A dual-body vascular interventional surgery robot

Abstract

The present invention discloses a dual-body vascular interventional surgical robot, which includes a catheter robot part and a guidewire robot part. Both the catheter robot part and the guidewire robot part are provided with a movable base, and the upper part of the movable base is connected to a lifting device, and the top of the lifting device is horizontally slidably connected to a workbench; the workbench corresponding to the catheter robot part is slidably connected to a mounting plate, and the mounting plate is slidably connected to multiple catheter arms, and the multiple catheter arms are used in conjunction with controlling catheter sterile consumables; the workbench corresponding to the guidewire robot part is provided with a second vertical rail, and the second vertical rail is slidably connected to a connecting plate, and the connecting plate is slidably connected to a first adjusting arm and a second adjusting arm, and one end portion of the first adjusting arm and the second adjusting arm are respectively slidably connected to a splint up and down, and the workbench corresponding to the guidewire robot part is horizontally slidably connected to a guidewire clamping arm assembly, and the guidewire clamping arm assembly controls the rotation and movement of the guidewire. The catheter robot part and the guidewire robot part of the present invention are used in conjunction with each other.

Description

Technical Field

[0001] The present invention relates to the field of minimally invasive vascular interventional surgery, and in particular to a dual-body vascular interventional surgery robot. Background Art

[0002] Minimally invasive cardiovascular interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operations, it has obvious advantages such as smaller incisions and shorter postoperative recovery time. Cardiovascular interventional surgery is a process in which doctors manually insert catheters, guidewires, stents and other devices into the patient's body to complete the treatment.

[0003] There are several problems with the control of guidewires and catheters by interventional surgical robots: the device needs to be installed on the catheter bed, which is inconvenient to disassemble and assemble; it is inconvenient to disinfect the robot control components; it is inconvenient to install the guidewire and catheter on the robot; the guidewire and catheter are prone to slipping; safety protection devices such as guidewire and catheter force feedback are missing or have large deviations; the control of the guidewire and catheter is not precise enough; additional devices or specific Y-valves are required to control the rotation of the catheter; there is a lack of control functions for microcatheters, etc.; and poor coordination is prone to occur when controlling the guidewire and catheter at the same time, affecting the efficiency of the operation.

[0004] Therefore, how to provide a dual-body vascular interventional surgical robot is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a dual-body vascular interventional surgical robot, in which the guidewire robot part and the catheter robot part cooperate to control and complete the vascular interventional surgical operation, with good control effect, which can avoid surgical fatigue of doctors and is easy to use.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a dual-body vascular interventional surgical robot, comprising: a catheter robot portion and a guidewire robot portion, each of which is provided with a movable base, each of which is connected to a lifting device above, and the top of the lifting device is horizontally slidably connected to a workbench;

[0007] A first vertical rail is fixedly connected to a workbench corresponding to the catheter robot part, a mounting plate is slidably connected to the first vertical rail, a guide rail is horizontally fixedly connected to the mounting plate, a first catheter arm and a second catheter arm are slidably connected to the guide rail, one end of the first catheter arm is detachably connected to a first catheter sterile consumable, a third catheter arm is slidably connected to the top of the second catheter arm, and the second catheter arm and the third catheter arm slide relative to each other to control the tightness of the second catheter sterile consumable clamp;

[0008] The workbench corresponding to the guidewire robot part is provided with a second vertical rail, and a connecting plate is slidably connected to the second vertical rail, and a first adjusting arm and a second adjusting arm are horizontally and relatively slidably connected to the connecting plate, and one end of the first adjusting arm and the second adjusting arm are respectively connected with a splint for sliding up and down, and the relative movement of the two groups of splints controls the rotation of the catheter, and a guidewire clamping arm assembly is horizontally slidably connected to the workbench corresponding to the guidewire robot part, and the guidewire clamping arm assembly controls the rotation and movement of the guidewire, and a motor driver and a host are both provided on the catheter robot part and the guidewire robot part, and the host is respectively connected to the motor driver on the corresponding side.

