A catheter sterile cassette, catheter robot and neuro-interventional surgery robot

Abstract

The present application belongs to the technical field of minimally invasive vascular intervention surgery device, and discloses a catheter sterile box, a catheter mechanical arm and a nerve intervention surgery robot, wherein the surgery robot comprises a moving base, a guide wire mechanical arm, a guide wire pushing mechanism, a catheter positioning and tracking camera assembly and a catheter mechanical arm, the guide wire mechanical arm and the catheter positioning and tracking camera assembly are fixed at the top end of the moving base, the guide wire pushing mechanism is fixed at the tail end of the guide wire mechanical arm, the mechanical arm body is detachably connected with the top end of the moving base, and the catheter mechanical arm is connected with the catheter sterile box. The robot can adapt to the use environment of various catheters, meet the needs of different surgeries, and the guide wire and the catheter can act synchronously to ensure the accuracy of surgery control; and the robot can freely move in the catheter chamber, has simple overall structure, light mass, good stability, adopts modular structure design, compact structure and small volume, and is very suitable for the surgery environment.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive vascular interventional surgery devices, and more specifically to a catheter sterile box, a catheter robotic arm, and a neurointerventional surgery 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] Interventional surgery presents two main problems. First, during the procedure, the X-rays emitted by DSA (Digital Subtraction Angiography) cause a rapid decline in the surgeon's physical strength, attention, and stability, leading to decreased operational precision and increasing the risk of accidents such as vascular endothelial damage, perforation, and rupture due to improper pushing force, potentially endangering the patient's life. Second, the long-term cumulative damage from ionizing radiation significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. The continuous accumulation of radiation exposure for surgeons performing interventional procedures has become a significant issue jeopardizing their professional lives and hindering the development of interventional surgery. Robotics can effectively address these problems, significantly improve the precision and stability of surgical procedures, and effectively reduce radiation exposure to interventional surgeons, lowering the probability of intraoperative accidents. Assistive robots for cardiovascular and cerebrovascular interventional surgery are attracting increasing attention and are gradually becoming a key research focus in the field of medical robotics for leading technological nations. In neurointerventional surgery, due to the finer and more fragile blood vessels in the brain and the more diverse surgical consumables used, the requirements for robot control are also higher.

[0004] Existing neurosurgical robots still have the following problems:

[0005] ① Chinese patent document CN110811811A, entitled "A Disposable Sterile Box for Interventional Surgical Robots," only allows the installation of a Y-type connecting valve (referred to as "Y-valve," a medical product used in cardiovascular and cerebrovascular treatment), but not an outer sheath (a medical product used in cardiovascular and cerebrovascular angiography). This means it cannot accommodate the installation and control of various types of catheters, preventing current neuro-robots from simultaneously performing both angiography and treatment procedures, thus limiting their application. Furthermore, the different positions of components such as the Y-valve and outer sheath prevent the robot from adapting to various catheter usage environments, reducing its ease of use. In addition, in this prior art, the catheter drive assembly uses a set of master and slave friction wheels, which are located far from the Y-valve, making slippage during catheter advancement easy and affecting surgical outcomes. Moreover, although the catheter clamping groove can provide some support for the catheter, the top of the groove is open, providing no limit to catheter positioning, causing misalignment and tilting of the catheter during movement, affecting catheter delivery.

[0006] ② Existing robots cannot effectively control the movement of guidewires and catheters, especially after the catheter moves, the guidewire needs to be operated at the end of the catheter and follow the movement of the catheter.

[0007] ③ The robot is too large and complex to be suitable for actual clinical surgery.

[0008] ④ The robot is inconvenient to install and disassemble.

[0009] Therefore, how to provide a neurointerventional robot that allows doctors to flexibly adjust different components and positions according to surgical needs, so that the robot can adapt to various catheter usage environments and meet the needs of different surgeries; a sterile catheter box that can prevent slippage and misalignment during catheter pushing; and a catheter robotic arm and guidewire that can be easily disassembled and move synchronously with the catheter to improve surgical outcomes, while having a simple structure, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0010] In view of this, the present invention provides a neurointerventional robot that allows doctors to flexibly adjust different components and positions according to surgical needs, thereby enabling the robot to adapt to various catheter usage environments and meet the needs of different surgeries; it also features a sterile catheter box that prevents slippage and misalignment during catheter pushing, an easily disassembled catheter robotic arm, and guidewire that can move synchronously with the catheter, improving surgical outcomes, and has a simple structure.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] A sterile catheter box, comprising:

[0013] A sterile housing, which is detachably connected to a catheter advancement mechanism on a catheter robotic arm;

[0014] A movable gripper is disposed on one side of the sterile box body for gripping the Y valve or outer sheath;

[0015] A catheter clamping and pushing assembly is fixed to the bottom surface of the sterile box body. The catheter clamping and pushing assembly is connected to the catheter pushing mechanism to drive the catheter to move.

[0016] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a catheter sterile box, which is provided with a movable gripper that can hold a Y valve or outer sheath, so that the sterile box can be used to complete both angiography and treatment at the same time, which improves the scope of use of the sterile box, meets the needs of different surgeries, and the catheter clamping and pushing component can realize the automatic pushing and retraction of the catheter, realizing the automatic control of the interventional surgical catheter.

[0017] Furthermore, a first through hole is provided on one side of the sterile box body, and the movable gripper includes:

[0018] A fixed housing is provided, wherein a second through hole is provided on one side of the fixed housing at a position corresponding to the first through hole, and this side is fixedly connected to one side of the outer wall of the sterile box body, and a guide hole is provided on the other side of the fixed housing away from the sterile box body.

[0019] A movable toothed plate is slidably inserted inside the fixed housing. The movable toothed plate has a first meshing tooth profile on one side and an elongated guide hole is provided on the first meshing tooth profile. A connecting plate is vertically fixed to one end of the movable toothed plate, and a gripper for holding a Y valve or outer sheath is fixed to the side end of the connecting plate away from the movable toothed plate.

[0020] A telescopic locking toothed plate has a guide post fixed on one side, which passes through the guide hole. The other side of the telescopic locking toothed plate away from the guide post is a second meshing tooth surface, which meshes with the first meshing tooth surface. A pushing protrusion is fixed on the second meshing tooth surface. The pushing protrusion passes through the elongated guide hole, the second through hole, and the first through hole and is connected to the conduit propulsion mechanism on the conduit robotic arm to push the pushing protrusion to move.

