Master-slave isomorphic vascular interventional surgery robot operating mechanism

Abstract

The application relates to the field of medical operations, in particular to a master-slave isomorphic vascular interventional operation robot operating mechanism which comprises an interventional assembly, a linear motor assembly, a clamping assembly A, a clamping assembly B and a clamping assembly C. The clamping assembly A, the clamping assembly B and the clamping assembly C are sequentially arranged and are arranged to slide in the same direction on the linear motor assembly. The interventional assembly comprises a catheter, a Y valve, a twist controller and a guide wire. The Y valve comprises a Y valve rotating part and a Y valve fixed part. The Y valve rotating part is connected with the Y valve fixed part and can rotate radially around the Y valve fixed part. The catheter is fixedly connected with the Y valve rotating part. The guide wire is provided with the twist controller, the guide wire is arranged to pass through the catheter and extend out, and the catheter, the Y valve fixed part and the twist controller are respectively clamped on the clamping assembly A, the clamping assembly B and the clamping assembly C. The application disassembles the action of a doctor in an operating room to operate the catheter and the guide wire, and obtains the disassembled results of catheter axial delivery, catheter rotation, guide wire axial delivery and guide wire rotation.

Description

Technical Field

[0001] This invention relates to the field of medical surgery, and more specifically, to a master-slave isomorphic vascular interventional surgical robot operating mechanism. Background Technology

[0002] Cardiovascular and cerebrovascular diseases are common diseases that seriously threaten human health, especially the health of middle-aged and elderly people over 50 years old. They are characterized by high morbidity, high disability rate and high mortality rate. Every year, as many as 15 million people die from cardiovascular and cerebrovascular diseases worldwide, ranking first among all causes of death.

[0003] Minimally invasive interventional therapy is considered one of the most timely and effective methods for treating cerebrovascular diseases. It reduces the trauma and pain caused by traditional craniotomy and open-chest surgery, has a shorter postoperative recovery time, and can effectively improve the utilization rate of medical resources. Traditional interventional cerebrovascular surgeries, which are complex, high-risk, and lack sufficient and effective training methods, involve doctors manually inserting catheters, guidewires, and stents into the patient's body. This method requires highly skilled doctors, and the doctors are exposed to radiation, which is harmful to their health.

[0004] Currently, vascular interventional surgical robots mainly adopt a master-slave end-operation structure to isolate doctors from radiation. However, there are still some problems that need to be solved. For example, the invention patent application with publication number CN109106449A discloses a cardiovascular and cerebrovascular interventional surgical robot and its guidewire and catheter pushing method. This solution designs a catheter delivery mechanism, a guidewire delivery mechanism, and a guidewire rotation mechanism, but lacks a catheter rotation mechanism, which limits the catheter / guidewire intervention process. The invention patent application with publication number 201910445602.0 discloses a catheter / guidewire rotation and propulsion device for a minimally invasive vascular interventional surgical robot. This solution first installs the catheter into the clamping rod, and then uses an active friction wheel to drive a driven friction wheel, thereby driving the clamping rod to rotate. This solution has the risk of slippage. Summary of the Invention

[0005] This invention provides a master-slave isomorphic vascular interventional surgical robot operating mechanism to at least solve the technical problems of existing interventional surgical devices not conforming to doctors' operating habits, having complex structures, and lacking a strong sense of realism for doctors' operation.

[0006] According to an embodiment of the present invention, a master-slave isomorphic vascular interventional surgical robot operating mechanism is provided, comprising: an intervention component, a linear motor component, a clamping component A, a clamping component B, and a clamping component C. The clamping components A, B, and C are sequentially arranged and slidably disposed on the linear motor component in the same direction. The intervention component includes a catheter, a Y-valve, a torque controller, and a guidewire. The Y-valve includes a Y-valve rotating component and a Y-valve fixing component. The Y-valve rotating component is connected to the Y-valve fixing component and can rotate radially around it. The catheter is fixedly connected to the Y-valve rotating component. The guidewire is provided with a torque controller, through which the catheter passes and extends. The catheter, the Y-valve fixing component, and the torque controller are respectively movably clamped on the clamping components A, B, and C.

[0007] Furthermore, the linear motor assembly includes a stator, a mover A, a mover B, and a mover C. The stator is fixed to an external structure, the clamping assembly A is mounted on the mover A, the clamping assembly B is mounted on the mover B, and the clamping assembly C is mounted on the mover C.

