Disposable catheter rotating and bending module for vascular interventional robot

Abstract

The application relates to the technical field of medical equipment, in particular to a special catheter rotating and bending module for a one-time use vascular interventional robot. The module comprises a horizontally arranged main frame, a rotating wheel and a bending wheel are arranged on the main frame; a connecting mechanism and a transmission mechanism are arranged on the main frame, the connecting mechanism is used for magnetically connecting with an electromagnet arranged on a robot main body, the transmission mechanism is used for connecting with an output shaft of a driving motor arranged on the robot main body and driving the rotating wheel and the bending wheel to rotate; a catheter bracket is detachably connected to the main frame, the catheter bracket is used for mounting a handle, a catheter and a guide wire are arranged on the handle; the bending wheel is in transmission with the handle and is used for controlling the catheter to bend, and the rotating wheel is used for adjusting the position of the bent catheter. The electromagnet is magnetically connected with the connecting mechanism, the whole device can be quickly installed by controlling whether the electromagnet is electrified, the device becomes a one-time consumable, the hygiene of a surgical process is guaranteed, and the surgical safety is improved.

Description

Disposable vascular interventional robot-specific catheter rotation and bending module Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a disposable vascular intervention robot catheter rotation and bending module. Background Technology

[0002] China is gradually entering an aging society, and with the development of urbanization across the country, the risk of cardiovascular and cerebrovascular diseases is increasing. The rising incidence of these diseases has also increased the demand for interventional vascular surgery, a treatment option, leading to a year-on-year increase in related research.

[0003] In recent years, with the rapid development of robotics technology, many institutions both domestically and internationally have developed surgical robots to assist surgeons in their operations, which have great potential for clinical application. However, in numerous studies on surgical robots, most research only investigated the rotation of the guidewire. Since the catheter rotation mechanism is connected to the robot body, during prolonged use, replacing only the guidewire without replacing the catheter rotation mechanism makes it susceptible to contamination from air or the robot body, which in turn contaminates the guidewire, increasing surgical risks. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of this invention is to provide a disposable catheter rotation and bending module for vascular interventional robots, so as to solve the problem that the catheter rotation mechanism in the prior art is easily contaminated by air or the robot body, which contaminates the guidewire and increases the surgical risk.

[0005] A disposable catheter rotation and bending module for vascular intervention robots is characterized by comprising a horizontally arranged main frame on which rotating wheels and bending wheels are mounted; a connecting mechanism and a transmission mechanism are mounted on the main frame, wherein the connecting mechanism is used to magnetically connect with an electromagnet mounted on the robot body, and the transmission mechanism is used to connect with the output shaft of a drive motor mounted on the robot body, thereby driving the rotating wheels and bending wheels to rotate;

[0006] A catheter bracket is detachably connected to the main frame. The catheter bracket is used to install a handle, on which a catheter and guide wire are installed. The bending wheel is driven by the handle and is used to control the bending of the catheter. The rotating wheel rubs against the middle of the handle, causing the handle body to rotate. The rotating wheel is used to adjust the position of the catheter after bending.

[0007] Furthermore, a hatch is rotatably connected to the top surface of the main frame, and a first pressure shaft and a second pressure shaft for pressing the handle are provided at the bottom of the hatch.

[0008] Furthermore, a first magnetic strip is provided on one side of the main frame, and a second magnetic strip is provided on one side of the hatch.

[0009] Furthermore, a mounting pair is provided on one side of the main frame, and a guide block is provided on the mounting pair.

[0010] Furthermore, the transmission mechanism includes a first transmission mechanism, which includes a horizontally arranged first input shaft rotatably mounted on one side of the main frame. One end of the first input shaft is connected to the output shaft of the drive motor, and the other end is connected to a first bevel gear. The first bevel gear drives a second bevel gear mounted on the top of a vertically arranged first transmission shaft. The first transmission shaft is mounted on the main frame, and a first gear is sleeved at its bottom. The first gear drives a second gear mounted on the bottom of a vertically arranged second transmission shaft. The second transmission shaft is mounted on the main frame, and a third gear is mounted on its top, which drives a fourth gear. The fourth gear is mounted on the top of a vertically arranged third transmission shaft. The third transmission shaft is mounted on the main frame, and a third bevel gear is mounted on its bottom, which drives the fourth bevel gear. The fourth bevel gear is mounted on a horizontally arranged fourth transmission shaft, which is mounted on the main frame. A first drive wheel is mounted on the fourth transmission shaft, which drives a rotating wheel through friction.

