An interventional procedure catheter advancement robot

Abstract

The application relates to an interventional surgery catheter pushing robot, which comprises a sterilization box, one end of the sterilization box extends outwardly to form an extension rod, a catheter mounting groove is formed in the extension rod along the length direction, an outer shaft is arranged on the extension rod, the outer shaft is a circular ring, a slot is formed in the outer wall of the outer shaft along the length direction, the slot can be matched with the catheter mounting groove to mount the catheter by rotating the outer shaft, the slot and the catheter mounting groove are arranged in a staggered mode to form a catheter limiting channel, the limiting channel is arranged on the same line with a catheter channel in the sterilization box; the catheter pushing device is vertically arranged, a platform is arranged at the front end of the catheter pushing device, the sterilization box is arranged on the platform, and the bottom shell of the sterilization box is magnetically connected with the platform; the lower end of the forearm of the mechanical arm is rotationally connected with a shell shaft on the outer wall of the catheter pushing device. The application improves the mounting efficiency of the catheter, solves the problem of complicated sterilization of the device in actual clinical application, has a simple overall structure, small volume, good stability, adopts a modular mode, and is convenient to assemble and debug.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive vascular interventional surgery technology, and more specifically to an interventional surgical catheter advancement robot. Background Technology

[0002] Interventional procedures generally present 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, vascular perforation, and rupture due to improper pushing force, which can endanger the patient's life. Second, the long-term cumulative damage from ionizing radiation significantly increases the surgeon's risk of developing leukemia, cancer, and acute cataracts. The continuous accumulation of radiation exposure by surgeons during interventional procedures has become a significant issue jeopardizing their professional health and hindering the development of interventional surgery.

[0003] Robotics can effectively address the above issues, significantly improve the precision and stability of surgical procedures, and effectively reduce radiation exposure to interventional surgeons, thus lowering the likelihood of intraoperative accidents. Catheter advancement and control is a crucial step in interventional surgery; effectively managing the advancement and retraction of guiding or angiography catheters is essential for ensuring the successful completion of the procedure.

[0004] In China, there are several problems with the advancement and control of guiding catheters and angiography catheters in interventional surgery robots: (1) The device is too long and too large, making it inconvenient for doctors to operate; (2) It is inconvenient to disinfect the control components; (3) It is inconvenient to install guiding catheters and angiography catheters on the device; (4) The catheters are prone to slippage.

[0005] Therefore, how to provide a robotic catheter advancement system for interventional surgery is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] Therefore, the purpose of this invention is to propose an interventional surgical catheter advancement robot that solves problems such as excessively long and large device size; inconvenient sterilization of control components; and inconvenient installation of guiding catheters and angiography catheters on the device.

[0007] This invention provides an interventional surgical catheter advancement robot, comprising:

[0008] A disinfection box, wherein an extension rod extends outward from one end of the disinfection box, and a conduit installation groove is formed on the extension rod along its length. A rotating shaft is fitted on the outside of the extension rod. The rotating shaft is a circular ring sleeve, and its outer wall has a groove formed along its length. Rotating the rotating shaft so that the groove corresponds to the position of the conduit installation groove can install a conduit. The groove and the conduit installation groove are staggered to form a conduit limiting channel. The limiting channel is on the same straight line as the conduit channel inside the disinfection box.

[0009] A catheter advancement device, vertically arranged, with a platform extending from its front end; a disinfection box is located on the platform, and its bottom shell is magnetically connected to the platform; and

[0010] The robotic arm has its lower forearm rotatably connected to the housing shaft on the outer wall of the guide tube propulsion device.

[0011] As can be seen from the above technical solution, compared with the prior art, this invention discloses an interventional surgical catheter advancement robot. By aligning the slot on the rotating shaft with the catheter mounting slot on the extension rod, the sterilization box is opened, allowing the catheter to be placed directly from top to bottom, facilitating clinical operation and improving installation efficiency. The sterilization box is a disposable consumable, making sterilization convenient and effectively solving the problem of cumbersome device sterilization in actual clinical practice. The sterilization box and platform are magnetically connected for easy installation and removal. This invention has a simple overall structure, good stability, and adopts a modular approach, facilitating assembly and debugging. The overall device is small in size, making it convenient for doctors to use.