[0021] A first spring is sleeved on the guide post, with one end of the first spring abutting against one side of the telescopic locking toothed plate and the other end abutting against the inner wall of the fixed housing.

[0022] The beneficial effect of the above technical solution is that when the catheter advancement mechanism drives the pushing protrusion to move outward, the second engaging toothed surface on the telescopic locking toothed plate disengages from the first engaging toothed surface on the moving toothed plate. At this time, the guide post extends outward along the guide hole, separating the telescopic locking toothed plate from the moving toothed plate. The doctor can then adjust the position by moving the moving toothed plate. Once the position is adjusted, the clamps are used to hold the Y-valve or outer sheath, allowing for flexible adjustment and clamping of different components and positions. After clamping, the catheter advancement mechanism no longer drives the pushing protrusion. The telescopic locking toothed plate then resets under the action of the first spring, causing the second engaging toothed surface to re-engage with the first engaging toothed surface, thus locking and fixing the moving toothed plate. At this point, the moving toothed plate cannot move freely, thus fixing the position of the clamps holding the Y-valve or outer sheath. Therefore, this sterile box, using a moving toothed plate, a telescopic locking toothed plate, a first spring, and openable clamps, allows the sterile box to adapt to various catheter usage environments and meet the needs of different surgeries.

[0023] Furthermore, the catheter clamping and pushing assembly includes:

[0024] A first mounting plate is fixed at its top end to the bottom surface of the sterile box body. Multiple vertical active shafts are rotatably connected to the first mounting plate. Each vertical active shaft is fitted with an active friction wheel. Each vertical active shaft is connected to a catheter propulsion mechanism to drive the vertical active shaft to rotate.

[0025] The second mounting plate has its top end fixed to the bottom surface of the sterile box body and is spaced apart from the first mounting plate. Multiple horizontal mounting posts are fixed on the side of the second mounting plate facing the first mounting plate.

[0026] A movable plate is mounted on a plurality of horizontal mounting columns. A plurality of vertical driven shafts are rotatably connected to the movable plate. Each vertical driven shaft is fitted with a driven friction wheel. A guide tube is clamped between the driving friction wheel and the driven friction wheel. Each vertical driven shaft is connected to a guide tube propulsion mechanism to drive the movable plate to move on the horizontal mounting columns.

[0027] The second spring, there are multiple second springs, and each is sleeved on the corresponding transverse mounting post. One end of the second spring abuts against one side of the second mounting plate, and the other end abuts against one side of the movable plate.

[0028] The beneficial effects of adopting the above technical solution are as follows: Under the action of the second spring, the driven friction wheel cooperates with the active friction wheel to clamp the catheter. The catheter pushing mechanism drives the vertical active shaft to rotate, which in turn drives the active friction wheel to rotate, thereby pushing the catheter. When it is necessary to release the catheter, the catheter pushing mechanism drives the vertical driven shaft to move and compresses the second spring. At this time, the driven friction wheel moves away from the active friction wheel, thereby releasing the catheter. In addition, the sterile box uses multiple sets of active and driven friction wheels to push the catheter, which can reduce the phenomenon of catheter slippage during the pushing process compared to the existing one set of friction wheels. Furthermore, the catheter clamping and pushing component is set on the bottom surface of the sterile box body, while the Y valve or outer sheath is close to one side of the sterile box body, making the distance between the catheter clamping and pushing component and the Y valve or outer sheath very close, which can greatly and effectively prevent slippage during the pushing process of the catheter.

[0029] Furthermore, it also includes a catheter support and limiting assembly, the catheter support and limiting assembly comprising:

[0030] The first catheter upper limit plate has its top end fixedly connected to one side of the bottom end of the sterile box body. The first catheter upper limit plate is arranged opposite to the clamps. The bottom end face of the first catheter upper limit plate has a first limiting bevel. The first catheter upper limit plate is provided with a hinge hole.

[0031] The lower support of the arc-shaped conduit has a concave side surface that serves as a limiting and receiving surface. One end of the lower support is integrally formed with a transverse connecting plate. A hinge post is fixed to one side of the transverse connecting plate. The hinge post is inserted into the hinge hole. The conduit is limited between the first limiting bevel and the limiting and receiving surface.

[0032] The beneficial effect of adopting the above technical solution is that when placing the catheter, the lower support of the arc-shaped catheter is rotated upward to place the catheter from below to the first limiting bevel. Then, the lower support of the arc-shaped catheter is rotated downward to limit the catheter between the limiting receiving surface and the first limiting bevel, thereby achieving positioning support of the catheter in the vertical direction and preventing the catheter from being misaligned during movement, which would affect the surgical outcome.

[0033] Furthermore, a support plate is fixed on the upper limit plate of the first conduit below the hinge hole. The support plate is provided with a first magnet inside, and the transverse connecting plate is provided with a second magnet inside. The second magnet is magnetically connected to the first magnet.

[0034] The beneficial effect of adopting the above technical solution is that when the lower support of the arc-shaped conduit is rotated downward to the predetermined position, the first magnet attracts the second magnet, thereby fixing the lower support of the arc-shaped conduit to the upper limit plate of the first conduit and avoiding the problem of loosening after the lower support of the arc-shaped conduit is in place.

[0035] Furthermore, it also includes a second catheter upper limit plate, the top of which is fixed to the other side of the bottom of the sterile box body, and the bottom surface of the second catheter upper limit plate has a second limiting bevel, in which the catheter is placed.

[0036] The beneficial effect of adopting the above technical solution is that the setting of the upper limit plate of the second catheter can improve the positioning and support effect of the catheter, and avoid the problem of catheter misalignment or tilting at the Y valve or outer sheath inlet, which would affect the catheter delivery.

[0037] The present invention provides a catheter robotic arm, including a robotic arm body, a catheter advancement mechanism and a sterile catheter box, wherein the catheter advancement mechanism is fixed to the end of the robotic arm body and the sterile box is detachably connected to the catheter advancement mechanism.

[0038] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a catheter robotic arm. The catheter sterile box and the catheter advancement mechanism adopt a detachable connection structure. The catheter sterile box is the only part of the entire interventional surgical robot that comes into contact with the catheter consumables used in the surgery. The catheter sterile box itself has undergone strict sterilization, so it can ensure a sterile environment in the entire robotic surgery. By replacing the sterile box each time, the disinfection work of the robot can be greatly facilitated.