[0011] Furthermore, the connecting mechanism includes a first connecting mechanism, which includes a horizontally arranged first connecting shaft; the first connecting shaft is mounted on the main frame via a first linear bearing; one end of the first connecting shaft is used for magnetic connection with an electromagnet, and the other end is hinged to a first differential arm; the end of the first differential arm away from the first connecting shaft is hinged to a first flange; the first flange is disposed on both sides of the first drive wheel, rotatably connected to a fourth transmission shaft, and connected to the bottom of the main frame via a spring.

[0012] Furthermore, the transmission mechanism also includes a second transmission mechanism, which includes a horizontally arranged second input shaft mounted on one side of the main frame; one end of the second input shaft is connected to the output shaft of the drive motor, and the other end is connected to a fifth bevel gear, which is used to drive a sixth bevel gear; the sixth bevel gear is mounted on the top of a vertically arranged fifth transmission shaft, which is mounted on the main frame, and a fifth gear is mounted on the bottom of the fifth transmission shaft, which is used to drive the sixth gear; the sixth gear is mounted on the bottom of a vertically arranged sixth transmission shaft, which is mounted on the main frame, and a first pulley is mounted on the top of the sixth transmission shaft, which is driven by a belt; the second pulley is mounted on the top of a vertically arranged seventh transmission shaft, which is mounted on the main frame, and a seventh bevel gear is mounted on the bottom of the seventh transmission shaft, which drives an eighth bevel gear; the eighth bevel gear is mounted on one end of a horizontally arranged eighth transmission shaft, which is mounted on the main frame, and a second drive wheel is mounted on the eighth transmission shaft, which is used for frictional transmission with a guide wheel.

[0013] Furthermore, the connecting mechanism includes a second connecting mechanism, which includes a horizontally arranged second connecting shaft; the second connecting shaft is mounted on the main frame via a second linear bearing; one end of the second connecting shaft is used for magnetic connection with an electromagnet, and the other end is hinged to a second differential arm; the end of the second differential arm away from the second connecting shaft is hinged to a second flange; the second flange is located on both sides of the second drive wheel, is rotatably connected to the eighth transmission shaft, and is connected to the bottom of the main frame via a spring.

[0014] Furthermore, the guide tube bracket is provided with an installation groove, the bottom of which is connected to the middle of the main frame, so that the rotating wheel and the bending wheel are partially exposed and abut against the handle.

[0015] Furthermore, the handle is provided with a friction part, which is used to cooperate with the bending wheel to bend the guide tube; a Y-shaped valve for inserting into one end of the guide tube is provided at the end of the handle away from the friction part.

[0016] Beneficial effects: The electromagnet and the connecting mechanism are magnetically connected. By controlling whether the electromagnet is energized, the entire device can be quickly installed, making the device a disposable consumable. This ensures the hygiene of the catheter rotation mechanism during surgery and improves surgical safety. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of the handle installation according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of the hatch structure according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of the installation of the rotating wheel and the bending wheel according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of the internal structure of an embodiment of the present invention;

[0023] Figure 6 is the left view of Figure 5;

[0024] Figure 7 is the right view of Figure 5;

[0025] Figure 8 is a three-dimensional view of Figure 5;

[0026] Figure 9 is a three-dimensional view of Figure 5;

[0027] Figure 10 is a cross-sectional view 1 at the location marked bb in Figure 5;

[0028] Figure 11 is a cross-sectional view 2 at the location marked bb in Figure 5.