[0008] Furthermore, the interventional component also includes a catheter sheath, which is positioned and connected to the tip of the catheter and close to the body.

[0009] Furthermore, the clamping assembly A includes a base A, an electric clamp, a connecting plate A, a finger plate A, a finger plate B, and a connecting plate B; the clamping assembly A is connected to the mover A through the base A; the electric clamp is mounted on the base A; the connecting plate A and the connecting plate B are connected to the electric clamp; the finger plate A and the finger plate B are respectively connected to the outside of the connecting plate A and the connecting plate B.

[0010] Furthermore, connecting plate B and connecting plate A have the same structure and connection relationship; finger plate B and finger plate A have the same structure and connection relationship; when finger plate A and finger plate B move in opposite directions, they can clamp the conduit.

[0011] Furthermore, the clamping assembly B includes a base B, a rotary motor A, a Y-valve mounting bracket, a rotary shaft A, a bushing A, a rotary shaft B, gear A, gear B, a connecting shaft A, bearing A, and bearing B; the base B includes a shoulder A and a shoulder B; the clamping assembly B is connected and installed to the mover B; the rotary motor A is mounted on the base B; the rotary motor A is provided with an output shaft A, and the output shaft A is interference-fitted with the inner hole of the connecting shaft A; the inner hole of gear B is interference-fitted with the connecting shaft A; the outer ring of bearing A is interference-fitted with shoulder A; bearing B is interference-fitted with shoulder B; the inner hole of gear A is interference-fitted with the rotary shaft B.

[0012] Rotating shaft B is interference-fitted with the inner rings of bearings A and B respectively; the inner hole of rotating shaft A is interference-fitted with the rotating component of Y valve; rotating shaft A is connected to rotating shaft B; Y valve mounting bracket is connected and installed with base B; Y valve mounting component is placed inside Y valve mounting bracket.

[0013] Furthermore, the base B includes countersunk hole B, countersunk hole C, shoulder A, shoulder B, and mounting hole; the clamping assembly B is threadedly connected to the mover B by a screw passing through countersunk hole B; the rotary motor A has a threaded hole on its left side, and is threadedly connected and fixed by a screw passing through countersunk hole C; the rotary motor A has an output shaft A on its left side, which is interference-fitted with the inner hole of the connecting shaft A, and is threadedly locked by a set screw to the threaded hole on the upper part of the connecting shaft A; the inner hole of the gear B is interference-fitted with the connecting shaft A, and is threadedly locked by a set screw to the threaded hole on the side stepped shaft of the gear B; the inner hole of the gear A is interference-fitted with the rotary shaft B, and is threadedly connected and fixed by a set screw to the threaded hole on the side stepped shaft of the gear A.

[0014] The external thread A on the rotating shaft B is threadedly engaged with the internal thread B on the bushing A to lock the inner rings of bearings A and B; the inner bore of the rotating shaft A is interference-fitted with the rotating component of the Y valve; the rotating shaft A has a radial threaded hole, and the rotating component of the Y valve is installed and fixed by threaded connection of a set screw to this threaded hole; the external thread B on the rotating shaft A is threadedly connected to the internal thread A inside the rotating shaft B; the Y valve mounting bracket is installed and fixed by threaded connection of screws to the mounting hole.

[0015] Furthermore, the clamping assembly C includes a base C, a rotary motor B, a bushing B, a gear C, a precision threaded pair, a rotating shaft C, a gear D, a connecting shaft B, bearings C and D; the base C includes a shoulder C and a shoulder D; the clamping assembly C is connected and installed with the mover C; the rotary motor B is connected to the base C; the rotary motor B is provided with an output shaft B, and the output shaft B is interference-fitted with the inner hole of the connecting shaft B; the inner hole of the gear D is interference-fitted with the connecting shaft B; the outer ring of the bearing C is interference-fitted with the shoulder C; the bearing D is interference-fitted with the shoulder D; the inner hole of the gear C is interference-fitted with the rotating shaft C.

[0016] Rotating shaft C is interference-fitted with the inner rings of bearings C and D respectively; rotating shaft C is fitted with bushing B; precision threaded pair includes nut base and screw; nut base is connected to rotating shaft C; screw is connected to nut base; torque controller is installed inside rotating shaft C.