[0009] The beneficial effects of the present invention are: the guidewire robot part and the catheter robot part cooperate with each other to complete interventional surgical treatment, the mobile base is easy to move, the lifting device can adjust the operating height, the layout of the workbench can be telescopically moved back and forth to change the operating position of the execution end, the first catheter arm, the second catheter arm, and the third catheter arm can be used in conjunction with special catheter sterile consumables, and the adjustment and extension of the catheter are basically the same as the adjustment principle of the guidewire robot part. The main machines of the two can be wirelessly connected, servo-controlled, and coordinated in operation. All motor drives are controlled by the motor driver. After use, they can be moved to a corner without affecting the use and cleaning of the catheter bed.

[0010] Preferably, a plurality of universal wheels are rotatably connected to the bottom of the first movable base corresponding to the catheter robot part, a plurality of walking motors are fixedly connected to the bottom of the second movable base corresponding to the guidewire robot part, a pathfinder camera is installed on the top of the second movable base, and a walking wheel is fixedly connected to the output shaft of the walking motor, and the pathfinder camera and the walking motor are respectively connected to the second host electrical signal on the guidewire robot part.

[0011] Preferably, the workbench is horizontally slidably connected to the lifting end of the lifting device, the lifting end of the first lifting device corresponding to the catheter robot part is connected to a bed rail clamp, the bed rail clamp clamps the guide rail on the side of the catheter bed, and the fixed end of the first lifting device is connected to a telescopic armrest.

[0012] Preferably, the first vertical rails are arranged in pairs relative to each other, and the mounting plate is slidably connected between the two groups of first vertical rails. A threaded hole is provided at one end of the mounting plate, and the output screw of the screw motor is threadedly connected in the threaded hole. The screw motor is fixedly connected to the first workbench corresponding to the catheter robot part, and the guide rail is fixedly connected to the other end edge of the mounting plate. The first catheter arm motor and the second catheter arm motor are fixedly connected to the first workbench, and the first catheter arm motor and the second catheter arm motor are respectively connected to the first catheter arm and the second catheter arm in one-to-one correspondence to drive them to move on the rail. The top of the second catheter arm is fixedly connected to the third catheter arm motor, and the horizontal output shaft of the third catheter arm motor is threadedly connected to the threaded hole on the third catheter arm. The first catheter arm motor, the second catheter arm motor and the third catheter arm motor are respectively connected to the first host electrical signal.

[0013] Preferably, two travel limit blocks are fixed on the first workbench, and the second guide tube arm is slidably located between the two travel limit blocks.

[0014] Preferably, the workbench on the guide wire robot part is a second workbench, the second vertical rail is fixedly connected to the second workbench, the second workbench is rotatably connected to a shaft, the top of the shaft is fixedly connected to a display screen, environmental cameras are installed on both sides of the display screen, and a display screen angle adjustment motor is fixedly connected to the second workbench, the output shaft of the display screen angle adjustment motor is engaged with the gear on the shaft for transmission, and the display screen angle adjustment motor, the display screen and the environmental camera are respectively connected to the second host electrical signal on the guide wire robot part.

[0015] Preferably, the fixed end of the first lifting device is connected to a three-dimensional position sensor, and the three-dimensional position sensor is electrically signal-connected to the second host.

[0016] Preferably, a three-dimensional force sensor is fixedly connected between the first catheter arm and the first sterile consumable, and a three-dimensional force sensor is connected between the second catheter arm, the third catheter arm and the two clamping blocks of the second sterile consumable, and multiple three-dimensional force sensors are respectively connected to the first host electrical signal.

[0017] Preferably, a three-dimensional force sensor is connected between one end of the first adjustment arm and the second adjustment arm and the clamping plate on the corresponding side, and the three-dimensional force sensor is electrically signal-connected to the second host.

