A main end operating device of a pan-vascular interventional surgery robot

Abstract

The present invention relates to a new type of main-end operating device of a pan-vascular interventional surgical robot, comprising a base plate, a guide rail being installed on the base plate, a sliding frame being installed on the slider of the guide rail, a hand-held synchronous rotating shaft being passed through the sliding frame, a left spring and a right spring being respectively sleeved on the left and right sides of the hand-held synchronous rotating shaft, the left and right springs being respectively installed inside the left and right spring sleeves, the left and right spring sleeves being installed on the angle sensor mounting seat, a rotation angle sensor being installed on the other side of the angle sensor mounting seat on the left, when the hand-held synchronous rotating shaft rotates, the rotation angle sensor is driven to rotate by the left spring sleeve, and then the rotation angle and angular velocity of the hand-held synchronous rotating shaft are detected; a rack is fixed at the front end of the sliding frame, the rack is meshed with a gear, and the gear is connected to a push-displacement sensor through a gear rotating shaft; the present invention can improve the doctor's operating feel, assist the doctor in completing complex interventional surgical operations, and the doctor can operate proficiently without long-term training.

Description

Technical Field

[0001] The present invention relates to the technical field of vascular interventional surgery robots, and in particular to a master-end operating device of a pan-vascular interventional surgery robot. Background Art

[0002] Currently, vascular interventional surgery robots primarily facilitate the advancement and navigation of catheters and guidewires during vascular interventional procedures. Preoperatively, doctors use imaging data to construct a three-dimensional morphological map of the vessels and analyze the characteristics of lesions within them. The robot then precisely guides the instruments to the lesion location. Compared to traditional surgical procedures, the use of robots significantly improves surgical precision, reduces the workload of medical staff, and, to a certain extent, reduces the surgical reliance on the individual physician's technical proficiency.

[0003] However, the widely used surgical robot master end operating devices on the market use knobs or buttons. This operation method does not provide good force feedback, and doctors do not have a familiar physical feel when operating them, which is not particularly convenient for doctors. Therefore, it would be very important to provide a new master end operating device that can provide doctors with a new master end operation method and enable proficiency without long-term training. Summary of the Invention

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a main-end operating device for a pan-vascular interventional surgical robot, which can improve the doctor's operating feel, assist the doctor in completing complex interventional surgical operations, effectively reduce the degree of dependence of complex operations on the doctor's experience, and can be operated proficiently without long-term training, thereby reducing the requirements for doctors.

[0005] In order to achieve the above-mentioned purpose, a main end operating device of a pan-vascular interventional surgical robot is designed, comprising a base plate 1, on which a guide rail 201, a gear rotating shaft 205 and an angle sensor mounting seat 301 are installed. The gear rotating shaft 205 is arranged in front of the guide rail 201, and the angle sensor mounting seats 301 are symmetrically arranged on the left and right sides of the guide rail 201; the guide rail 201 is extended along the length direction, and a slider 202 is slidably connected to the guide rail 201, and the slider 202 moves horizontally along the guide rail 201. The top surface of the slider 202 is equipped with a sliding frame, which drives the sliding frame to move horizontally on the guide rail 201; a hand-held synchronous rotating shaft 210 is inserted into the sliding frame, and the hand-held synchronous rotating shaft 210 is arranged horizontally. A left spring 211 is sleeved on the left side of the hand-held synchronous rotating shaft 210, and a right spring 212 is sleeved on the right side of the hand-held synchronous rotating shaft 210. The left spring 211 and the right spring 212 are respectively installed in the left spring sleeve 302 and the right spring sleeve 303. The left spring sleeve 302 is installed on the left side. On the angle sensor mounting seat 301, the right spring sleeve 303 is mounted on the angle sensor mounting seat 301 on the right side, and a rotation angle sensor 304 is mounted on the other side of the angle sensor mounting seat 301 on the left side. When the hand-held synchronous rotating shaft 210 rotates, the left spring sleeve 302 drives the rotation angle sensor 304 to rotate, thereby detecting the rotation angle and angular velocity of the hand-held synchronous rotating shaft 210; a rack 204 is fixed to the front end of the sliding frame, and the rack 204 is arranged to extend along the axial direction. The rack 204 is meshed with the gear 203, and the gear 203 is mounted on the gear rotating shaft 205. A displacement sensor 206 is provided under the base plate 1, and the displacement sensor 206 is mounted on the base plate 1. The displacement sensor 206 is connected to the gear 203 through the gear rotating shaft 205. The gear 203 rotates along the rack 204 and drives the displacement sensor connecting shaft 205 to rotate. The push displacement sensor 206 is used to detect the angle and angular velocity of the rotation of the gear 203, thereby detecting the horizontal displacement and speed of the sliding frame.

[0006] Preferably, the sliding frame is composed of a sliding bracket 208 and a sliding bracket upper cover 209, the sliding bracket 208 is installed on the slider 202, a semicircular groove 1 is provided on the top of the sliding bracket 208, the sliding bracket upper cover 209 is installed on the sliding bracket 208, and a semicircular groove 2 is provided on the bottom of the sliding bracket upper cover 209, the semicircular groove 1 and the semicircular groove 2 are combined to form a circular hole for the hand-held synchronous rotating shaft 210 to pass through, and the hand-held synchronous rotating shaft 210 is installed on the slider 202 through the sliding bracket 208 and the sliding bracket upper cover 209.

[0007] Preferably, the sliding bracket 208 is an inverted T-shaped structure consisting of a bottom panel and a sliding column, the rack 204 is fixed to the front end of the bottom panel of the sliding bracket 208, the sliding column is fixed on the bottom panel, and the semicircular groove is opened on the sliding column.