[0017] Furthermore, the base C includes countersunk holes D and E, a shoulder C, and a shoulder D; the clamping assembly C is threadedly connected to the mover C via screws passing through countersunk hole D; the rotary motor B has a threaded hole on its left side, and is threadedly connected to the threaded hole via screws passing through countersunk hole E; the rotary motor B has an output shaft B on its left side, which is interference-fitted with the inner hole of the connecting shaft B, and is threadedly locked to the threaded hole above the connecting shaft B via a set screw; the inner hole of the gear D is interference-fitted with the connecting shaft B, and is threadedly locked to the threaded hole on the side stepped shaft of the gear D via a set screw; the inner hole of the gear C is interference-fitted with the rotary shaft C, and is threadedly connected to the set screw via the threaded hole on the side stepped shaft of the gear C.

[0018] The external thread C of the rotating shaft C is threadedly engaged with the internal thread C of the bushing B to lock the inner rings of bearings C and D; the nut base is glued to the rotating shaft C; and the screw is threaded to the nut base.

[0019] Furthermore, by operating the screw to clamp or loosen the torque controller, it is easy to adjust the relative position of the torque controller with respect to the guide wire.

[0020] The master-slave isomorphic vascular interventional surgical robot operating mechanism in this embodiment of the invention breaks down the actions of doctors operating catheters and guidewires in the operating room, resulting in separate catheter axial delivery, catheter rotation, guidewire axial delivery, and guidewire rotation. Modular solutions are designed for each of these components, and different clamping mechanisms are designed based on doctors' operating habits, reducing the time doctors spend learning and adapting. The operating mechanism designed in this invention is easy to replace, facilitating postoperative disinfection by doctors. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the intervention component of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the clamping component A of the present invention;

[0025] Figure 4 A schematic diagram of the structure of the clamping component B of the present invention;

[0026] Figure 5 This is an exploded view of a portion of the structure of the clamping component B of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the base B of the present invention;

[0028] Figure 7 This is a schematic diagram of the structure of the clamping component C of the present invention;

[0029] Figure 8 This is an exploded view of a portion of the structure of the clamping component C of the present invention;

[0030] Figure 9 This is a schematic diagram of the structure of the base C of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "A", "B", etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] A master-slave isomorphic vascular interventional surgical robot operating mechanism includes a master operating mechanism and a slave operating mechanism. Except for the fact that the master operating mechanism does not have interventional components, the mechanical structure of the other parts of the master operating mechanism is exactly the same as that of the slave operating mechanism. The mechanical structure is described below.

[0034] Combination Figure 1-9 The specific implementation of a master-slave isomorphic vascular interventional surgical robot operating mechanism is as follows:

[0035] like Figure 1-2As shown, a master-slave isomorphic vascular interventional surgical robot operating mechanism includes an interventional component 1, a linear motor component 2, a clamping component A 3, a clamping component B 4, and a clamping component C 5. The linear motor component 2 includes a stator 2-1, a mover A 2-2, a mover B 2-3, and a mover C 2-4. The stator 2-1 can be fixed to the external environment structure. The clamping component A 3 is mounted above the mover A 2-2; the clamping component B 4 is mounted above the mover B 2-3; and the clamping component C 5 is mounted above the mover C 2-4.

[0036] Interventional assembly 1 includes a catheter sheath 1-1, a catheter 1-2, a Y-valve 1-3, a torque controller 1-4, and a guidewire 1-5. The Y-valve 1-3 is equipped with a Y-valve rotating component 1-3-1 and a Y-valve fixing component 1-3-2. The Y-valve rotating component 1-3-1 and the Y-valve fixing component 1-3-2 are coaxial, and the Y-valve rotating component 1-3-1 can rotate radially relative to the Y-valve fixing component 1-3-2. The catheter 1-2 is fixedly connected to the Y-valve rotating component 1-3-1, and rotating the Y-valve rotating component 1-3-1 can drive the catheter 1-2 to rotate. The guidewire 1-5 is placed inside the catheter 1-2 and can be linearly delivered and rotated within the catheter 1-2. The torque controller 1-4 is installed inside the clamping assembly C 5; because the guidewire 1-5 has a small diameter and is difficult to operate, the torque controller 1-4 locks the guidewire 1-5 during surgery. Its function is to increase the contact area when operating the guidewire, and the operation of the guidewire 1-5 can be converted into the operation of the torque controller 1-4. The catheter sheath 1-1 is positioned close to the human body. The catheter 1-2 is placed inside the clamping assembly A 3; the Y valve 1-3 is installed inside the clamping assembly B 4.

