechanism or fixedly connected to the first connecting shaft and the second connecting shaft arranged on the lower surface of the lower shell body, the seventh connecting rod upper warp shaft is hinged to the eighth connecting rod and the ninth connecting rod respectively, the other end of the eighth connecting rod is hinged to one end of the second crank through the warp shaft, the other end of the second crank is fixed on the fourth rotating shaft, the fourth rotating shaft is hinged to the second upper support frame arranged on the base plate, and the fourth rotating shaft can rotate under the action of the corresponding driving mechanism, the second crank is located below the second upper support frame, and is hinged at the middle part of the eighth connecting rod through the warp shaft The axis is hinged with a tenth connecting rod, the other end of the tenth connecting rod is hinged with the second upper support frame through the axis, the other end of the ninth connecting rod is hinged with an eleventh connecting rod through the axis, the other end of the eleventh connecting rod is hinged with the second upper support frame through the axis, the tenth connecting rod in the middle of the eighth connecting rod and the eleventh connecting rod at the other end of the ninth connecting rod are respectively hinged with the twelfth connecting rod through the axis; the seventh connecting rod, the eighth connecting rod, the ninth connecting rod and the twelfth connecting rod constitute a group of parallel four-bar linkage; the second upper support frame, the tenth connecting rod, the eleventh connecting rod and the twelfth connecting rod also constitute a group of parallel four-bar linkage, and the above connecting rods are all straight.

5. The translational wire feeding mechanism of the vascular intervention robot according to claim 4, characterized in that: The structure of the driving mechanism that drives the first crank-connecting rod mechanism and the second crank-connecting rod mechanism is as follows: it includes an input shaft, the input shaft can rotate under the action of the motor, the input shaft drives the first bevel gear to rotate, the first bevel gear is meshed with the second bevel gear, the second bevel gear is arranged on the driving shaft, the driving shaft is rotatably mounted on the lower support frame arranged on the lower surface of the substrate, the two ends of the driving shaft are respectively provided with a third bevel gear and a fifth bevel gear, the third bevel gear is meshed with the fourth bevel gear arranged on the first rotating shaft, the first rotating shaft is rotatably mounted on the substrate, or is rotatably connected to the substrate and the first upper support frame respectively, a first spur gear is arranged on the first rotating shaft between the substrate and the first upper support frame, the first spur gear is meshed with the fourth bevel gear arranged on the first rotating shaft The second spur gear on the second rotating shaft is meshed with the second rotating shaft, and the second rotating shaft is rotatably mounted on the first upper support frame, or is respectively rotatably connected to the base plate and the first upper support frame, and a first crank is provided on the second rotating shaft above the first upper support frame; the fifth bevel gear is meshed with the sixth bevel gear arranged on the third rotating shaft, the third rotating shaft is respectively rotatably connected to the base plate and the second upper support frame, and a third spur gear is provided on the third rotating shaft above the second upper support frame, and the third spur gear is meshed with the fourth spur gear arranged on the fourth rotating shaft, and the fourth rotating shaft is rotatably mounted on the second upper support frame, or is respectively rotatably connected to the base plate and the second upper support frame, and a second crank is provided on the fourth rotating shaft below the second upper support frame.

6. The translational wire feeding mechanism of the vascular intervention robot according to claim 3, characterized in that: The first crank-connecting rod mechanism includes a curved first connecting rod, one end of the first connecting rod is hinged to a first connecting shaft arranged on the lower surface of a lower shell body in the first wire pressing and feeding mechanism, a torsion spring is sleeved on the first connecting shaft, the two ends of the torsion spring are respectively fixed to the lower shell body and the first connecting rod, and a limiting boss and a limiting block that cooperate with each other are provided on the lower shell body and the first connecting rod; the other end of the first connecting rod is hinged to one end of the first crank through an axis, the other end of the first crank is fixed to a second rotating shaft, the second rotating shaft is hinged to a first upper support frame arranged on the base plate, or the second rotating shaft is hinged to the base plate and the first upper support frame respectively, the second rotating shaft can rotate under the action of a corresponding driving mechanism, and the first crank is located below the first upper support frame; a second connecting rod is hinged to the axis in the middle part of the first connecting rod, and the other end of the second connecting rod is hinged to the first upper support frame through an axis; The second crank-connecting rod mechanism includes a curved seventh connecting rod, one end of the seventh connecting rod is hinged to the first connecting shaft arranged on the lower surface of the lower shell body in the second wire pressing and conveying mechanism, and a torsion spring is sleeved on the first connecting shaft, and the two ends of the torsion spring are respectively fixed on the lower shell body and the seventh connecting rod, and the lower shell body and the seventh connecting rod are provided with limit bosses and limit blocks that cooperate with each other; the other end of the seventh connecting rod is hinged to one end of the second crank through the shaft, and the other end of the second crank is fixed on the fourth rotating shaft, and the fourth rotating shaft is hinged to the second upper support frame arranged on the base plate, or the fourth rotating shaft is respectively hinged to the base plate and the second upper support frame, and the fourth rotating shaft can rotate under the action of the corresponding driving mechanism, and the second crank is below the second upper support frame; an eighth connecting rod is hinged to the shaft in the middle part of the seventh connecting rod, and the other end of the eighth connecting rod is hinged to the second upper support frame through the shaft.