[0039] Furthermore, the sterile box body has an open top, and the catheter advancement mechanism includes:

[0040] A vertical connecting plate, the top of which is fixed to the end of the robotic arm body, and a mounting bracket that is detachably connected to the inside of the sterile box body is fixed to the bottom of the vertical connecting plate. A horizontal slide rail is fixed to the top of the mounting bracket, and a first slider is slidably connected to the horizontal slide rail.

[0041] The first motor is fixed to one side of the bottom of the vertical connecting plate, and the first lead screw is fixed to the drive end of the first motor.

[0042] A push plate, the top of which is fixedly connected to the first slider, a first threaded hole is provided on the push plate, the first lead screw is threadedly connected to the first threaded hole, and a plurality of levers are fixedly spaced at the bottom end of the push plate, the lower end of each lever passes through the bottom end of the sterile box and is inserted into the insertion hole at the upper end of the corresponding vertical driven shaft;

[0043] There are multiple second motors, all of which are fixed to the bottom of the vertical connecting plate. The drive end of each second motor passes through the bottom of the sterile box and a drive gear is fixed thereon. A driven gear is fixed to the upper end of the vertical drive shaft. The drive gear and the driven gear are meshed and connected.

[0044] A push-pull electromagnet is fixed on the mounting bracket, and the telescopic end of the push-pull electromagnet abuts against the push protrusion.

[0045] The beneficial effects of adopting the above technical solution are as follows: the first motor drives the first lead screw to rotate, which in turn drives the push plate to move, so that the lever at the bottom of the push plate can drive the vertical driven shaft to move, realizing the movement of the driven friction wheel towards or away from the active friction wheel, thereby realizing the clamping and loosening action of the guide tube; the second motor drives the drive gear to rotate, and the drive gear drives the vertical active shaft to rotate through the driven gear, realizing the rotation of the active friction wheel, thereby realizing the forward pushing and backward action of the guide tube; and the telescopic end of the push-pull electromagnet can push the push protrusion to move, so that the second meshing tooth surface on the telescopic locking tooth plate disengages from the first meshing tooth surface on the moving tooth plate, and the guide post extends outward along the guide hole, realizing the separation of the telescopic locking tooth plate from the moving tooth plate, facilitating the movement of the moving tooth plate, thereby realizing the lateral adjustment of the gripper position.

[0046] This invention provides a neurointerventional surgical robot, including a mobile base, a guidewire robotic arm, a guidewire advancement mechanism, a catheter positioning and tracking camera assembly, and the aforementioned catheter robotic arm. The guidewire robotic arm and the catheter positioning and tracking camera assembly are both fixed to the top of the mobile base, and the guidewire advancement mechanism is fixed to the end of the guidewire robotic arm. The robotic arm body is detachably connected to the top of the mobile base.

[0047] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a neurointerventional surgical robot. In use, the robotic arm body is removed from the mobile base and installed on the catheter bed near the puncture site. The robot is placed behind the catheter bed (the patient's head is facing forward and the feet are facing backward). Then, the guidewire robotic arm is adjusted to the Y-valve connector at the end of the catheter. After the initial positioning is completed, the guidewire is installed on the guidewire advancement mechanism and the catheter is installed on the catheter advancement mechanism. Then, the angle of the catheter positioning and tracking camera component is adjusted so that it can see the catheter advancement mechanism. When the catheter advancement mechanism controls the catheter to move forward or backward, the guidewire robotic arm will receive the catheter movement distance information sent by the catheter and perform actions synchronously, so that the guidewire advancement mechanism and the end of the catheter are always kept relatively stationary. As the catheter bed moves, the catheter positioning and tracking camera assembly detects the direction and distance of movement of the catheter advancement mechanism fixed to the catheter bed. The guidewire robotic arm then synchronously moves in sync with the catheter bed, ensuring the guidewire follows the catheter's movements, improving surgical outcomes. For example, if the catheter bed moves left or right, the guidewire robotic arm extends or retracts accordingly. Through these coordinated movements, excellent control of the catheter and guidewire can be achieved during the procedure, keeping the catheter in a straight line at all times. After the surgery, the robotic arm is remounted on the mobile base, and the robot is moved to a corner of the operating room, without interfering with patient access to and from the operating room or patient transfer.

[0048] Furthermore, the movable base includes:

[0049] A base plate, wherein multiple casters are evenly distributed and fixed at the bottom end of the base plate, and multiple first columns are evenly distributed and fixed at the top end of the base plate;

[0050] A vertical guide rail bracket, comprising multiple vertical guide rail brackets, one end of which is fixed to the top of the base plate. Each vertical guide rail bracket is fixed with a vertical slide rail, each vertical slide rail has a second slider that slides on it, and each second slider has a support column fixed on it. The lower end of the support column extends downward through the base plate, and the upper ends of two adjacent support columns are fixed with a connecting horizontal column. The connecting horizontal column has a second threaded hole.

[0051] The lifting motors are multiple and all are fixed to the top of the base plate. The driving end of the lifting motor is fixed with a second lead screw, which is threadedly connected to the second threaded hole.

[0052] The middle plate has its bottom end fixedly connected to the upper ends of multiple first columns, and multiple second columns fixedly attached to its top end. A power supply and controller are placed on the top end of the middle plate.

[0053] The top plate is fixedly connected to the bottom of a plurality of second columns, and the guide wire robotic arm and the catheter positioning and tracking camera assembly are fixed to the top of the top plate.

[0054] The mounting box is fixedly connected to the top of the top plate at its bottom end. The top of the mounting box has a mounting hole. The bottom of the robotic arm body is fixed with a mounting seat that is inserted into the mounting hole. Two fixed horizontal plates are fixed at intervals on one side of the mounting seat.

[0055] The upright plate has its bottom end fixed to the top of the top plate and located on one side of the mounting box. A pressure plate is hinged to the top of the upright plate and presses against the fixed horizontal plate. A telescopic handle (with a return spring) is connected to one side of the top of the pressure plate. The telescopic handle is inserted into an opening on the side wall of the mounting box. When the telescopic handle is pulled outward, the return spring is compressed, the handle is pushed out of the opening, and when the handle is released, it is reinserted into the opening under the action of the return spring, thus locking the pressure plate and the mounting box.