[0018] Preferably, the guide wire clamp arm assembly includes a guide wire adjustment substrate, a first guide wire adjustment arm, a second guide wire adjustment arm, a guide wire adjustment arm motor, a first gripper motor, a second gripper motor, a first gripper frame, a second gripper frame, a first gripper and a second gripper. The guide wire adjustment substrate is horizontally slidably connected to the second workbench, one end of the guide wire adjustment substrate is provided with a screw hole, a guide wire clamp arm assembly moving motor is connected to the second workbench, the output screw of the guide wire clamp arm assembly moving motor is threadedly connected to the screw hole, the first guide wire adjustment arm and the second guide wire adjustment arm are relatively horizontally slidably connected to the guide wire adjustment substrate, and the first guide wire adjustment arm and the second guide wire adjustment wall are respectively provided with The wire holes are screwed in opposite directions, and the wire guide adjustment arm motor is fixed on the wire guide adjustment base plate and its output screw is threadedly connected to the wire hole. The first gripper motor and the second gripper motor are fixedly connected to one end of the first wire guide adjustment arm and the second wire guide adjustment arm respectively. The output screw of the first gripper motor is connected to the screw hole on the first gripper frame, and the output screw of the second gripper motor is connected to the screw hole on the second gripper frame. A three-dimensional force sensor is fixedly connected between the first gripper frame and the first gripper and between the second gripper frame and the second gripper. The wire guide adjustment arm motor, the first gripper motor, the second gripper motor, and the wire guide clamp arm assembly moving motor are respectively connected to the second host electrical signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front overall schematic diagram of a dual-body vascular interventional surgery robot according to the present invention;

[0020] Figure 2 This is a schematic diagram of the back of a dual-body vascular interventional surgery robot according to the present invention;

[0021] Figure 3 This is a schematic top view of a dual-body vascular interventional surgery robot according to the present invention;

[0022] Figure 4 This is an overall schematic diagram of the catheter robot portion of the present invention;

[0023] Figure 5 This is an overall schematic diagram of the wire guide robot part of the present invention;

[0024] Figure 6 This is a schematic diagram of the movable base structure of the catheter robot of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of the catheter robot lifting device of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of the catheter arm of the catheter robot part of the present invention;

[0027] Figure 9This is a schematic diagram of sterile consumables for the catheter portion of the catheter robot of the present invention;

[0028] Figure 10 This is a schematic diagram of the structure of the movable base of the wire guide robot of the present invention;

[0029] Figure 11 This is a schematic structural diagram of the lifting device of the guide wire robot according to the present invention;

[0030] Figure 12 This is a schematic structural diagram of the wire guide clamp arm assembly of the wire guide robot of the present invention;

[0031] Figure 13 This is a schematic diagram of sterile consumables for the guidewire of the guidewire robot of the present invention.

[0032] 1 catheter robot unit, 101 first mobile base, 102 first lifting device, 103 first workbench, 104 first vertical rail, 105 mounting plate, 106 guide rail, 107 first catheter arm, 108 second catheter arm, 109 third catheter arm, 110 first catheter sterile consumables, 111 second catheter sterile consumables, 112 first catheter arm motor, 113 second catheter arm motor, 114 third catheter arm motor, 115 travel limit block, 116 bed rail clamp,

[0033] 2 Guide wire robot unit, 201 second mobile base, 202 second lifting device, 203 second workbench, 204 second vertical rail, 205 connecting plate, 206 first adjustment arm, 207 second adjustment arm, 208 guide wire clamping arm assembly, 2081 guide wire adjustment base plate, 2082 first guide wire adjustment arm, 2083 second guide wire adjustment arm, 2084 guide wire adjustment arm motor, 2085 first gripper motor, 2086 second gripper motor, 2087 first gripper frame, 2088 second gripper frame, 2089 first gripper, 2090 second gripper,

[0034] 3 display screens, 4 environmental cameras, 5 pathfinding cameras, 6 three-dimensional force sensors, and 7 display screen angle adjustment motors. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See the attached Figures 1 to 13 According to an embodiment of the present invention, a dual-body vascular interventional surgical robot is mainly composed of two parts, a guidewire robot part 2 and a catheter robot part 1.