[0012] Furthermore, the disinfection box includes a flip cover, a catheter driving active part, and a catheter driving driven part; one side of the flip cover is hinged to the bottom shell, and the other side is magnetically connected to the bottom shell, forming a catheter driving space inside the two, and the driving space has a catheter driving active part and a catheter driving driven part that cooperate with each other to drive the catheter; the inner wall of the flip cover and the inner wall of the bottom shell have correspondingly arranged uprights that can form a catheter channel; the extension rod is fixed to the bottom shell by an extension rod bracket and is arranged in the direction of extending the catheter channel.

[0013] Furthermore, the active drive unit of the conduit includes an active wheel bracket, an active rotating shaft, and an active friction wheel; the bottom shell has a rotating hole extending downward from the bottom of the active rotating shaft, the upper part of the active rotating shaft is rotatably supported on the bottom shell through the active wheel bracket, and the active friction wheel is fixed thereon;

[0014] The driven part of the conduit includes a passive support, a passive friction wheel support, a passive rotating shaft, and a passive friction wheel; the passive support is arranged opposite to the driving wheel support, and a connecting rod extends from the side of the passive support closer to the driving wheel support; the passive friction wheel support has a insertion hole through which the connecting rod can pass; the passive rotating shaft rotates inside the passive friction wheel support and is connected to the passive friction wheel; the bottom of the passive rotating shaft has an elongated actuation hole corresponding to the bottom shell.

[0015] Furthermore, a pressure plate for pressing a waterproof membrane is provided between the bottom of the passive rotating shaft and the bottom shell.

[0016] Furthermore, the duct propulsion device includes a propulsion motor, a propulsion housing, a drive gear set, a photoelectric switch, a servo motor, a push rod connector, and a probe rod;

[0017] The propulsion housing is integrally connected to the platform and is arranged in an L-shape. The propulsion motor with its output end facing downward is installed inside the propulsion housing. The output end of the propulsion motor drives the active rotating shaft to rotate through the drive gear set. The push rod connector is disposed around the drive wheel set and slides on the linear guide rail inside the platform. The servo motor is installed inside the propulsion housing. The rotation of the servo motor's shaft pushes the push rod connector to move along the linear guide rail, thereby changing the clamping distance between the active friction wheel and the passive friction wheel support.

[0018] The photoelectric switch and the probe are installed inside the platform and are used to detect the open and closed state of the disinfection box lid.

[0019] Furthermore, the housing shaft is fixed to the rear of the propulsion housing, and a bushing is fitted on it.

[0020] Furthermore, the robotic arm includes: a forearm, a middle arm, a rear arm, and a column; the bottom of the forearm forms a ring for rotatably connecting the rotating shaft, and its top is connected to one end of the middle arm; the middle arm adopts a gas spring structure, and its other end is connected to the rear arm; the rear arm is connected to the top of the column; and the bottom of the column is fixed to the guide bed. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of an interventional surgical catheter advancement robot.

[0023] Figure 2 A schematic diagram of the front of the catheter sterilization box;

[0024] Figure 3 This is a schematic diagram of the inside of the catheter sterilization box;

[0025] Figure 4 This is a schematic diagram of the back of the catheter sterilization box;

[0026] Figure 5 Exploded view of the catheter sterilization box;

[0027] Figure 6 This is a schematic diagram of the front of the duct propulsion device.