[0056] The catheter positioning and tracking camera assembly includes:

[0057] The third column has its lower end fixedly connected to the top of the top plate, and its upper end is connected to a movable bracket.

[0058] A positioning and tracking camera is connected to the movable bracket.

[0059] The beneficial effects of adopting the above technical solution are as follows: After the robot is moved into place, the lifting motor can drive the lower end of the support column through the second lead screw to pass through the base plate and support it on the ground, allowing the casters to leave the ground and the robot to be supported by the support column. This ensures that the robot can be completely fixed in position and will not move. When installing the catheter robotic arm onto the mobile base, the mounting seat at the bottom of the robotic arm body is inserted into the mounting hole on the mounting box, and then the pressure plate is pressed onto the horizontal plate to secure the horizontal plate to the mounting box. Then, the telescopic handle is inserted into the opening to achieve fixation. When it is necessary to remove the catheter robotic arm from the robot, first pull the telescopic handle out of the opening, and then flip the pressure plate upward to remove the catheter robotic arm from the mounting box. This achieves the effect of quick assembly and disassembly of the catheter robotic arm and the robot, which is convenient for doctors to operate. The positioning and tracking camera can be adjusted in angle via a movable bracket, allowing it to adjust its position according to the location of the catheter advancement mechanism. This enables the positioning and tracking camera to see the catheter advancement mechanism and track its position. The controller then synchronously controls the guidewire robotic arm based on the feedback information from the positioning and tracking camera, achieving synchronized movement of the guidewire and catheter. Attached Figure Description

[0060] 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.

[0061] Figure 1 A frontal view of the catheter sterile box holding the Y valve.

[0062] Figure 2 A schematic diagram of the back of the catheter sterile box holding the Y valve.

[0063] Figure 3 A bottom view of the overall design of the catheter sterile box holding the Y valve.

[0064] Figure 4 A frontal view of the catheter sterile box holding the outer sheath.

[0065] Figure 5 This is a schematic diagram of a sterile catheter box without supporting the catheter.

[0066] Figure 6 This is a schematic diagram of a sterile catheter holder supporting a catheter.

[0067] Figure 7 This is an exploded view of the catheter support and limiting components on a sterile catheter box.

[0068] Figure 8 This is a diagram showing the movable clamps on the sterile catheter box when they are engaged.

[0069] Figure 9 This is a diagram showing the movable gripper on the sterile catheter box when it is released.

[0070] Figure 10 This is a frontal exploded view of the movable gripper on the sterile catheter box.

[0071] Figure 11 This is an exploded view of the back of the movable gripper on the sterile catheter box.

[0072] Figure 12 A schematic diagram showing the active and driven friction wheels on the catheter sterile box for releasing the catheter.

[0073] Figure 13 This is a schematic diagram showing the active and driven friction wheels on the catheter sterile box clamping the catheter.

[0074] Figure 14 This is a schematic diagram of the catheter clamping and pushing component on the catheter sterile cartridge.

[0075] Figure 15 An exploded view of the catheter clamping and pushing component on the catheter sterile cartridge.

[0076] Figure 16 This is a frontal schematic diagram of the neurointerventional surgical robot.

[0077] Figure 17 This is a schematic diagram of the rear view of the neurointerventional surgical robot.

[0078] Figure 18 This is a schematic diagram of a tubing robotic arm placed on a mobile base.

[0079] Figure 19 This is a schematic diagram of the structure of the tubing robotic arm leaving the moving base.

[0080] Figure 20 This is an enlarged schematic diagram of the structure where the tubing robotic arm leaves the moving base.

[0081] Figure 21 This is a schematic diagram of the overall structure of the catheter robotic arm.

[0082] Figure 22 This is a schematic diagram of the duct propulsion mechanism.

[0083] Figure 23 This is an exploded schematic diagram of the duct propulsion mechanism.

[0084] Figure 24 This is a structural diagram of the movable base.

[0085] Figure 25 This is an exploded structural diagram of the movable base section. Detailed Implementation

[0086] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0087] See Figures 1-15 This invention discloses a sterile catheter box, comprising:

[0088] The sterile housing 1 is detachably connected to the catheter advancement mechanism 7 on the catheter robotic arm;

[0089] Movable gripper 2 is provided on one side of the sterile box body 1 and is used to hold the Y valve 100 or the outer sheath 200.

[0090] The catheter clamping and pushing component 3 is fixed on the bottom surface of the sterile box 1. The catheter clamping and pushing component 3 is connected to the catheter pushing mechanism 7 to drive the catheter clamping and pushing component 3 to move the catheter 300.

[0091] Specifically, a first through hole 101 is provided on one side of the sterile box body 1, and the movable gripper 2 includes:

[0092] The fixed housing 21 has a second through hole 2101 on one side of the fixed housing 21 at a position corresponding to the first through hole 101, and this side is fixedly connected to one side of the outer wall of the sterile box body 1. A guide hole 2102 is opened on the other side of the fixed housing 21 away from the sterile box body 1.

[0093] The movable toothed plate 22 is slidably inserted inside the fixed housing 21. One side of the movable toothed plate 22 has a first meshing tooth surface 2201, and an elongated guide hole 2202 is opened on the first meshing tooth surface 2201. One end of the movable toothed plate 22 is vertically fixed with a connecting plate 23. The side end of the connecting plate 23 away from the movable toothed plate 22 is fixed with a gripper 24 for clamping the Y valve 100 or the outer sheath 200. The gripper 24 is a spring-type gripper that can be opened and closed. A soft silicone layer is adhered to the clamping surface on the inner side of the gripper, which can better adapt to objects of different diameters and effectively prevent slippage.

[0094] The telescopic locking toothed plate 25 has a guide post 26 fixed on one side, which passes through the guide hole 2102. The other side of the telescopic locking toothed plate 25 away from the guide post 26 is a second meshing tooth surface 2501, which meshes with the first meshing tooth surface 2201. A pushing protrusion 27 is fixed on the second meshing tooth surface 2501. The pushing protrusion 27 passes through the elongated guide hole 2202, the second through hole 2101, and the first through hole 101 and is connected to the conduit propulsion mechanism 7 on the conduit robotic arm to push the pushing protrusion 27 to move.