[0029] Explanation of reference numerals in the attached figures:

[0030] Shell; 101, main frame; 1011, mounting pair; 1012, guide block; 102, guide tube bracket; 1021, mounting groove; 1022, positioning groove; 1023, first magnetic strip; 103, hatch cover; 1031, second magnetic strip; 1032, first pressure shaft; 1033, second pressure shaft;

[0031] Rotating wheel;

[0032] First transmission mechanism; 301, first input shaft; 302, first bevel gear; 303, second bevel gear; 304, first drive shaft; 305, first gear; 306, second drive shaft; 307, second gear; 308, third gear; 309, third drive shaft; 310, fourth gear; 311, third bevel gear; 312, fourth bevel gear; 313, first drive wheel; 314, fourth drive shaft;

[0033] First connecting mechanism; 401, first connecting shaft; 402, first linear bearing; 403, first differential arm; 404, first flange;

[0034] Adjusting the bending wheel;

[0035] Second transmission mechanism; 601, second input shaft; 602, fifth bevel gear; 603, sixth bevel gear; 604, fifth drive shaft; 605, fifth gear; 606, sixth drive shaft; 607, sixth gear; 608, first pulley; 609, seventh drive shaft; 610, second pulley; 611, seventh bevel gear; 612, eighth drive shaft; 613, eighth bevel gear; 614, second drive wheel;

[0036] Second connecting mechanism; 701, second connecting shaft; 702, second linear bearing; 703, second differential arm; 704, second flange;

[0037] Handle; 801; Friction part;

[0038] Y-shaped valve. Detailed Implementation

[0039] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] As shown in Figures 1-11, the disposable vascular intervention robot catheter rotation and bending module includes a housing 1 or mounting bracket for installation, a connection mechanism and a transmission mechanism mounted on the housing 1 or mounting bracket, a handle 8, a bending wheel 5 and a rotating wheel 2 mounted on the housing 1.

[0044] As shown in Figures 1-4, this embodiment uses a housing 1. The housing 1 is horizontally arranged and includes a main frame 101. Two vertically spaced and horizontally arranged mounting pairs 1011 are provided on one side of the main frame 101. Guide blocks 1012 are provided on the opposite sides of the two mounting pairs 1011. The mounting pairs 1011 are used to insert into the sockets on the robot body to connect the main frame 101 to the robot body. A conduit bracket 102 for mounting a handle 8 is provided at the top of the other end of the main frame 101. A mounting groove 1021 is detachably connected to the conduit bracket 102 for horizontally mounting the handle 8. The handle 8 is used to install a conduit and a guide wire placed inside the conduit. A positioning groove 1022 for placing the conduit is provided horizontally on the mounting groove 1021. The shell 1 also includes a hatch 103, which is rotatably connected to the top surface of the main frame 101 near the mounting pair 1011 and can be flipped up or down. When flipped down, it can cover the guide tube bracket 102. A first magnetic strip 1023 is installed at the end of the main frame 101 away from the mounting pair 1011, and a second magnetic strip 1031 is installed at the side of the hatch 103 away from the rotatable connection with the main frame 101. The first magnetic strip 1023 and the second magnetic strip 1031 are used to better connect the hatch 103 and the main frame 101.

[0045] As shown in Figure 3, both the rotating wheel 2 and the bending wheel 5 are arranged laterally and are spaced apart laterally. The top of the housing 1 has an opening, allowing a portion of the rotating wheel 2 and the bending wheel 5 to be exposed and rub against the handle 8, causing the handle 8 to rotate and thus bending the catheter and the guide wire inside the catheter.

[0046] As shown in Figure 2, the handle 8 is bullet-shaped, with a friction part 801 circumferentially arranged near the tip of the handle 8; the rotating wheel 2 rubs against the middle of the handle 8, causing the main body of the handle 8 to rotate; the friction part 801 is approximately a strip-shaped protrusion, and a recess is formed between adjacent friction parts 801, for rubbing against the bending wheel 5 and causing the guide tube to bend. Preferably, after the guide tube is installed on the handle 8, a Y-shaped valve 9 is installed at the end of the guide tube away from the friction part 801 of the handle 8.

[0047] As shown in Figure 1, the transmission mechanism includes a first transmission mechanism 3 and a second transmission mechanism 6 disposed at both ends of the housing 1.