[0037] The entire device can move in the catheter room of an interventional surgery and complete the control operations of the guidewire and catheter during the operation. The catheter robot part 1 can move automatically under the action of external force, and the guidewire robot part 2 can move independently and freely. An environmental camera 4 is set on the top of the guidewire robot to observe the surrounding environment. Through machine learning, it can become familiar with the environment in the operating room and be able to move better. The guidewire robot part 2 and the catheter robot part 1 can communicate wirelessly and can cooperate with each other. The catheter robot part 1 and the guidewire robot part 2 are mainly composed of four parts: a mobile base, a torso lifting device, an execution end arm device, and disposable sterile consumables (for catheters and guidewires). Before the operation begins, the two robot parts can be pushed to the side of the catheter bed and connected to the guide rails on the side of the catheter bed. After the operation, the robot and the catheter bed can be separated and placed in a corner without affecting the use and cleaning of the catheter bed.

[0038] Specifically, such as Figure 4 、 6 Figures 7, 8, and 9 show the structure of the catheter robot unit 1 and its components. The first mobile base 101 consists of two parts: a mobile unit and a drive unit. The mobile unit comprises four sets of universal wheels, allowing the robot to move in any direction. The drive unit, which includes a host computer and a driver, is responsible for receiving, storing, and processing information, sending commands to various components, and performing other tasks such as system operation. The host computer also includes a Bluetooth module and a WiFi module for wireless data transmission and reception.

[0039] The first lifting device 102 is used to raise and lower the device and connect to the catheter bed. Once connected, it works in conjunction with a position sensor and a three-dimensional force sensor to achieve synchronized movement between the catheter robot unit 1 and the catheter bed. Furthermore, a three-dimensional position sensor is mounted on the fixed end of the first lifting device 102, which detects the position of the catheter robot unit in real time and transmits this data to the guidewire robot unit, enabling synchronized movement of the guidewire robot unit.

[0040] The actuator is used to control the movement of the catheter and fix the outer sheath or Y-valve. Specifically, it includes a first catheter arm 107, a second catheter arm 108, and a third catheter arm 109. A three-dimensional force sensor 6 is installed between the first catheter arm and the first catheter sterile consumable 110. A three-dimensional force sensor is connected between the front ends of the second catheter arm 108 and the third catheter arm 109 and the second catheter sterile consumable 111. It can detect the clamping force on the catheter and the resistance during catheter pushing in real time to ensure surgical safety. Disposable consumables are used to connect with consumables used in surgery. They are sterilized with ethylene oxide to isolate pathogens. They are detachably connected to the corresponding catheter arm using magnetic suction. A new set is used for each surgery, making disassembly and replacement convenient.

[0041] like Figure 5 、 10 11, 12 and 13 are structural diagrams of the guidewire robot unit 2 and its various parts. The guidewire robot unit 2 is not directly connected to the catheter bed.

[0042] The second mobile base 201 consists of two parts: a moving unit and a drive unit. The moving unit consists of four identical wheel assemblies driven by a travel motor, enabling omnidirectional movement of the vehicle. The drive unit, which includes a host computer and a motor driver, is responsible for receiving, storing, and processing information, sending commands to various components, and performing other system tasks. The host computer also includes a Bluetooth module and a WiFi module for wireless data transmission and reception.

[0043] The second lifting device 202 is used to realize the lifting and lowering of the device. The guide wire clamping arm assembly is used to control the movement and rotation of the guide wire. The second workbench 203 is also equipped with an environmental camera 4, which serves as the eyes of the robot to observe the surrounding environment, detect distance, etc. The front end of the guide wire clamping arm assembly and the adjustment arm is equipped with a force sensor, which can detect the clamping force on the guide wire and the resistance during the guide wire pushing in real time to protect the safety of the operation. Disposable consumables are used to connect with the consumables used in the operation. They are sterilized with ethylene oxide to isolate pathogens. They are connected to the arm device by magnetic suction, and a new set is used for each operation.