[0095] The first spring 28 is sleeved on the guide post 26, with one end of the first spring 28 abutting against one side of the telescopic locking tooth plate 25 and the other end abutting against the inner wall of the fixed housing 21.

[0096] Therefore, in actual use, doctors can adjust the position of the clamps by moving the toothed plate as needed, thereby achieving flexible clamping of different components and positions of the Y valve or outer sheath. This allows the sterile box to adapt to various catheter usage environments and meet the needs of different surgeries.

[0097] The catheter clamping and pushing component 3 includes:

[0098] The first mounting plate 31 is fixed at its top end to the bottom surface of the sterile box body 1. Two vertical active shafts 32 are rotatably connected to the first mounting plate 31. Each vertical active shaft 32 is fitted with an active friction wheel 33. Each vertical active shaft 32 is connected to the catheter propulsion mechanism 7 to drive the vertical active shaft 32 to rotate.

[0099] The second mounting plate 34 is fixed at its top end to the bottom surface of the sterile box body 1 and is spaced apart from the first mounting plate 31. Four horizontal mounting posts 35 are fixed on the side of the second mounting plate 34 facing the first mounting plate 31.

[0100] A movable plate 36 is mounted on multiple horizontal mounting columns 35. Two vertical driven shafts 37 are rotatably connected to the movable plate 36. Each vertical driven shaft 37 is fitted with a driven friction wheel 38. A guide tube 300 is clamped between the driving friction wheel 33 and the driven friction wheel 38. Each vertical driven shaft 37 is connected to the guide tube propulsion mechanism 7 to drive the movable plate 36 to move on the horizontal mounting columns 35.

[0101] There are four second springs 39, each sleeved on a corresponding horizontal mounting post 35. One end of the second spring 39 abuts against one side of the second mounting plate 34, and the other end abuts against one side of the movable plate 36.

[0102] To provide positioning and support for the catheter and prevent misalignment or tilting during catheter movement, another embodiment of the catheter sterile box of the present invention further includes a catheter support and limiting component 4, which comprises:

[0103] The first catheter upper limit plate 41 has its top end fixedly connected to one side of the bottom end of the sterile box body 1. The first catheter upper limit plate 41 is arranged opposite to the clamp 24. The bottom end surface of the first catheter upper limit plate 41 has a first limiting bevel 4101. The first catheter upper limit plate 41 has a hinge hole 4102.

[0104] The lower support member 42 of the arc-shaped conduit has a concave side surface as a limiting bearing surface 4201. One end of the arc-shaped conduit lower support member 42 is integrally formed with a transverse connecting plate 43. A hinge post is fixed on one side of the transverse connecting plate 43. The hinge post is inserted into the hinge hole 4102. The conduit 300 is limited between the first limiting bevel 4101 and the limiting bearing surface 4201.

[0105] Specifically, a support plate 44 is fixed on the upper limit plate 41 of the first conduit below the hinge hole. The support plate 44 is equipped with a first magnet, and the transverse connecting plate 43 is equipped with a second magnet. The second magnet is magnetically connected to the first magnet.

[0106] The present invention provides a sterile catheter box, which further includes a second catheter upper limit plate 5. The top of the second catheter upper limit plate 5 is fixed to the other side of the bottom end of the sterile box body 1. The bottom end surface of the second catheter upper limit plate 5 has a second limiting bevel 501, and the catheter 300 is placed in the second limiting bevel 501.

[0107] Therefore, when placing the catheter, the lower support of the arc-shaped catheter is rotated upward to expose the first limiting bevel. Then, the catheter is placed from below into the first limiting bevel. Next, the lower support of the arc-shaped catheter is rotated downward, and the first magnet attracts the second magnet, thus fixing the lower support of the arc-shaped catheter to the upper limit plate of the first catheter. The catheter is stably limited between the limiting receiving surface and the first limiting bevel, achieving positioning support in the vertical direction of the catheter. In addition, the catheter at the Y valve or the inlet of the outer sheath can also be placed in the second limiting bevel, thereby effectively preventing the catheter from being misaligned or tilted during movement, which would affect the surgical outcome.

[0108] See Figures 16-25 The present invention also provides a catheter robotic arm, including a robotic arm body 6, a catheter advancement mechanism 7 and the aforementioned catheter sterile box. The catheter advancement mechanism 7 is fixed to the end of the robotic arm body 6 (the robotic arm body can be any type of 6-axis robotic arm, or the end arm of the robotic arm can be a gas spring, which can be used to adjust the robotic arm up and down). The sterile box body 1 is detachably connected to the catheter advancement mechanism 7.

[0109] For details, see Figure 22 and Figure 23 The sterile box 1 has an open top, and the catheter advancement mechanism 7 includes:

[0110] On the vertical connecting plate 71, the top of the vertical connecting plate 71 is fixed to the end of the robotic arm body 6, and the bottom of the vertical connecting plate 71 is fixed with a mounting bracket 72 that can be detachably connected to the inside of the sterile box 1. The top of the mounting bracket 72 is fixed with a horizontal slide rail 73, and a first slider 74 is slidably connected to the horizontal slide rail 73. The mounting bracket 72 can be connected to the sterile box by plugging and unplugging. Specifically, there is a snap-fit ​​interface (not shown) on the sterile box, and there is a snap-fit ​​protrusion (not shown) at the corresponding position on the mounting bracket. The snap-fit ​​protrusion is adapted to snap-fit ​​with the snap-fit ​​interface.

[0111] The first motor 75 is fixed to one side of the bottom of the vertical connecting plate 71, and the first lead screw 76 is fixed to the drive end of the first motor 75.

[0112] The push plate 77 is fixedly connected to the top of the first slider 74. The push plate 77 has a first threaded hole 7701. The first lead screw 76 is threadedly connected to the first threaded hole 7701. Two levers 78 are fixed at intervals at the bottom of the push plate 77. The lower end of each lever 78 passes through the bottom of the sterile box 1 and is inserted into the insertion hole 3701 at the upper end of the corresponding vertical driven shaft 37.

[0113] There are two second motors 79, both of which are fixed at the bottom of the vertical connecting plate 71. The driving end of each second motor 79 passes through the bottom of the sterile box 1 and a driving gear (not shown) is fixed on it. A driven gear 3201 is fixed at the upper end of the vertical drive shaft 32. The driving gear and the driven gear 3201 are meshed and connected.