[0048] As shown in Figures 5 and 6, the first transmission mechanism 3 includes a first input shaft 301, which is longitudinally positioned at one end of the main frame 101 where mounting pairs 1011 are provided, and is located between the two mounting pairs 1011. One end of the first input shaft 301 has a shaped groove for inserting the output shaft of a first drive motor mounted on the robot body, thereby rotating the first input shaft 301. The other end of the first input shaft 301 is fixedly connected to a first bevel gear 302, which is used to transmit power with a second bevel gear 303. The second bevel gear 303 is mounted on the top of the vertically arranged first drive shaft 304. The bottom end of the first drive shaft 304 is rotatably connected to the bottom of the main frame 101. A first gear 305 is fixedly sleeved on the lower outer side of the first drive shaft 304. The first gear 305 is used to mesh with the second gear 307 for transmission. The part of the first drive shaft 304 between the first gear 305 and the first bevel gear 302 is rotatably connected to the main frame 101 through a bearing. The second drive shaft 306 is vertically arranged inside the main frame 101. The lower part of the second drive shaft 306 is fixedly sleeved with... A second gear 307 is provided, and a third gear 308 is fixedly sleeved on its upper part. The third gear 308 is used to mesh with a fourth gear 310. The top end of a second drive shaft 306 is inserted into the top of the main frame 101 and rotatably connected thereto, while the bottom end is inserted into the bottom of the main frame 101 and rotatably connected thereto. The portion of the second drive shaft 306 between the second gear 307 and the third gear 308 is connected to the main frame 101 via a bearing. A third rotating shaft 309 is vertically arranged inside the main frame 101. The upper part of the third rotating shaft 309 is fixedly sleeved with a fourth gear 310, and the lower part is fixed... A third bevel gear 311 is connected, which is used to cooperate with the fourth bevel gear 312 for transmission. The part of the third rotating shaft 309 between the fourth gear 310 and the third bevel gear 311 is rotatably connected to the main frame 101 through a bearing. The fourth transmission shaft 314 is horizontally installed at the bottom of the main frame 101 and is rotatably connected to the main frame 101. A first drive wheel 313 is fixedly sleeved on the outside of the fourth transmission shaft 314, and one end is fixedly connected to the fourth bevel gear 312. The first drive wheel 313 is used to rub against the rotating wheel 2 and make the rotating wheel 2 rotate.

[0049] The second transmission mechanism 6 includes a longitudinally arranged second input shaft 601, which is located on one side of the first input shaft 301. The second input shaft 601 is positioned at one end of the main frame 101 where a mounting pair 1011 is provided. One end of the second input shaft 601 has a groove for inserting the output shaft of the second drive motor to rotate the second input shaft 601. A fifth bevel gear 602 is fixedly sleeved at the other end of the second input shaft 601, and the fifth bevel gear 602 is used for transmission with a sixth bevel gear 603. The sixth bevel gear 603 is mounted vertically... The fifth drive shaft 604 has a fifth gear 605 fixedly sleeved on its lower outer side. The fifth gear 605 is used to mesh with the sixth gear 607 for transmission. The fifth drive shaft 604 is located between the sixth bevel gear 603 and the fifth gear 605 and is rotatably connected by a bearing. The bottom end of the fifth drive shaft 604 is rotatably connected to the bottom end of the main frame 101. The sixth gear 607 is installed at the bottom of the vertically arranged sixth drive shaft 606. The first pulley 608 is fixedly sleeved on the upper part of the sixth drive shaft 606 and is used to mesh with the second pulley 61. 0. A belt drive is used. The top end of the sixth drive shaft 606 can be inserted into and rotatably connected to the top of the main frame 101. The bottom end of the sixth drive shaft 606 can be inserted into and rotatably connected to the bottom of the main frame 101. The portion of the sixth drive shaft 606 between the first pulley 608 and the sixth gear 607 is rotatably connected to the main frame 101 via a bearing. The second pulley 610 is mounted on the seventh drive shaft 609, which is vertically positioned on the main frame 101. A seventh bevel gear 611 is fixedly connected to its bottom. The seventh bevel gear 611 and the eighth bevel gear... Transmission is carried out by 613. The top end of the seventh transmission shaft 609 is inserted into the top of the main frame 101 and rotatably connected thereto. The part of the seventh transmission shaft 609 between the second pulley 610 and the seventh bevel gear 611 is rotatably connected to the main frame 101 through a bearing. The eighth bevel gear 613 is fixedly sleeved at one end of the horizontally arranged eighth transmission shaft 612. The eighth transmission shaft 612 is rotatably mounted on the bottom of the main frame 101. The second drive wheel 614 is fixedly sleeved on the eighth transmission shaft 612. The second drive wheel 614 is used to cooperate with the bending wheel 5 to bend the guide tube.