[0044] Specifically, the guide wire clamp arm assembly 208 includes a guide wire adjustment substrate 2081, a first guide wire adjustment arm 2082, a second guide wire adjustment arm 2083, a guide wire adjustment arm motor 2084, a first gripper motor 2085, a second gripper motor 2086, a first gripper frame 2087, a second gripper frame 2088, a first gripper 2089 and a second gripper 2090. The guide wire adjustment substrate 2081 is horizontally slidably connected to the second workbench 203, a lead screw hole is provided at one end of the guide wire adjustment substrate 2081, and a guide wire clamp arm assembly moving motor is connected to the second workbench 203. The output lead screw of the machine is threadedly connected to the lead screw hole, and the first guide wire adjustment arm 2082 and the second guide wire adjustment arm 2083 are connected to the guide wire adjustment base plate 2081 in a relatively horizontal sliding manner. The first guide wire adjustment arm 2082 and the second guide wire adjustment arm 2083 are respectively provided with thread holes with opposite screw directions. The guide wire adjustment arm motor 2084 is fixed on the guide wire adjustment base plate 2081 and its output lead screw is threadedly connected to the thread hole. That is to say, the relative movement of the first guide wire adjustment arm and the second guide wire adjustment arm can be realized under the rotation of the guide wire adjustment arm motor, corresponding to the tightness of the first gripper 2089 and the second gripper 2090.

[0045] The first gripper motor 2085 and the second gripper motor 2086 are fixedly connected to one end of the first guide wire adjustment arm 2082 and the second guide wire adjustment arm 2083 respectively. The output screw of the first gripper motor 2085 is connected to the screw hole on the first gripper frame 2087, and the output screw of the second gripper motor 2086 is connected to the screw hole on the second gripper frame 2088. The first gripper motor and the second gripper motor cooperate to realize the relative movement of the two grippers and complete the rotation of the guide wire. A three-dimensional force sensor is fixedly connected between the first gripper frame and the first gripper and between the second gripper frame and the second gripper. The guide wire adjustment arm motor, the first gripper motor, the second gripper motor, and the guide wire clamp arm assembly moving motor are respectively connected to the second host electrical signal. The three-dimensional force sensor can detect the force of the gripper.

[0046] The machine operates as follows: After the patient lies on the catheter bed, the guidewire robot unit 2 and the catheter robot unit 1 are moved to one side of the bed, with the catheter robot unit 1 in front (the patient's head is in front, the feet are in the back) and the guidewire robot unit 2 in the back, specifically at the location of the Y-valve connector at the end of the catheter. After completing the initial positioning, the bed rail clamp 116 on the catheter robot unit 1 is connected to the guide rail on the side of the catheter bed. The guidewire robot unit 2 does not need to be connected to the catheter bed. Then, the two robot units extend their actuator adjustment arms, install sterile consumables on the two robots, and after completing surgical preparations such as puncture, the guidewire and catheter are placed on the sterile consumables of the corresponding robot unit. After preparations are completed, the doctor goes to the control room to operate the robot unit and complete the surgery. When the catheter is controlled to move forward or backward, the guidewire robot unit receives the catheter movement distance information sent by the catheter robot unit and automatically controls the wheels of the guidewire robot unit 2 to move forward or backward an equal distance as a whole, ensuring that the guidewire robot unit and the end of the catheter remain relatively stationary at all times. When the catheter bed moves, the guidewire robot unit 2 detects the direction and distance of the catheter bed's movement based on information from the position sensors on the catheter robot unit. It then calculates motor rotation instructions for the same movement and sends them to the motors for synchronous operation. This synchronizes the movement direction and distance, allowing the guidewire robot unit to move in real-time with the catheter bed. For example, as the catheter bed moves forward, the guidewire robot unit's wheels rotate synchronously. When the catheter bed moves left and right, the guidewire robot unit's guidewire clamping arm assembly and adjustment arm extend and retract accordingly. When the catheter bed moves up and down, the guidewire robot unit's actuator adjustment arm raises and lowers accordingly. The coordinated actions of the two robot units enable precise control of the catheter guidewire during surgery, ensuring the catheter remains in a straight line. The guidewire robot unit and the catheter robot unit are independent of each other and can operate separately or simultaneously, allowing for flexible operation during surgery, enabling more precise and complex movements. The robot's operating movements are essentially consistent with the surgeon's actual movements, and the robot automatically resets after rotating and pushing to its limit. After the doctor completes the robotic surgery, the sterile boxes are collected and processed uniformly, and the guidewire robot and catheter robot are automatically moved to the corner of the operating room without affecting the patient's getting in and out of bed or transfer.

[0047] The device described in the present invention is specifically suitable for controlling guidewires and catheters in interventional surgery. It can be controlled individually or simultaneously. It can also realize advanced surgical techniques such as simultaneous advancement and rotation of the guidewire and catheter to meet clinical needs.