[0037] like Figure 3 As shown, the clamping assembly A3 includes a base A3-1, an electric clamp 3-2, a connecting plate A3-3, a finger plate A3-4, a finger plate B3-5, and a connecting plate B3-6. The clamping assembly A3 is installed and fixed by screws passing through countersunk holes A3-1-1 and threadedly connected to threaded holes on the mover A2-2. The electric clamp 3-2 is threadedly installed above the base A3-1. The connecting plate A3-3 is threadedly fixed to the electric clamp 3-2, serving as an intermediate mechanism connecting the electric clamp 3-2 and the finger plate A3-4; the finger plate A3-4 is threadedly fixed to the outside of the connecting plate A3-3. The connecting plate B 3-6 and the connecting plate A 3-3 have the same structure and connection relationship; the finger plate B 3-5 and the finger plate A 3-4 have the same structure and connection relationship; when the finger plate A 3-4 and the finger plate B 3-5 move in opposite directions, they can clamp the conduit 1-2.

[0038] like Figure 4-6As shown, the clamping assembly B4 includes a base B4-1, a rotary motor A4-2, a Y-valve mounting bracket 4-3, a rotating shaft A4-4, a bushing A4-5, a rotating shaft B4-6, a gear A4-7, a gear B4-8, a connecting shaft A4-9, a bearing A4-10, and a bearing B4-11. The base B4-1 includes countersunk holes B4-1-1 and C4-1-2, a shoulder A4-1-3, a shoulder B4-1-4, and a mounting hole 4-1-5. The clamping assembly B4 is threadedly connected to the mover B2-3 via screws passing through the countersunk hole B4-1-1 for installation and fixation. Rotary motor A 4-2 has a threaded hole on its left side. A screw passes through the countersunk hole C 4-1-2 and is threaded into this threaded hole for installation and fixation. Rotary motor A 4-2 has an output shaft A 4-2-1 on its left side. The output shaft A 4-2-1 has a transition fit with the inner hole of connecting shaft A 4-9 and is threaded into the threaded hole on the upper part of connecting shaft A 4-9 by a set screw. The inner hole of gear B 4-8 has a transition fit with connecting shaft A 4-9 and is threaded into the threaded hole on the side stepped shaft of gear B 4-8 by a set screw. The outer ring of bearing A 4-10 has an interference fit with shoulder A 4-1-3; bearing B 4-11 has an interference fit with shoulder B 4-1-4. The inner hole of gear A 4-7 has a transition fit with rotating shaft B 4-6 and is threaded into the threaded hole on the side stepped shaft of gear A 4-7 by a set screw for installation and fixation.

[0039] Rotating shaft B 4-6 is transition-fitted with the inner rings of bearings A 4-10 and B 4-11, respectively. The external thread A 4-6-2 on rotating shaft B 4-6 is threadedly fitted with the internal thread B 4-5-1 on bushing A 4-5, used to lock the inner rings of bearings A 4-10 and B 4-11. The inner bore of rotating shaft A 4-4 is transition-fitted with the rotating component 1-3-1 of the Y valve. Rotating shaft A 4-4 has a radial threaded hole, which is threadedly connected to the rotating component 1-3-1 of the Y valve by a set screw. The external thread B 4-4-1 on rotating shaft A4-4 is threadedly connected to the internal thread A 4-6-3 inside rotating shaft B 4-6. The Y valve mounting bracket 4-3 is installed and fixed by screws threadedly connected to the mounting hole 4-1-5. The Y valve mounting component 1-3-2 is placed inside the Y valve mounting bracket 4-3 and locked from the side by tightening screws.