[0114] Push-pull electromagnet 80 is fixed on mounting bracket 72, and the telescopic end of push-pull electromagnet 80 abuts against push protrusion 27.

[0115] Therefore, the first motor drives the first lead screw to rotate, which in turn drives the push plate to move. This allows the lever at the bottom of the push plate to move the vertical driven shaft, enabling the driven friction wheel to move closer to or further away from the active friction wheel, thus achieving the clamping and releasing action of the guide tube. The second motor drives the drive gear to rotate, which in turn drives the vertical active shaft to rotate through the driven gear, achieving the rotation of the active friction wheel, thus achieving the forward pushing and backward action of the guide tube. The telescopic end of the push-pull electromagnet can push the push protrusion to move, causing the second meshing tooth profile on the telescopic locking tooth plate to disengage from the first meshing tooth profile on the moving tooth plate. The guide post extends outward along the guide hole, playing a guiding role, thereby separating the telescopic locking tooth plate from the moving tooth plate. This facilitates the movement of the moving tooth plate, thereby achieving the lateral adjustment of the gripper position, allowing the gripper to hold different parts (such as the Y valve or outer sheath) at different positions, thus enabling the robot to adapt to various guide tube usage environments.

[0116] The present invention also provides a neurointerventional surgical robot, including a mobile base 8, a guidewire robotic arm 9, a guidewire propulsion mechanism 10 (for its specific structure, please refer to the guidewire propulsion mechanism in 202011185437.9, which is used to realize the pushing and rotating of the guidewire, the pushing of the balloon or stent catheter, and the rotation control of the catheter), a catheter positioning and tracking camera assembly 11, and the aforementioned catheter robotic arm. The guidewire robotic arm 9 (is a pre-formed product, which can be any type of 6-axis robotic arm; in this invention, the UR series robotic arm is selected) and the catheter positioning and tracking camera assembly 11 are both fixed to the top of the mobile base 8, the guidewire propulsion mechanism 10 is fixed to the end of the guidewire robotic arm 9, and the robotic arm body 6 is detachably connected to the top of the mobile base 8.

[0117] Specifically, the mobile base 8 includes:

[0118] The base plate 81 has multiple casters 82 evenly distributed and fixed at its bottom end, and multiple first columns 83 evenly distributed and fixed at its top end.

[0119] There are multiple vertical guide rail brackets 84, and one end of each of them is fixed to the top of the base plate 81. Each vertical guide rail bracket 84 is fixed with a vertical slide rail 85. Each vertical slide rail 85 has a second slider 86 sliding on it. Each second slider 86 is fixed with a support column 87. The lower end of the support column 87 extends downward through the base plate 81. The upper ends of two adjacent support columns 87 are fixed with a connecting horizontal column 88. The connecting horizontal column 88 has a second threaded hole 8801.

[0120] There are multiple lifting motors 89, all of which are fixed to the top of the base plate 81. The driving end of the lifting motor 89 is fixed with a second lead screw 90, which is threadedly connected to the second threaded hole 8801.

[0121] The middle plate 91 is fixedly connected to the bottom of multiple first columns 83, and multiple second columns 92 are fixed to the top of the middle plate 91. A power supply 93 for supplying power to the robot and a controller 94 for controlling the robot are placed on the top of the middle plate 91.

[0122] The top plate 95 is fixedly connected to the bottom of multiple second columns 92, and the guide wire robotic arm 9 and the guide tube positioning and tracking camera assembly 11 are fixed to the top of the top plate 95.

[0123] Mounting box 96, the bottom end of mounting box 96 is fixedly connected to the top end of top plate 95, mounting box 96 has a mounting hole 9601 at the top end, the bottom end of robotic arm body 6 is fixed with mounting seat 61 inserted into mounting hole 9601, and two fixed horizontal plates 62 are fixed at intervals on one side of mounting seat 61.

[0124] The bottom end of the upright plate 97 is fixed to the top end of the top plate 95 and is located on one side of the mounting box 96. The top end of the upright plate 97 is hinged to a pressure plate 98, which is pressed onto the fixed horizontal plate 62. A telescopic handle 99 is connected to one side of the top end of the pressure plate 98, and the telescopic handle 99 is inserted into the opening 9602 on the side wall of the mounting box 96.

[0125] The catheter positioning and tracking camera assembly 11 includes:

[0126] The third column 111 has its lower end fixedly connected to the top of the top plate 95, and its upper end is connected to a movable bracket 112.

[0127] The positioning and tracking camera 113 is connected to the movable support 112 (which can be adjusted horizontally and vertically). The sterile box is equipped with a positioning target (not shown) for real-time tracking by the positioning and tracking camera, so that the positioning and tracking camera can locate the real-time position of the catheter advancement mechanism and can feed the position information back to the controller in real time. The controller can instruct the guidewire robotic arm to perform actions, so as to realize synchronous following actions after the catheter bed moves or the catheter moves.

[0128] Therefore, the entire robotic device can move within the interventional catheterization lab under manual propulsion, enabling control of the guidewire and catheter during surgery. The catheter advancement mechanism, guidewire advancement mechanism, guidewire robotic arm, and positioning tracking camera all communicate wirelessly with the controller, allowing for coordinated operation. During normal use, the neurorobot moves to one side of the catheter bed, removes the guidewire robotic arm from the robot, and installs it on the catheter bed near the puncture site. The neurorobot is positioned behind the catheter bed (with the patient's head facing forward and feet facing backward), and the guidewire robotic arm is adjusted to the Y-valve connector at the catheter's tail end. After initial positioning, the sterile catheter cartridge is installed on the catheter advancement mechanism, and the angle of the positioning tracking camera is adjusted so that it can see the positioning target on the sterile catheter cartridge. Then, the guidewire and catheter are installed onto the guidewire advancement mechanism and catheter advancement mechanism respectively, ensuring the catheters are as straight as possible. Once preparation is complete, the surgeon operates the robot via a remote control in the control room to complete the surgery. When the catheter moves forward or backward, the controller receives the catheter's movement distance information and automatically controls the guidewire robotic arm to maintain a relatively stationary state between the guidewire advancement mechanism and the catheter's tail end. When the catheter bed moves, the positioning and tracking camera detects the direction and distance of movement of the catheter advancement mechanism fixed to the catheter bed. The controller then controls the guidewire robotic arm to synchronously perform the same movements as the catheter bed, with both moving in the same direction and distance. For example, if the catheter bed moves left or right, the guidewire robotic arm extends or retracts forward. Through these coordinated actions, excellent control of the catheter and guidewire can be achieved during the surgery, ensuring the catheter remains in a straight line at all times. The guidewire and catheter advancement mechanisms work together to control the advancement and rotation of the guidewire and catheter. During the surgery, the position of the robotic arm can be adjusted after using different catheters, and surgical consumables can be reinstalled on the sterile container to continue control operations. After the surgery, the sterile box is collected and disposed of in a unified manner. The catheter robotic arm is placed on the mounting box and fixed. The entire robot is then moved to a corner of the operating room so as not to affect the patient's getting on and off the bed or the transfer.