7. The translational wire feeding mechanism of the vascular intervention robot according to claim 6, characterized in that: The structure of the driving mechanism that drives the first crank-connecting rod mechanism and the second crank-connecting rod mechanism is as follows: it includes an input shaft, the input shaft can rotate under the action of the motor, the input shaft drives the first bevel gear to rotate, the first bevel gear is meshed with the second bevel gear, the second bevel gear is arranged on the driving shaft, the driving shaft is rotatably mounted on the lower support frame arranged on the lower surface of the base plate, the two ends of the driving shaft are respectively provided with a third bevel gear and a fifth bevel gear, the third bevel gear is meshed with the fourth bevel gear arranged on the first rotating shaft, the first rotating shaft is rotatably connected with the base plate and the first upper supporting frame respectively, a first spur gear is arranged on the first rotating shaft located on the first upper supporting frame, the first spur gear is meshed with the second The spur gears are meshed with each other, and the second rotating shaft is rotatably installed on the first upper support frame, or is respectively rotatably connected to the base plate and the first upper support frame, and a first crank is provided on the second rotating shaft below the first upper support frame; the fifth bevel gear is meshed with the sixth bevel gear arranged on the third rotating shaft, and the third rotating shaft is respectively rotatably connected to the base plate and the second upper support frame, and a third spur gear is provided on the third rotating shaft above the second upper support frame, and the third spur gear is meshed with the fourth spur gear arranged on the fourth rotating shaft, and the fourth rotating shaft is rotatably installed on the second upper support frame, or is respectively rotatably connected to the base plate and the second upper support frame, and a second crank is provided on the fourth rotating shaft below the second upper support frame.

8. A translational wire feeding mechanism of a vascular intervention robot, characterized in that: It comprises two groups of translational wire feeding mechanisms as described in claim 5 or 7, and the phase difference between the two groups of translational wire feeding mechanisms is 180° to realize intermittent transmission of the guide wire.

9. A translational wire feeding mechanism of a vascular intervention robot, characterized in that: It comprises three groups of translational wire feeding mechanisms as described in claim 5 or 7, and the phases of the three groups of translational wire feeding mechanisms are successively different by 120 degrees to realize continuous wire feeding.

10. The translational wire feeding mechanism of the vascular intervention robot according to claim 8 or 9, characterized in that: A sliding mechanism is also provided, through which the pressure plate located on the same side of the guide wire can be moved in a direction away from the guide wire. At this time, each group of translational wire feeding mechanisms shares a base plate, a first upper support frame and a second upper support frame. The sliding mechanism includes a slide groove fixedly connected to the base plate, the slide groove corresponds to the first upper support frame / the second upper support frame, the first upper support frame / the second upper support frame is fixed on the slide plate, and the slide plate can slide in the slide groove; the first rotating shaft / the third rotating shaft is rotatably connected to the slide plate and passes through a slide hole provided on the slide groove, the connecting plate provided on the lower surface of the slide plate passes through the slide hole, the third bevel gear / the fifth bevel gear is rotatably mounted on the connecting plate, and the third bevel gear / the fifth bevel gear is arranged on the drive shaft The gear train is controlled by the gear train control device and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device. The gear train is controlled by the gear train control device, and the gear train is controlled by the gear train control device.

11. The translational wire feeding mechanism of the vascular intervention robot according to claim 10, characterized in that: Each group of translational wire feeding mechanisms shares an input shaft, and each group of translational wire feeding mechanisms is linked via a transmission mechanism. When the input shaft rotates, each group of translational wire feeding mechanisms will move.

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