[0040] like Figure 7-9As shown, the clamping assembly C5 includes a base C5-1, a rotary motor B5-2, a bushing B5-3, a gear C5-4, a precision threaded pair 5-5, a rotating shaft C5-6, a gear D5-7, a connecting shaft B5-8, a bearing C5-9, and a bearing D5-10. The base C5-1 includes countersunk holes D5-1-1 and E5-1-2, a shoulder C5-1-3, and a shoulder D5-1-4. The clamping assembly C5 is threadedly connected and fixed to the mover C2-4 via screws passing through the countersunk hole D5-1-1. Rotary motor B 5-2 has a threaded hole on its left side. A screw passes through the countersunk hole E 5-1-2 and is threaded into this threaded hole for installation and fixation. Rotary motor B 5-2 has an output shaft B 5-2-1 on its left side. The output shaft B 5-2-1 has a transition fit with the inner hole of connecting shaft B 5-8 and is threaded into the threaded hole on the upper part of connecting shaft B 5-8 by a set screw. The inner hole of gear D 5-7 has a transition fit with connecting shaft B 5-8 and is threaded into the threaded hole on the side stepped shaft of gear D 5-7 by a set screw. The outer ring of bearing C 5-9 has an interference fit with shoulder C 5-1-3; bearing D 5-10 has an interference fit with shoulder D 5-1-4. The inner hole of gear C 5-4 has a transition fit with rotating shaft C 5-6 and is threaded into the threaded hole on the side stepped shaft of gear C 5-4 by a set screw for installation and fixation.

[0041] Rotating shaft C 5-6 is transition-fitted with the inner rings of bearings C 5-9 and D 5-10, respectively. The external thread C 5-6-1 on rotating shaft C 5-6 is threadedly fitted with the internal thread C 5-3-1 on bushing B 5-3, used to lock the inner rings of bearings C 5-9 and D 5-10. Precision threaded assembly 5-5 includes a nut base 5-5-1 and a screw 5-5-2; the nut base 5-5-1 is glued to rotating shaft C 5-6; the screw 5-5-2 is threaded to the nut base. Torque controller 1-4 is installed inside rotating shaft C 5-6. Tightening or loosening the screw 5-5-2 allows adjustment of the relative position of torque controller 1-4 with respect to guide wire 1-5.

[0042] like Figure 1-9 As shown, the technical solution proposed in this invention breaks down the actions of doctors operating catheters 1-2 and guidewires 1-5 in the operating room, resulting in the breakdown of catheter 1-2 axial delivery, catheter 1-2 rotation, guidewire 1-5 axial delivery, and guidewire 1-5 rotation. Modular solutions are designed for each of these components. The embodiment of this invention specifically describes the slave-end operating mechanism; the master-end operating mechanism does not have the intervention component 1, and the rest is completely identical to the slave-end operating mechanism. The working principle of this invention will be further explained below:

[0043] 1. Master-Slave Control Method

[0044] This invention employs a master-slave control method. When the master-slave isomorphic vascular interventional surgical robot operating mechanism proposed in this invention assists the doctor in surgery, the doctor operates the master operating mechanism, and the slave operating mechanism follows the movement of the master operating mechanism to perform surgery on the patient.

[0045] 2. Axial delivery of the catheter

[0046] Clamping assembly A3 is mounted above mover A2-2, which can move clamping assembly A3 back and forth. Both finger plates A3-4 and B3-5 have slotted holes through which catheter 1-2 passes, preventing it from falling out of clamping assembly A3 during operation. When finger plates A3-4 and B3-5 move towards each other, they can clamp catheter 1-2. Since Y-valve 1-3 is installed inside clamping assembly B4, and catheter 1-2 is fixedly connected to Y-valve 1-3, clamping assembly B4 also moves with clamping assembly A3 when catheter 1-2 is axially delivered. When axially delivering catheter 1-2, the doctor only needs to use their left thumb and forefinger to pinch finger plates A3-4 and B3-5 respectively to clamp catheter 1-2, and then control the left hand to move forward or backward.

[0047] 3. Catheter rotation

[0048] The catheter 1-2 is fixedly connected to the Y-valve rotating component 1-3-1, and rotating the catheter 1-2 can be converted into rotating the Y-valve rotating component 1-3-1. The Y-valve fixing component 1-3-2 is locked in place by the Y-valve fixing bracket 4-3, allowing the Y-valve rotating component 1-3-1 to rotate relative to the Y-valve fixing component 1-3-2. The catheter 1-2, the Y-valve rotating component 1-3-1, and gear A are coaxial. At the main end, the doctor uses their thumb and forefinger to rotate the finger wheel 4-6-1, transmitting the motion to the rotary motor A 4-2 through the meshing of gear A 4-7 and gear B 4-8. The slave end operating mechanism then rotates the catheter 1-2 using the same transmission method.