[0050] The connecting mechanism includes a first connecting mechanism 4 and a second connecting mechanism 7.

[0051] The first connecting mechanism 4 includes a first connecting shaft 401, which is laterally disposed at one end of the main frame 101 where a mounting pair 1011 is provided. The first connecting shaft 401 can move longitudinally and is used to magnetically connect with a first electromagnet disposed on the robot body. A first linear bearing 402 is sleeved on the outside of the first connecting shaft 401 and is installed between the first input shaft 301 and the second input shaft 601. One end of the first linear bearing 402 is hinged to one end of the first differential arm 403, and the other end of the first differential arm 403 is hinged to a first flange 404. The first flange 404 is disposed at both ends of the first drive wheel 313 and is rotatably connected to the fourth transmission shaft 314. The first flange 404 is inserted into the main frame 101 from top to bottom and is connected to the main frame 101 by a spring.

[0052] The second connecting mechanism 7 includes a second connecting shaft 701, which is longitudinally disposed at one end of the main frame 101 where the mounting pair 1011 is provided. The second connecting shaft 701 can move longitudinally and is used to magnetically connect with a second electromagnet disposed on the robot body. A second linear bearing 702 is sleeved on the outside of the second connecting shaft 701. The second linear bearing 702 is installed on the side of the second input shaft 601 away from the first linear bearing 402. One end of the second linear bearing 702 is hinged to one end of the second differential arm 703. The other end of the second differential arm 703 is provided with a second flange 704 hinged to it. The second flange 704 is disposed at both ends of the second drive wheel 614 and is rotatably connected to the eighth transmission shaft 612. The second flange 704 is inserted into the main frame 101 from top to bottom and is connected to the main frame 101 by a spring.

[0053] Working process: The handle 8 is installed on the main frame 101, with the lower side of the handle 8 abutting against the rotating wheel 2 and the bending wheel 5; the hatch cover 103 covers the installed handle 8 through the first magnetic strip 1023 and the second magnetic strip 1031, and the first pressure shaft 1032 and the second pressure shaft 1033 at the bottom of the hatch cover 103 press against the handle 8; the end of the housing 1 with the mounting pair 1011 is inserted into the robot body and aligned with the position through the guidance of the guide block 1012; after power is applied, the first electromagnet attracts the first connecting shaft 401 to move and connect with the first electromagnet; the first connecting shaft 401 drives the first differential arm 403 to rotate, and the first differential arm 403 tightens the first flange 404, thereby connecting the housing 1 to the robot body; under the same principle, the second connecting mechanism 7 connects the housing 1 to the robot body;

[0054] While the housing 1 is connected to the robot body, the first drive motor drives the first input shaft 301 to rotate, which in turn drives the first bevel gear 302 to rotate. The first bevel gear 302 and the second bevel gear 303 drive each other. The second bevel gear 303 drives the first transmission shaft 304 to rotate, and the first transmission shaft 304 drives the first gear 305 to rotate. The first gear 305 and the second gear 307 mesh and drive each other. The second gear 307 drives the second transmission shaft 306 to rotate, and the second transmission shaft 306 drives the third gear 308 to rotate. The third gear 308 and the fourth gear 310 mesh and drive each other. The fourth gear 310 drives the third rotating shaft 309 to rotate, and the third rotating shaft 309 drives the third bevel gear 311 to rotate. The third bevel gear 311 and the fourth bevel gear 312 rotate. The fourth bevel gear 312 drives the fourth transmission shaft 314 to rotate, and the fourth transmission shaft 314 drives the first drive wheel 313 to rotate. The first drive wheel 313 abuts against the rotating wheel 2, and the rotating wheel 2 rotates due to friction. The rotating wheel 2 drives the handle 8 to rotate due to friction.