[0028] Figure 7 This is a schematic diagram of the back of the duct propulsion device;

[0029] Figure 8 Exploded view of the duct propulsion device;

[0030] Figure 9 This is a schematic diagram of a robotic arm;

[0031] Figure 10 This is a schematic diagram of the connecting mechanism;

[0032] In the picture:

[0033] 100-Disinfection box; 101-Flip lid; 102-Passive support; 103-Passive friction wheel support; 104-Extension rod; 1041-Conduit mounting slot; 1042-Extension rod support; 105-Spindle; 1051-Gate; 106-Bottom shell; 1061-Elongated actuating hole; 107-Passive friction wheel; 108-Pressure plate; 109-Passive pivot; 110-Active wheel support; 111-Active pivot; 1111-Active friction wheel;

[0034] 200-Guide propulsion device; 201-Propulsion motor; 202-Propulsion housing; 203-Second gear; 204-First gear; 205-Third gear; 206-Photoelectric switch; 207-Busset; 208-Housing shaft; 209-Servo motor; 210-Push rod connector; 211-Probe rod;

[0035] 300 - Robotic arm; 301 - Forearm; 302 - Middle arm; 303 - Rear arm; 304 - Column;

[0036] 400-Connecting mechanism; 401-Connecting column; 402-Reducer; 403-Drive motor; 404-Rack; 405-Guide rail; 406-Connecting plate. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] This invention relates to interventional surgery, where a robot remotely controls the advancement and retraction of guiding and angiography catheters. This allows the robot to be remotely controlled by the surgeon to advance or retract the guiding or angiography catheters, thus facilitating the interventional procedure. The catheter advancement device works in conjunction with a sterilization box and a robot-controlled guidewire catheter mechanism. The position of the robotic arm is adjusted so that the front end of the sterilization box aligns with the outer sheath outlet. After the sterilization box lid is opened, an angiography or guiding catheter can be placed onto the sterilization box. After the lid is closed, the friction wheels automatically clamp the angiography or guiding catheter. The surgeon can remotely advance and retract the catheters from outside the operating room. The direct contact parts for catheter advancement are surgical consumables, using a plug-and-play tool-free installation method for ease of use by the surgeon.

[0042] See appendix Figure 1-4 This invention discloses an interventional surgical catheter advancement robot, specifically comprising:

[0043] A disinfection box 100 has an extension rod 104 extending outward from one end. A conduit mounting groove 1041 is formed along the length of the extension rod 104. A rotating shaft 105 is fitted around the extension rod 104. The rotating shaft 105 is a circular ring with a slot 1051 formed along its outer wall. Rotating the rotating shaft 105 aligns the slot 1051 with the conduit mounting groove 1041, allowing the conduit to be installed. The slot 1051 and the conduit mounting groove 1041 are staggered to form a conduit limiting channel. This limiting channel is on the same straight line as the conduit channel inside the disinfection box 100.

[0044] A catheter advancement device 200, vertically arranged, with a platform extending from its front end, the disinfection box 100 located on the platform, and its bottom shell 106 magnetically connected to the platform; and

[0045] The robotic arm 300 has its lower end of forearm 301 rotatably connected to the housing shaft 208 on the outer wall of the guide tube propulsion device 200.

[0046] The groove width of the rotating shaft 105 is 4mm. The rotating shaft 105 can rotate on the extension rod 104. This part is used to place the guiding catheter or angiography catheter, and is used to attach the sterilization box to the patient's outer sheath outlet. After the catheter is placed in the groove of the rotating shaft 105 and the extension rod 104, the doctor only needs to select the rotating shaft 105 to confine the catheter within the groove. This prevents the catheter from deviating during advancement or withdrawal, thus achieving a smooth advancement or withdrawal of the catheter. After the procedure, the rotating shaft 105 can also be rotated to align the grooves of both, and the catheter can then be removed.

[0047] See appendix Figure 2-5 The catheter disinfection box is a disposable consumable that has undergone disinfection and is replaced with a new one after each surgery. The disinfection box 100 includes a flip cover 101, a catheter driving active part, and a catheter driving driven part. One side of the flip cover 101 is hinged to the bottom shell 106, and the other side is magnetically connected to the bottom shell 106, forming a catheter driving space within both. The driving space contains the catheter driving active part and the catheter driving driven part that cooperate to drive the catheter. Correspondingly arranged uprights forming a catheter channel are located on the inner walls of the flip cover 101 and the inner walls of the bottom shell 106. The extension rod 104 is fixed to the bottom shell 106 via an extension rod bracket 1042 and is arranged in the direction of extending the catheter channel. The flip cover 101 is mounted on the bottom shell 106, has uprights for pressing the catheter, and is equipped with magnets that attract the bottom shell 106, ensuring the catheter does not deviate from the catheter channel.