[0049] 4. Guidewire axial delivery

[0050] Guidewire 1-5 is locked inside torque controller 1-4, and operating guidewire 1-5 can be converted into operating torque controller 1-4. Torque controller 1-4 is fixed inside clamping assembly C5, which is fixed to mover C2-4. The physician can use his thumb and forefinger to pinch bushing B5-3, thereby pushing clamping assembly C5 to achieve axial delivery of guidewire 1-5.

[0051] 5. Guide wire rotation

[0052] Guide wire 1-5, rotating shaft C 5-6, and gear C 5-4 are coaxial. Rotating shaft C 5-6 is threaded into bushing B 5-3, locking the inner rings of bearings C 5-9 and D 5-10. The doctor uses his thumb and forefinger to turn bushing B 5-3, transmitting the motion to rotary motor B 5-2 through the meshing of gears C 5-4 and D 5-7. The slave-end operating mechanism rotates guide wire 1-5 using the same transmission method.

[0053] Compared with existing interventional surgical robot operating mechanisms, the advantages of the present invention are at least as follows:

[0054] 1. Adopting a master-slave isomorphic interventional surgical robot solution, different clamping mechanisms are designed based on the doctor's operating habits, reducing the time doctors spend learning and adapting.

[0055] 2. The operating mechanism designed in this invention is easy to replace, making it convenient for doctors to disinfect the mechanism after surgery. Doctors can also discard the finger plate A 3-4, finger plate B 3-5, rotating shaft A 4-4, bushing A 4-5, rotating shaft B 4-6 and other mechanisms after surgery.

[0056] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A master-slave isomorphic vascular interventional surgical robot operating mechanism, characterized in that, include: The intervention component comprises an interventional assembly, a linear motor assembly, a clamping assembly A, a clamping assembly B, and a clamping assembly C. The clamping assemblies A, B, and C are sequentially arranged and slidably mounted on the linear motor assembly in the same direction. The interventional assembly includes a catheter, a Y-valve, a torque controller, and a guidewire. The Y-valve includes a rotating component and a fixing component. The rotating component is connected to the fixing component and can rotate radially around it. The catheter is fixedly connected to the rotating component. The guidewire, after being fitted with the torque controller, passes through the catheter and extends outward. The catheter, the fixing component, and the torque controller are movably clamped on the clamping assemblies A, B, and C, respectively. The linear motor assembly includes a stator, a mover A, a mover B, and a mover C. The stator is fixed to an external structure. The clamping assembly A is mounted on the mover A, the clamping assembly B is mounted on the mover B, and the clamping assembly C is mounted on the mover C. The clamping assembly C includes a base C, a rotary motor B, a bushing B, a gear C, a precision threaded pair, a rotating shaft C, a gear D, a connecting shaft B, a bearing C, and a bearing D; the base C includes a shoulder C and a shoulder D; the clamping assembly C is connected and installed to the mover C; the rotary motor B is connected to the base C; the rotary motor B is provided with an output shaft B, and the output shaft B is interference-fitted with the inner hole of the connecting shaft B; the inner hole of the gear D is interference-fitted with the connecting shaft B; the outer ring of the bearing C is interference-fitted with the shoulder C; the bearing D is interference-fitted with the shoulder D; the inner hole of the gear C is interference-fitted with the rotating shaft C; The rotating shaft C is interference-fitted with the inner rings of bearings C and D respectively; the rotating shaft C is fitted with the bushing B; the precision threaded pair includes a nut base and a screw; the nut base is connected to the rotating shaft C; the screw is connected to the nut base; the torque controller is installed inside the rotating shaft C.

2. The master-slave isomorphic vascular interventional surgical robot operating mechanism according to claim 1, characterized in that, The interventional assembly also includes a catheter sheath, which is disposed at the tip of the catheter and close to the human body.

3. The master-slave isomorphic vascular interventional surgical robot operating mechanism according to claim 1, characterized in that, The clamping assembly A includes a base A, an electric clamp, a connecting plate A, finger plates A and B, and a connecting plate B; the clamping assembly A is connected to the moving part A through the base A; the electric clamp is mounted on the base A; the connecting plate A and the connecting plate B are connected to the electric clamp; the finger plates A and B are respectively connected to the outside of the connecting plate A and the connecting plate B.