[0129] The neurointerventional surgical robot of the present invention has the following advantages:

[0130] 1. The sterile box and the catheter robotic arm are connected by plug-in connection. The catheter sterile box is a disposable surgical consumable that has been sterilized with ethylene oxide. One is used for each surgery. After the surgery, the catheter sterile box is removed and collected in a unified manner. Therefore, by replacing the catheter sterile box with a new one each time, the sterilization work of the robot can be simplified and the clinical use can be facilitated.

[0131] 2. The movable grippers on the catheter sterile box can hold the Y valve or outer sheath, which is highly versatile and allows for the installation of different catheters. The Y valve or outer sheath is held by the openable grippers, which is not only simple to install and disassemble, but also convenient to use. In addition, the sterile box can automatically adjust the clamping degree of the catheter through the catheter clamping and pushing component, and the catheter support and limiting component can position and support the catheter, so that problems such as slippage and misalignment will not occur during the pushing of the catheter.

[0132] 3. The catheter's sterile structure is compact, greatly reducing the volume and weight of the sterile box, allowing for more flexible operation in neurointerventional surgery and adapting well to the needs of real surgical environments.

[0133] 4. The catheter robotic arm is connected to the mounting box on the robot by a crimping method, which allows the catheter robotic arm to be quickly removed from and installed on the robot, making it convenient for doctors to disassemble and install, and easy to use.

[0134] 5. The robot uses a positioning and tracking camera for visual positioning of the catheter advancement mechanism, which can ensure that the guidewire advancement mechanism and the catheter bed move synchronously, thereby ensuring the synchronous movement of the guidewire and catheter and ensuring the accuracy of surgical control.

[0135] 6. The robot of this invention can move freely in the catheterization chamber, and has a simple overall structure, light weight, good stability. It adopts a modular structure design, is compact and small in size, and is very suitable for the surgical environment.

[0136] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0137] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sterile catheter box, characterized in that, include: The sterile box (1) is detachably connected to the catheter advancement mechanism (7) on the catheter robotic arm; Movable gripper (2), the movable gripper (2) is disposed on one side of the sterile box body (1) for gripping the Y valve (100) or the outer sheath (200). A catheter clamping and pushing assembly (3) is fixed to the bottom surface of the sterile box (1). The catheter clamping and pushing assembly (3) is connected to the catheter pushing mechanism (7) to drive the catheter clamping and pushing assembly (3) to move the catheter (300). A first through hole (101) is provided on one side of the sterile box (1). The movable gripper (2) includes: A fixed housing (21) is provided with a second through hole (2101) on one side of the fixed housing (21) at a position corresponding to the first through hole (101), and this side is fixedly connected to one side of the outer wall of the sterile box (1). A guide hole (2102) is provided on the other side of the fixed housing (21) away from the sterile box (1). A movable toothed plate (22) is slidably inserted inside the fixed housing (21). The movable toothed plate (22) has a first meshing tooth profile (2201) on one side surface. An elongated guide hole (2202) is provided on the first meshing tooth profile (2201). A connecting plate (23) is vertically fixed to one end of the movable toothed plate (22). A clamp (24) for clamping the Y valve (100) or the outer sheath (200) is fixed to the side end of the connecting plate (23) away from the movable toothed plate (22). A telescopic locking toothed plate (25) is provided. A guide post (26) is fixed on one side of the telescopic locking toothed plate (25). The guide post (26) passes through the guide hole (2102). The other side of the telescopic locking toothed plate (25) away from the guide post (26) is a second meshing tooth surface (2501). The second meshing tooth surface (2501) meshes with the first meshing tooth surface (2201). A pushing protrusion (27) is fixed on the second meshing tooth surface (2501). The pushing protrusion (27) passes through the elongated guide hole (2202), the second through hole (2101), and the first through hole (101) and is connected to the conduit propulsion mechanism (7) on the conduit robotic arm to push the pushing protrusion (27) to move. The first spring (28) is sleeved on the guide post (26), and one end of the first spring (28) abuts against one side of the telescopic locking tooth plate (25), and the other end abuts against the inner wall of the fixed housing (21).

2. The sterile catheter box according to claim 1, characterized in that, The catheter clamping and pushing assembly (3) includes: The first mounting plate (31) is fixed at the top of the sterile box body (1) and a plurality of vertical active shafts (32) are rotatably connected to the first mounting plate (31). Each vertical active shaft (32) is fitted with an active friction wheel (33) and each vertical active shaft (32) is connected to the catheter pushing mechanism (7) to drive the vertical active shaft (32) to rotate. The second mounting plate (34) has its top end fixed to the bottom surface of the sterile box body (1) and is spaced apart from the first mounting plate (31). Multiple horizontal mounting posts (35) are fixed on the side of the second mounting plate (34) facing the first mounting plate (31). A movable plate (36) is mounted on a plurality of horizontal mounting columns (35). A plurality of vertical driven shafts (37) are rotatably connected to the movable plate (36). Each vertical driven shaft (37) is fitted with a driven friction wheel (38). A guide tube (300) is clamped between the driving friction wheel (33) and the driven friction wheel (38). Each vertical driven shaft (37) is connected to a guide tube propulsion mechanism (7) to drive the movable plate (36) to move on the horizontal mounting columns (35). There are multiple second springs (39), each sleeved on the corresponding transverse mounting post (35). One end of the second spring (39) abuts against one side of the second mounting plate (34), and the other end abuts against one side of the movable plate (36).