[0048] The active part of the guide tube drive includes an active wheel bracket 110, an active rotating shaft 111, and an active friction wheel 1111. The bottom shell 106 has a rotating hole extending downward from the bottom of the active rotating shaft 111. The upper part of the active rotating shaft 111 is rotatably supported on the bottom shell 106 through the active wheel bracket 110, and the active friction wheel 1111 is fixed on it.

[0049] The driven part of the conduit includes a passive support 102, a passive friction wheel support 103, a passive rotating shaft 109, and a passive friction wheel 107. The passive support 102 is arranged opposite to the driving wheel support 110, and a connecting rod extends from the side of the passive support 102 near the driving wheel support 110. The passive friction wheel support 103 has a insertion hole through which the connecting rod can pass. The passive rotating shaft 109 rotates within the passive friction wheel support 103 and is connected to the passive friction wheel 107. The bottom of the passive rotating shaft 109 has an elongated actuation hole 1061 corresponding to the bottom shell 106.

[0050] In an embodiment of the invention, the disinfection box contains two sets of friction wheels: two active friction wheels and two passive friction wheels, which are connected to the active rotating shaft 111 and the passive rotating shaft 109, respectively. The active rotating shaft 111 engages with the third gear 205 of the lower propulsion device, and under the action of the propulsion motor, it can drive the friction wheels to rotate. The active and passive friction wheels clamp the guide tube under the action of the spring (the spring is set on the connecting rod of the passive support 102), and the rotational friction force can drive the guiding tube or the contrast tube to move forward or backward. Advantageously, a pressure plate 108 for pressing a waterproof membrane is provided between the bottom of the passive rotating shaft 109 and the bottom shell 106. The passive rotating shaft 109 is on the pressure plate 108 and is sleeved on the shaft extending from the push rod connector 210. Under the action of the servo motor, the passive friction wheels can be opened.

[0051] See appendix Figure 6-8 The duct propulsion device 200 includes a propulsion motor 201, a propulsion housing 202, a drive gear set, a photoelectric switch 206, a servo motor 209, a push rod connector 210, and a probe rod 211.

[0052] The propulsion housing 202 is integrally connected to the platform and is arranged in an L-shape. The propulsion motor 201 with its output end facing downwards is installed inside the propulsion housing 202. The output end of the propulsion motor 201 is connected to the drive gear set (including a first gear 204, a second gear 203, and a third gear 205). The output end of the propulsion motor 201 first drives the first gear 204 to rotate. The first gear meshes with the second gear 203, which has a larger diameter. The second gear 203 simultaneously drives the two third gears 205. Each third gear has drive teeth at its top to drive the active shaft 111. Thus, when the propulsion motor rotates, the two sets of third gears can simultaneously drive the two sets of active shafts 111 to rotate synchronously and in the same direction. This, in turn, drives the active friction wheel above it to rotate, causing the active rotating shaft 111 to rotate. The push rod connector 210 is disposed around the drive wheel assembly and slides on a linear guide rail within the platform. The servo motor 209 is installed inside the propulsion housing 202. The rotation of the servo motor's shaft pushes the push rod connector 210 to move along the linear guide rail, thereby changing the clamping distance between the active friction wheel 1111 and the passive friction wheel bracket 103. When the servo motor rotates, it can push the connector a certain distance, thereby opening the passive friction wheel and the active friction wheel. When the servo motor rotates back, the push rod connector 210 returns to its original position under the action of the spring. One end of the spring is attached to the push rod connector, and the other end is attached to the propulsion housing and fixed with screws.