[0055] While the first transmission mechanism 3 drives the rotating wheel 2 to rotate, the second drive motor drives the second input shaft 601 to rotate. The second input shaft 601 drives the fifth bevel gear 602 to rotate, the fifth bevel gear 602 drives the sixth bevel gear 603 to rotate, the sixth bevel gear 603 drives the fifth transmission shaft 604 to rotate, the fifth transmission shaft 604 drives the fifth gear 605 to rotate, the fifth gear 605 drives the sixth gear 607 to rotate, the sixth gear 607 drives the sixth transmission shaft 606 to rotate, and the sixth transmission shaft 606 drives the first pulley 608. The first pulley 608 and the second pulley 610 are driven by a belt. The second pulley drives the seventh drive shaft 609 to rotate. The seventh drive shaft 609 drives the seventh bevel gear 611 to rotate. The seventh bevel gear 611 drives the eighth bevel gear 613 to rotate. The eighth bevel gear 613 drives the eighth drive shaft 612 to rotate. The eighth drive shaft 612 drives the second drive wheel 614 to rotate. The second drive wheel 614 causes the catheter to bend by contacting the friction part 801. The bending direction of the catheter and the guide wire inside the catheter is adjusted by the rotating wheel 2 after rotation.

[0056] In this embodiment, the catheter rotation mechanism is easily and conveniently mounted on the housing 1 by using an electromagnet and a connecting mechanism. This device can be used as a disposable consumable to avoid contamination of the catheter drive mechanism by the robot's main body, improve the hygienic environment during surgery, increase the safety factor in the operating room, improve the success rate of surgery, reduce the postoperative infection rate, and protect the patient's life.

[0057] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A disposable catheter rotation and bending module for vascular interventional robots, characterized in that, The system includes a horizontally positioned main frame (101), on which a rotating wheel (2) and a bending wheel (5) are mounted. A connecting mechanism and a transmission mechanism are mounted on the main frame (101). The connecting mechanism is used to magnetically connect with an electromagnet mounted on the robot body, and the transmission mechanism is used to connect with the output shaft of a drive motor mounted on the robot body, driving the rotating wheel (2) and the bending wheel (5) to rotate. A guide tube bracket (102) is detachably connected to the main frame (101). The guide tube bracket (102) is used to mount a handle (8), on which a guide tube and guide wire are mounted. The bending wheel (5) is driven by the handle (8) and used to control the bending of the guide tube. The rotating wheel (2) and the handle (5) are connected by a connecting mechanism and a transmission mechanism. 8) The middle friction causes the handle (8) body to rotate, and the rotating wheel (2) is used to adjust the position of the tube after bending; the transmission mechanism includes a first transmission mechanism (3), the first transmission mechanism (3) includes a horizontally arranged first input shaft (301), the first input shaft (301) is rotatably mounted on one side of the main frame (101), one end of the first input shaft (301) is used to connect to the output shaft of the drive motor, and the other end is connected to a first bevel gear (302); the first bevel gear (302) transmits power to the second bevel gear (303) mounted on the top of the vertically arranged first transmission shaft (304); the first transmission shaft (304) is mounted on the main frame (101), and the bottom is sleeved There is a first gear (305); the first gear (305) drives a second gear (307) installed at the bottom of a vertically arranged second drive shaft (306), the second drive shaft (306) is installed on the main frame (101), and a third gear (308) is installed at the top, the third gear (308) is used to drive a fourth gear (310); the fourth gear (310) is installed at the top of a vertically arranged third drive shaft (309), the third drive shaft (309) is installed on the main frame (101), and a third bevel gear (311) is installed at the bottom of the third drive shaft (309), the third bevel gear (311) is used to drive a fourth bevel gear (312), the fourth bevel gear (312) is installed at the bottom of the third drive shaft (309). A fourth drive shaft (314) is mounted horizontally on a main frame (101). A first drive wheel (313) is mounted on the fourth drive shaft (314) and is used for friction transmission with the rotating wheel (2). The transmission mechanism also includes a second transmission mechanism (6). The second transmission mechanism (6) includes a second input shaft (601) mounted horizontally on one side of the main frame (101). One end of the second input shaft (601) is used to connect to the output shaft of the drive motor, and the other end is connected to a fifth bevel gear (602). The fifth bevel gear (602) is used to transmit power with a sixth bevel gear (603).The sixth bevel gear (603) is mounted on the top of the vertically arranged fifth drive shaft (604), which is mounted on the main frame (101). The fifth gear (605) is mounted on the bottom of the fifth drive shaft (604), and the fifth gear (605) is used to drive the sixth gear (607). The sixth gear (607) is mounted on the bottom of the vertically arranged sixth drive shaft (606), which is mounted on the main frame (101). The first pulley (608) is mounted on the top of the sixth drive shaft (606), and the first pulley (608) is connected to the second pulley (610). Driven by a belt; the second pulley (610) is mounted on the top of the vertically arranged seventh drive shaft (609), which is mounted on the main frame (101). A seventh bevel gear (611) is mounted at the bottom, and the seventh bevel gear (611) drives the eighth bevel gear (613). The eighth bevel gear (613) is mounted on one end of the horizontally arranged eighth drive shaft (612), which is mounted on the main frame (101). A second drive wheel (614) is mounted on the eighth drive shaft (612), and the second drive wheel (614) is used for frictional transmission with the bending wheel (5).