3. A sterile catheter box according to claim 2, characterized in that, It also includes a catheter support and limiting assembly (4), which includes: The first catheter upper limit plate (41) has its top end fixedly connected to one side of the bottom end of the sterile box body (1). The first catheter upper limit plate (41) is arranged opposite to the clamp (24). The bottom end surface of the first catheter upper limit plate (41) has a first limiting bevel (4101). The first catheter upper limit plate (41) has a hinge hole (4102). The lower support member (42) of the arc-shaped conduit has a concave side surface as a limiting bearing surface (4201), and a transverse connecting plate (43) integrally formed at one end. A hinge post is fixed on one side of the transverse connecting plate (43), and the hinge post is inserted into the hinge hole (4102). The conduit (300) is limited between the first limiting bevel (4101) and the limiting bearing surface (4201).

4. A sterile catheter box according to claim 3, characterized in that, A support plate (44) is fixed on the upper limit plate (41) of the first conduit at a position below the hinge hole. The support plate (44) is provided with a first magnet inside, and the transverse connecting plate (43) is provided with a second magnet inside. The second magnet is magnetically connected to the first magnet.

5. A sterile catheter box according to claim 3, characterized in that, It also includes a second catheter upper limit plate (5), the top of which is fixed to the other side of the bottom of the sterile box body (1), and the bottom surface of the second catheter upper limit plate (5) has a second limiting bevel (501), and the catheter (300) is placed in the second limiting bevel (501).

6. A catheter robotic arm, characterized in that, It includes a robotic arm body (6), a catheter advancement mechanism (7), and a sterile catheter box as described in any one of claims 1-5, wherein the catheter advancement mechanism (7) is fixed to the end of the robotic arm body (6), and the sterile box body (1) is detachably connected to the catheter advancement mechanism (7).

7. A catheter robotic arm according to claim 6, characterized in that, The sterile housing (1) has an open top, and the catheter advancement mechanism (7) includes: A vertical connecting plate (71) is fixed at the top of the robotic arm body (6) and a mounting bracket (72) is fixed at the bottom of the vertical connecting plate (71) and is detachably connected to the inside of the sterile box (1). A horizontal slide rail (73) is fixed at the top of the mounting bracket (72) and a first slider (74) is slidably connected on the horizontal slide rail (73). The first motor (75) is fixed to one side of the bottom of the vertical connecting plate (71), and the drive end of the first motor (75) is fixed with a first lead screw (76). A push plate (77) is fixedly connected to the top of the first slider (74). A first threaded hole (7701) is provided on the push plate (77). The first lead screw (76) is threadedly connected to the first threaded hole (7701). A plurality of levers (78) are fixed at intervals at the bottom of the push plate (77). The lower end of each lever (78) passes through the bottom of the sterile box body (1) and is inserted into the insertion hole (3701) at the upper end of the corresponding vertical driven shaft (37). The second motor (79) is multiple and is fixed at the bottom of the vertical connecting plate (71). The driving end of each second motor (79) passes through the bottom end of the sterile box (1) and is fixed with a driving gear. The upper end of the vertical drive shaft (32) is fixed with a driven gear (3201). The driving gear and the driven gear (3201) are meshed and connected. A push-pull electromagnet (80) is fixed on the mounting bracket (72), and the telescopic end of the push-pull electromagnet (80) abuts against the push protrusion (27).

8. A neurointerventional surgical robot, characterized in that, The device includes a movable base (8), a guidewire robotic arm (9), a guidewire pushing mechanism (10), a catheter positioning and tracking camera assembly (11), and a catheter robotic arm as described in any one of claims 6-7. The guidewire robotic arm (9) and the catheter positioning and tracking camera assembly (11) are both fixed to the top of the movable base (8), the guidewire pushing mechanism (10) is fixed to the end of the guidewire robotic arm (9), and the robotic arm body (6) is detachably connected to the top of the movable base (8).

9. A neurointerventional surgical robot according to claim 8, characterized in that, The mobile base (8) includes: The base plate (81) has multiple casters (82) evenly distributed and fixed at its bottom end, and multiple first columns (83) evenly distributed and fixed at its top end. A vertical guide rail bracket (84) is provided, and there are multiple vertical guide rail brackets (84), one end of which is fixed to the top of the base plate (81). Each vertical guide rail bracket (84) is fixed with a vertical slide rail (85), and a second slider (86) slides on each vertical slide rail (85). Each second slider (86) is fixed with a support column (87). The lower end of the support column (87) extends downward through the base plate (81). The upper ends of two adjacent support columns (87) are fixed with a connecting horizontal column (88). A second threaded hole (8801) is provided on the connecting horizontal column (88). There are multiple lifting motors (89), all of which are fixed to the top of the base plate (81). The driving end of the lifting motor (89) is fixed with a second lead screw (90), and the second lead screw (90) is threadedly connected to the second threaded hole (8801). The middle plate (91) is fixedly connected to the bottom end of the middle plate (91) and the upper end of the plurality of first columns (83). The top end of the middle plate (91) is fixed with a plurality of second columns (92). The top end of the middle plate (91) is equipped with a power supply (93) and a controller (94). The top plate (95) is fixedly connected to the bottom end of the top plate (95) and the upper end of the multiple second columns (92). The guide wire robotic arm (9) and the catheter positioning and tracking camera assembly (11) are both fixed to the top of the top plate (95). The mounting box (96) is fixedly connected to the top of the top plate (95) at its bottom end. The top of the mounting box (96) is provided with a mounting hole (9601). The bottom of the robotic arm body (6) is fixed with a mounting seat (61) that is inserted into the mounting hole (9601). Two fixed horizontal plates (62) are fixed at intervals on one side of the mounting seat (61). A vertical plate (97) is fixed at the bottom of the top plate (95) and located on one side of the mounting box (96). A pressure plate (98) is hinged to the top of the vertical plate (97). The pressure plate (98) is pressed onto the fixed horizontal plate (62). A telescopic handle (99) is connected to one side of the top of the pressure plate (98). The telescopic handle (99) is inserted into the opening (9602) on the side wall of the mounting box (96). The catheter positioning and tracking camera assembly (11) includes: The third column (111) is fixedly connected at its lower end to the top of the top plate (95), and a movable bracket (112) is connected at its upper end. A positioning and tracking camera (113) is connected to the movable bracket (112).

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