[0053] The photoelectric switch 206 and the probe 211 are installed inside the platform and are used to detect the open / closed state of the flip-top 101 of the disinfection box 100. A compression spring is located below the probe 211 to spring it up. The photoelectric switch 206 and the probe 211 work together to detect whether the lid of the disinfection box is closed. When the lid is closed, the probe 211 is pressed down, and the baffle on the probe blocks the photoelectric switch 206, receiving a signal that the lid is closed. When the lid is open, the probe 211 springs up under the action of the compression spring, the baffle on the probe moves away from the photoelectric switch 206, and the system receives a signal that the lid is open.

[0054] See appendix Figure 7 The housing shaft 208 is fixed to the rear of the propulsion housing 202, and a bushing 207 is fitted on it; the housing shaft 208 is used to allow the catheter propulsion device to rotate at a certain angle, which is convenient for doctors to position it in clinical practice.

[0055] See appendix Figure 9 The robotic arm 300 includes a forearm 301, a middle arm 302, a rear arm 303, and a column 304. The forearm 301 has a circular ring at its bottom for rotatably connecting to the housing shaft 208. Its top is connected to one end of the middle arm 302, which employs a gas spring structure. Its other end is connected to the rear arm 303, which is connected to the top of the column 304. The bottom of the column 304 is fixed to the catheter bed. The middle arm 302, also employing a gas spring structure, allows for vertical movement. The robotic arm supports the catheter advancement device and the catheter sterilization box. The robotic arm features a passive 6-axis design, allowing the catheter sterilization box to be placed at the patient's external sheath exit. The gas spring structure can be a wall-mounted, pneumatically adjustable omnidirectional rotating bracket S103, designed based on the constant force principle. It utilizes a pneumatic spring structure adjustment scheme to achieve free adjustment, enabling vertical and rotational movement. Both ends are fixed to the forearm and rear arm respectively using screws. The six axes formed by the robotic arm are the rotation of the forearm and the housing axis, the rotation of the forearm and one end of the middle arm, the up-and-down movement and rotation of the middle arm and the rear arm, and the rotation of the rear arm and the column.

[0056] This invention is used in conjunction with a guidewire pushing mechanism. In practice, the guidewire robotic arm and the catheter robotic arm are two separate sets of robotic arms mounted on the catheter bed. The front arm is the catheter robotic arm, and the rear arm is the guidewire robotic arm. During use, the tip of an angiography catheter or guiding catheter is placed in the catheter sterilization box on the catheter robotic arm, while the tail end of the catheter rests on the sterilization box of the guidewire robotic arm. During the procedure, the catheter should be kept as straight as possible during its forward and backward movement. Therefore, the guidewire robotic arm must follow the catheter's movement during advancement or retreat. The movement speed can be calculated based on the system structure. This requires modification of the base of the guidewire robotic arm; see attached diagram. Figure 10 The tip of the guiding catheter or angiography catheter rests on the guidewire advancement device. Therefore, the guidewire advancement device should also follow the movement of the guiding catheter or angiography catheter. The guidewire robotic arm base (connecting mechanism 400) includes a connecting column 401, a reducer 402, a drive motor 403, a rack 404, a guide rail 405, and a connecting plate 406. The back of the connecting plate 406 is fixed to the catheter bed, and its front end forms an L-shaped space. The guide rail 405 is arranged at the bottom of the L-shaped space along the length of the catheter bed. A slider that slides on the guide rail 405 is provided at the bottom of the connecting column 401. The rack 404 is fixed to the side wall of the L-shaped space. The front end of the reducer 402 has a meshing gear that engages with the rack 404. The rear end of the reducer 402 is connected to the drive motor 403, which is fixed to the slider and drives the slider to slide on the guide rail 405. By performing calculations and automatically controlling the speed of the motor, the catheter advancement and guidewire advancement devices can move synchronously, thereby enabling the guidewire advancement device at the rear end to follow the movement of the catheter advancement device at the front end.