[0048] The guidewire catheter is controlled by using disposable consumables that are easy to install and remove, effectively solving the problem of cumbersome device disinfection in actual clinical practice.

[0049] The vehicle body structure allows for free movement within the catheterization room, making it suitable for the environment in which it is used. It is also easier to install and remove, making it convenient for doctors to use.

[0050] The overall structure is simple, stable, and modularized for easy assembly and debugging.

[0051] The force applied to the catheter and guidewire during the pushing process can be monitored in real time. When encountering excessive resistance, the machine movement can be stopped in time to prevent the guidewire from damaging the blood vessels and protect the patient's safety.

[0052] The knob is used to adjust the position and clamping of the device, which is very simple and convenient to use, with high control accuracy and simple operation. It can control more delicate devices such as microcatheters.

[0053] The present invention is used in interventional surgery, and the robot's slave device controls the pushing and rotation of guidewires and catheters. Under the doctor's remote control, the robot can push and withdraw the guidewire and catheter, rotate the guidewire and catheter, and push and rotate the guidewire and catheter at the same time to complete the interventional surgery process. The device is used in conjunction with disposable sterile consumables. The position of the robotic arm is adjusted so that the clamping device clamps the Y-valve and outer sheath at the outer end of the catheter. The doctor completes the surgery through remote control outside the operating room. The product can monitor the force applied to the guidewire and catheter in real time, and can protect the safe conduct of the surgery. There is no need to keep the robot installed on the catheter bed. It can be pushed to the corner of the catheter room after use.

[0054] As for the devices and methods of use disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the methods.

[0055] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one 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 present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dual-body vascular interventional surgery robot, characterized in that: include: The catheter robot part and the guidewire robot part are each provided with a movable base, the upper part of each movable base is connected to a lifting device, and the top of each lifting device is horizontally slidably connected to a workbench; A first vertical rail is fixedly connected to a workbench corresponding to the catheter robot part, a mounting plate is slidably connected to the first vertical rail, a guide rail is horizontally fixedly connected to the mounting plate, a first catheter arm and a second catheter arm are slidably connected to the guide rail, one end of the first catheter arm is detachably connected to a first catheter sterile consumable, a third catheter arm is slidably connected to the top of the second catheter arm, and the second catheter arm and the third catheter arm slide relative to each other to control the tightness of the second catheter sterile consumable clamp; The workbench corresponding to the guidewire robot part is provided with a second vertical rail, and a connecting plate is slidably connected to the second vertical rail, and a first adjusting arm and a second adjusting arm are horizontally and relatively slidably connected to the connecting plate, and one end of the first adjusting arm and the second adjusting arm are respectively connected with a splint for sliding up and down, and the relative movement of the two groups of splints controls the rotation of the catheter, and a guidewire clamping arm assembly is horizontally slidably connected to the workbench corresponding to the guidewire robot part, and the guidewire clamping arm assembly controls the rotation and movement of the guidewire, and a motor driver and a host are both provided on the catheter robot part and the guidewire robot part, and the host is respectively connected to the motor driver on the corresponding side.

2. The dual-body vascular interventional surgical robot according to claim 1, characterized in that: The bottom of the first movable base corresponding to the catheter robot part is rotatably connected with multiple universal wheels, the bottom of the second movable base corresponding to the guidewire robot part is fixedly connected with multiple walking motors, a pathfinder camera is installed on the top of the second movable base, and the output shaft of the walking motor is fixedly connected with walking wheels, and the pathfinder camera and the walking motor are respectively connected to the second host electrical signal on the guidewire robot part.

3. The dual-body vascular interventional surgical robot according to claim 2, characterized in that: The workbench is horizontally slidably connected to the lifting end of the lifting device, the lifting end of the first lifting device corresponding to the catheter robot part is connected to a bed rail clamping piece, the bed rail clamping piece clamps the guide rail on the side of the catheter bed, and the fixed end of the first lifting device is connected to a telescopic handrail.