4. The master-slave isomorphic vascular interventional surgical robot operating mechanism according to claim 3, characterized in that, The connecting plate B has the same structure and connection relationship as the connecting plate A; the finger plate B has the same structure and connection relationship as the finger plate A; when the finger plate A and the finger plate B move in opposite directions, they can clamp the conduit.

5. The master-slave isomorphic vascular interventional surgical robot operating mechanism according to claim 1, characterized in that, The clamping assembly B includes a base B, a rotary motor A, a Y-valve mounting bracket, a rotating shaft A, a bushing A, a rotating shaft B, gear A, gear B, a connecting shaft A, bearing A, and bearing B. The base B includes a shoulder A and a shoulder B. The clamping assembly B is connected and installed to the mover B. The rotary motor A is mounted on the base B. The rotary motor A has an output shaft A, which is interference-fitted with the inner hole of the connecting shaft A. The inner hole of the gear B is interference-fitted with the connecting shaft A. The outer ring of the bearing A is interference-fitted with the shoulder A. The bearing B is interference-fitted with the shoulder B. The inner hole of the gear A is interference-fitted with the rotating shaft B. The rotating shaft B is interference-fitted with the inner rings of bearings A and B respectively; the inner hole of the rotating shaft A is interference-fitted with the rotating component of the Y valve; the rotating shaft A is connected to the rotating shaft B; the Y valve fixing bracket is connected and installed with the base B; the Y valve fixing component is placed inside the Y valve fixing bracket.

6. The master-slave isomorphic vascular interventional surgical robot operating mechanism according to claim 5, characterized in that, The base B includes countersunk hole B, countersunk hole C, shoulder A, shoulder B, and mounting hole; the clamping assembly B is threadedly connected to the mover B by a screw passing through the countersunk hole B; the rotary motor A has a threaded hole on its left side, and is installed and fixed by a screw passing through the countersunk hole C and threadedly connected to the threaded hole; the rotary motor A has an output shaft A on its left side, which is interference-fitted with the inner hole of the connecting shaft A, and is locked by a set screw threadedly connected to the threaded hole above the connecting shaft A; the inner hole of the gear B is interference-fitted with the connecting shaft A, and is locked by a set screw threadedly connected to the threaded hole on the side stepped shaft of the gear B; the inner hole of the gear A is interference-fitted with the rotary shaft B, and is installed and fixed by a set screw threadedly connected to the threaded hole on the side stepped shaft of the gear A. The external thread A on the rotating shaft B is threadedly engaged with the internal thread B on the bushing A to lock the inner rings of bearing A and bearing B; the inner hole of the rotating shaft A is interference-fitted with the rotating component of the Y valve; the rotating shaft A has a radial threaded hole, and the rotating component of the Y valve is installed and fixed by a set screw threadedly connected to the threaded hole; the external thread B on the rotating shaft A is threadedly connected to the internal thread A inside the rotating shaft B; the Y valve fixing bracket is installed and fixed by a screw threadedly connected to the mounting hole.

7. The master-slave isomorphic vascular interventional surgical robot operating mechanism according to claim 1, characterized in that, The base C includes countersunk holes D and E, a shoulder C, and a shoulder D; the clamping assembly C is threadedly connected to the mover C via screws passing through countersunk holes D; the rotary motor B has a threaded hole on its left side, and is threadedly connected to the threaded hole via screws passing through countersunk holes E; the rotary motor B has an output shaft B on its left side, which is interference-fitted with the inner hole of the connecting shaft B, and is threadedly locked to the threaded hole above the connecting shaft B via a set screw; the inner hole of the gear D is interference-fitted with the connecting shaft B, and is threadedly locked to the threaded hole on the side stepped shaft of the gear D via a set screw; the inner hole of the gear C is interference-fitted with the rotary shaft C, and is threadedly connected to the set screw via a threaded hole on the side stepped shaft of the gear C. The external thread C of the rotating shaft C is threadedly engaged with the internal thread C of the bushing B to lock the inner rings of the bearing C and the bearing D; the nut base is glued to the rotating shaft C; and the screw is threaded to the nut base.

8. The master-slave isomorphic vascular interventional surgical robot operating mechanism according to claim 7, characterized in that, The torque controller can be clamped or loosened by operating the screw, which facilitates adjusting the relative position of the torque controller with respect to the guide wire.

Images