[0057] Instructions for using the catheter advancement device during surgery. This device employs automatic initialization for ease of use by the surgeon. At the start of the surgery, first, install the catheter sterilization box onto the catheter advancement device. Then, adjust the position of the robotic arm so that the tip of the catheter sterilization box is positioned at the patient's external sheath exit point. Next, open the sterilization box lid, place the guiding catheter or angiography catheter into the catheter slot, rotate the shaft at the tip of the sterilization box, and close the lid. Then, proceed with the surgery remotely controlled from outside the operating room. After the surgery, open the lid, remove the catheter and the sterilization box, and dispose of them properly.

[0058] Doctors can control the advancement and retraction of the catheter from outside the operating room via a control box. The guidewire's robotic arm has a movable rack and pinion structure, which can automatically achieve synchronized following motion with the catheter's advancement.

[0059] Each sterilization box in this invention undergoes sterilization, and a new sterilization box is used for each surgery. The sterilization box uses a tool-free plug-in installation method; it is simply placed on the advancement device during use, and removed for unified collection after the surgery.

[0060] The two sets of mating friction wheels inside the catheter sterilization box prevent slippage during catheter insertion. The catheter sterilization box has a flip-top cover; when the cover is opened, the pushing device automatically opens the friction wheels. After the catheter is installed, closing the flip-top cover automatically tightens the catheter.

[0061] This invention is specifically designed for catheter advancement control in interventional surgical robots. It can be used in conjunction with a guidewire advancement device to achieve automatic following motion. The entire catheter control device is located at the exit of the patient's outer sheath, resulting in higher control stability.

[0062] This invention uses disposable consumables that are easy to install and remove to control catheter advancement, effectively solving the problem of cumbersome device disinfection in actual clinical practice.

[0063] This invention features a simple overall structure, good stability, and a modular design, facilitating assembly and debugging. The overall device is small in size, making it convenient for doctors to use.

[0064] This invention employs an automatic clamping and opening conduit structure, which is simple and convenient to use, easy to operate, and highly practical.