4. The dual-body vascular interventional surgical robot according to claim 3, characterized in that: The first vertical rails are arranged in pairs relative to each other, and the mounting plate is slidably connected between the two groups of first vertical rails. A threaded hole is provided at one end of the mounting plate, and the output screw of the screw motor is threadedly connected in the threaded hole. The screw motor is fixedly connected to the first workbench corresponding to the catheter robot part, and the guide rail is fixedly connected to the other end edge of the mounting plate. The first catheter arm motor and the second catheter arm motor are fixedly connected to the first workbench, and the first catheter arm motor and the second catheter arm motor are respectively connected to the first catheter arm and the second catheter arm in one-to-one correspondence to drive them to move on the rail. The top of the second catheter arm is fixedly connected to the third catheter arm motor, and the horizontal output shaft of the third catheter arm motor is threadedly connected to the threaded hole on the third catheter arm. The first catheter arm motor, the second catheter arm motor and the third catheter arm motor are respectively connected to the first host electrical signal.

5. The dual-body vascular interventional surgical robot according to claim 4, characterized in that: Two travel limit blocks are fixed on the first workbench, and the second guide tube arm is slidably located between the two travel limit blocks.

6. The dual-body vascular interventional surgical robot according to claim 5, characterized in that: The workbench on the wire guide robot part is the second workbench, the second vertical rail is fixedly connected to the second workbench, the second workbench is rotatably connected to a shaft, the top of the shaft is fixedly connected to a display screen, environmental cameras are installed on both sides of the display screen, and a display screen angle adjustment motor is fixedly connected to the second workbench, the output shaft of the display screen angle adjustment motor is engaged with the gear on the shaft for transmission, and the display screen angle adjustment motor, the display screen and the environmental camera are respectively connected to the second host electrical signal on the wire guide robot part.

7. The dual-body vascular interventional surgical robot according to claim 6, characterized in that: The fixed end of the first lifting device is connected to a three-dimensional position sensor, and the three-dimensional position sensor is electrically connected to the second host.

8. The dual-body vascular interventional surgical robot according to claim 7, characterized in that: A three-dimensional force sensor is fixedly connected between the first catheter arm and the first sterile consumable, and a three-dimensional force sensor is connected between the second catheter arm, the third catheter arm and the two clamping blocks of the second sterile consumable. Multiple three-dimensional force sensors are respectively connected to the first host electrical signal.

9. The dual-body vascular interventional surgical robot according to claim 7, characterized in that: A three-dimensional force sensor is connected between one end of the first regulating arm and the second regulating arm and the clamping plate on the corresponding side, and the three-dimensional force sensor is connected to the second host electrical signal.

10. The dual-body vascular interventional surgical robot according to claim 6, characterized in that: The guide wire clamp arm assembly includes a guide wire adjustment substrate, a first guide wire adjustment arm, a second guide wire adjustment arm, a guide wire adjustment arm motor, a first gripper motor, a second gripper motor, a first gripper frame, a second gripper frame, a first gripper and a second gripper. The guide wire adjustment substrate is horizontally slidably connected to the second workbench, one end of the guide wire adjustment substrate is provided with a screw hole, the second workbench is connected to a guide wire clamp arm assembly moving motor, the output screw of the guide wire clamp arm assembly moving motor is threadedly connected to the screw hole, the first guide wire adjustment arm and the second guide wire adjustment arm are relatively horizontally slidably connected to the guide wire adjustment substrate, and the first guide wire adjustment arm and the second guide wire adjustment wall are respectively provided with a screw hole. The guide wire adjustment arm motor is fixed on the guide wire adjustment substrate and its output screw is threadedly connected to the wire hole. The first gripper motor and the second gripper motor are fixedly connected to one end of the first guide wire adjustment arm and the second guide wire adjustment arm respectively. The output screw of the first gripper motor is connected to the screw hole on the first gripper frame, and the output screw of the second gripper motor is connected to the screw hole on the second gripper frame. A three-dimensional force sensor is fixedly connected between the first gripper frame and the first gripper and between the second gripper frame and the second gripper. The guide wire adjustment arm motor, the first gripper motor, the second gripper motor, and the guide wire clamp arm assembly moving motor are respectively connected to the second host electrical signal.

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