2. The disposable vascular interventional robot catheter rotation and bending module according to claim 1, characterized in that, The top surface of the main frame (101) is rotatably connected to a hatch (103), and the bottom of the hatch (103) is provided with a first pressure shaft (1032) and a second pressure shaft (1033) for pressing the handle (8).

3. The disposable vascular interventional robot catheter rotation and bending module according to claim 2, characterized in that, A first magnetic strip (1023) is provided on one side of the main frame (101), and a second magnetic strip (1031) is provided on one side of the hatch (103).

4. The disposable vascular interventional robot catheter rotation and bending module according to claim 1, characterized in that, A mounting pair (1011) is provided on one side of the main frame (101), and a guide block (1012) is provided on the mounting pair (1011).

5. The disposable vascular interventional robot catheter rotation and bending module according to claim 1, characterized in that, The connecting mechanism includes a first connecting mechanism (4), which includes a horizontally arranged first connecting shaft (401); the first connecting shaft (401) is mounted on the main frame (101) via a first linear bearing (402); one end of the first connecting shaft (401) is used to magnetically connect with an electromagnet, and the other end is hinged to a first differential arm (403); the end of the first differential arm (403) away from the first connecting shaft (401) is hinged to a first flange (404); the first flange (404) is located on both sides of the first drive wheel (313), rotatably connected to the fourth transmission shaft (314), and connected to the bottom of the main frame (101) via a spring.

6. The disposable vascular interventional robot catheter rotation and bending module according to claim 1, characterized in that, The connecting mechanism includes a second connecting mechanism (7), which includes a horizontally arranged second connecting shaft (701); the second connecting shaft (701) is mounted on the main frame (101) via a second linear bearing (702); one end of the second connecting shaft (701) is used to magnetically connect with an electromagnet, and the other end is hinged to a second differential arm (703); a second flange (704) is hinged to the end of the second differential arm (703) away from the second connecting shaft (701); the second flange (704) is located on both sides of the second drive wheel (614), rotatably connected to the eighth transmission shaft (612), and connected to the bottom of the main frame (101) via a spring.

7. The disposable vascular interventional robot catheter rotation and bending module according to claim 1, characterized in that, The guide tube bracket (102) is provided with an installation groove (1021), the bottom of which is connected to the middle of the main frame (101), so that the rotating wheel (2) and the bending wheel (5) are partially exposed and abut against the handle (8).

8. The disposable vascular interventional robot catheter rotation and bending module according to claim 1, characterized in that, The handle (8) is provided with a friction part (801), which is used to cooperate with the bending wheel (5) to bend the conduit; a Y-shaped valve (9) for inserting into one end of the conduit is provided at the end of the handle (8) away from the friction part (801).

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