[0065] This invention allows for direct placement of catheters from top to bottom, facilitating clinical procedures and improving installation efficiency.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0067] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An interventional procedure catheter pushing robot, characterized by, The utility model provides a disinfection box and a catheter pushing device and a mechanical arm, and the disinfection box comprises a bottom shell (106) and a cover (101) which is hinged to one side of the bottom shell (106) and magnetically connected to the other side of the bottom shell (106), and the cover (101) and the bottom shell (106) form a driving space for a catheter inside; a catheter driving active part and a catheter driving driven part are arranged in the driving space; a catheter channel is formed by a stand column arranged on the inner wall of the cover (101) and the inner wall of the bottom shell (106); a catheter mounting groove (1041) is formed in the length direction of an extension rod (104) which extends outward from one end of the disinfection box (100); a rotating shaft (105) is arranged on the outer wall of the extension rod (104); the rotating shaft (105) is a circular ring, and a slot (1051) is formed in the length direction of the outer wall of the rotating shaft (105); the slot (1051) is arranged in a position corresponding to the catheter mounting groove (1041) to enable the catheter to be mounted; the slot (1051) and the catheter mounting groove (1041) are arranged in a staggered manner to form a catheter limiting channel; the limiting channel is in the same straight line as the catheter channel in the disinfection box (100); the catheter pushing device (200) is vertically arranged, and a platform is arranged at the front end of the catheter pushing device (200); the disinfection box (100) is arranged on the platform, and the bottom shell (106) of the disinfection box (100) is magnetically connected to the platform; and the forearm (301) of the mechanical arm (300) is rotatably connected to the shell rotating shaft (208) on the outer wall of the catheter pushing device (200). The utility model provides a disinfection box and a catheter pushing device and a mechanical arm, and the disinfection box comprises a bottom shell (106) and a cover (101) which is hinged to one side of the bottom shell (106) and magnetically connected to the other side of the bottom shell (106), and the cover (101) and the bottom shell (106) form a driving space for a catheter inside; a catheter driving active part and a catheter driving driven part are arranged in the driving space; a catheter channel is formed by a stand column arranged on the inner wall of the cover (101) and the inner wall of the bottom shell (106); a catheter mounting groove (1041) is formed in the length direction of an extension rod (104) which extends outward from one end of the disinfection box (100); a rotating shaft (105) is arranged on the outer wall of the extension rod (104); the rotating shaft (105) is a circular ring, and a slot (1051) is formed in the length direction of the outer wall of the rotating shaft (105); the slot (1051) is arranged in a position corresponding to the catheter mounting groove (1041) to enable the catheter to be mounted; the slot (1051) and the catheter mounting groove (1041) are arranged in a staggered manner to form a catheter limiting channel; the limiting channel is in the same straight line as the catheter channel in the disinfection box (100); the catheter pushing device (200) is vertically arranged, and a platform is arranged at the front end of the catheter pushing device (200); the disinfection box (100) is arranged on the platform, and the bottom shell (106) of the disinfection box (100) is magnetically connected to the platform; and the forearm (301) of the mechanical arm (300) is rotatably connected to the shell rotating shaft (208) on the outer wall of the catheter pushing device (200). The catheter driving active part comprises an active wheel support (110), an active rotating shaft (111) and an active friction wheel (1111); the bottom shell (106) is provided with a rotating hole which extends downward from the bottom of the active rotating shaft (111); the upper part of the active rotating shaft (111) is rotatably supported on the bottom shell (106) through the active wheel support (110), and the active friction wheel (1111) is fixed on the active rotating shaft (111). The catheter driving driven part comprises a passive support (102), a passive friction wheel support (103), a passive rotating shaft (109) and a passive friction wheel (107); the passive support (102) is arranged opposite to the active wheel support (110), and a connecting rod extends from the side of the passive support (102) close to the active wheel support (110); the passive friction wheel support (103) is provided with an insertion hole which can penetrate the connecting rod; the passive rotating shaft (109) is rotatably arranged in the passive friction wheel support (103), and the passive friction wheel (107) is connected to the passive rotating shaft (109); the bottom part of the passive rotating shaft (109) is provided with a long strip hole (1061) which corresponds to the bottom shell (106). ​ ​ ​ 2. An interventional procedure catheter push robot according to claim 1, wherein, The bottom of the passive rotating shaft (109) is provided with a pressing piece (108) of a pressurized waterproof film between the bottom shell (106).

3. An interventional procedure catheter push robot according to claim 1, wherein, The catheter propulsion device (200) comprises a propulsion motor (201), a propulsion shell (202), a drive gear set, a photoelectric switch (206), a steering engine (209), a push rod connector (210) and a probe rod (211); The propulsion shell (202) is integrally connected with the platform and arranged in an L shape, the propulsion shell (202) is internally provided with the propulsion motor (201) with an output end downward, the output end of the propulsion motor (201) drives the driving rotating shaft (111) to rotate through the drive gear set; the push rod connector (210) is arranged around the drive gear set and slides on the linear guide rail in the platform, the steering engine (209) is installed in the propulsion shell (202), the rotating shaft of the steering engine drives the push rod connector (210) to move along the linear guide rail, for changing the clamping distance between the driving friction wheel (1111) and the passive friction wheel support (103); the photoelectric switch (206) and the probe rod (211) are installed in the platform, for detecting the opening and closing state of the cover (101) of the sterilization box (100).

4. An interventional procedure catheter advancement robot according to claim 3, wherein, The shell rotating shaft (208) is fixed to the rear part of the propulsion shell (202), and the shaft sleeve (207) is sleeved on the shell rotating shaft (208).

5. An interventional catheter propulsion robot according to any of claims 1-4, characterized in that, The mechanical arm (300) comprises a forearm (301), a middle arm (302), a rear arm (303) and a column (304); the bottom of the forearm (301) is formed in a circular ring, for rotationally connecting the shell rotating shaft (208), the top of the forearm (301) is connected with one end of the middle arm (302), the middle arm (302) adopts a gas spring structure, the other end of the middle arm (302) is connected with the rear arm (303), the rear arm (303) is connected with the top of the column (304), and the bottom of the column (304) is fixed with the catheter bed.

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