[0008] Preferably, a magnetic brake 207 is fixed to the bottom of the sliding bracket 208 through a stud. When the magnetic brake 207 is energized, it has electromagnetic attraction and moves downward to be magnetically attracted to the base plate 1 , and the sliding bracket 208 is braked by the magnetic brake 207 .

[0009] Preferably, the displacement sensor 206, the rotation angle sensor 304, and the magnetic brake 207 are electrically connected to the main controller respectively. The feedback information of the displacement sensor 206 controls the movement displacement and speed of the interventional instrument. The feedback information of the rotation angle sensor 304 controls the rotation angle and angular velocity of the interventional instrument. After collecting the resistance size encountered by the interventional instrument during its movement in the blood vessel, the main controller uses the magnetic brake 207 to convey the resistance size of the interventional instrument during its movement to the doctor.

[0010] Preferably, a strip groove extending in the axial direction is provided on the outer wall of the hand-held synchronous rotating shaft 210, and a convex strip extending in the axial direction is provided on the inner wall of the left spring sleeve 302 and the right spring sleeve 303. The hand-held synchronous rotating shaft 210 is slidably arranged in the left spring sleeve 302 and the right spring sleeve 303, and performs linear motion in the axial direction in the left spring sleeve 302 and the right spring sleeve 303. When the hand-held synchronous rotating shaft 210 rotates, the strip groove and the convex strip drive the left spring sleeve 302 and the right spring sleeve 303 to rotate synchronously.

[0011] Preferably, the rotation angle sensor 304 is connected to the angle sensor mounting seat 301 through the shaft on the left spring sleeve 302. The left spring 211 in the left spring sleeve 302 and the right spring 212 in the right spring sleeve 303 have the same specifications and are arranged symmetrically relative to the sliding frame.

[0012] Compared with the existing technology, the present invention provides a main-end operating device of a pan-vascular interventional surgical robot, which is suitable for the main-end operation of the pan-vascular interventional surgical robot. By making the synchronous rotating axis simulated as a guide wire, it is more in line with the doctor's operating habits. It also has force feedback, simulating the guide wire resistance during surgery, improving the doctor's operating feel, making it easier for the doctor to operate, and can skillfully operate the main operating table without long-term training, reducing the requirements for the doctor; in addition, the overall structure of the present invention is simple, easy to operate, easy to install, ergonomically designed, small in size, light in weight, easy to place and transfer, and worthy of promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention;

[0014] Figure 2 It is a front structural schematic diagram of the present invention;

[0015] Figure 3 It is a schematic diagram of the back structure of the present invention;

[0016] In the figure: 1, base plate 2, linear reciprocating mechanism 3, rotation synchronization mechanism 201, guide rail 202, slider 203, gear 204, rack 205, gear rotation shaft 206, displacement sensor 207, magnetic brake 208, sliding bracket 209, sliding bracket upper cover 210, hand-held synchronous rotation shaft 211, left spring 212, right spring 301, angle sensor mounting seat 302, left spring sleeve 303, right spring sleeve 304, rotation angle sensor. DETAILED DESCRIPTION

[0017] As attached Figure 1 To the attached Figure 3As shown, the present invention provides a master end operating device of a pan-vascular interventional surgical robot, comprising a base plate 1, on which a guide rail 201, a gear rotating shaft 205 and an angle sensor mounting seat 301 are mounted. The gear rotating shaft 205 is arranged in front of the guide rail 201, and the angle sensor mounting seats 301 are symmetrically arranged on the left and right sides of the guide rail 201; the guide rail 201 is extended along the length direction, and a slider 202 is slidably connected to the guide rail 201, and the slider 202 moves horizontally along the guide rail 201. The top surface of the block 202 is equipped with a sliding frame, which drives the sliding frame to move horizontally on the guide rail 201; the sliding frame is provided with a hand-held synchronous rotating shaft 210, which is arranged horizontally, and a left spring 211 is sleeved on the left side of the hand-held synchronous rotating shaft 210, and a right spring 212 is sleeved on the right side of the hand-held synchronous rotating shaft 210. The left spring 211 and the right spring 212 are respectively installed in the left spring sleeve 302 and the right spring sleeve 303. The left spring sleeve 302 is installed at the angle located on the left On the sensor mounting seat 301, the right spring sleeve 303 is installed on the angle sensor mounting seat 301 on the right, and a rotation angle sensor 304 is installed on the other side of the angle sensor mounting seat 301 on the left. When the hand-held synchronous rotating shaft 210 rotates, the left spring sleeve 302 drives the rotation angle sensor 304 to rotate, thereby detecting the rotation angle and angular velocity of the hand-held synchronous rotating shaft 210; a rack 204 is fixed to the front end of the sliding frame, and the rack 204 is arranged to extend along the axial direction. The rack 204 is meshed with the gear 203, and the gear 203 is installed on the gear rotating shaft 205. A displacement sensor 206 is provided under the base plate 1, and the displacement sensor 206 is installed on the base plate 1. The displacement sensor 206 is connected to the gear 203 through the gear rotating shaft 205. The gear 203 rotates along the rack 204 and drives the displacement sensor connecting shaft 205 to rotate, pushing the displacement sensor 206 to detect the angle and angular velocity of the rotation of the gear 203, thereby detecting the horizontal displacement and speed of the sliding frame.

[0018] Among them, the sliding frame consists of a sliding bracket 208 and a sliding bracket upper cover 209. The sliding bracket 208 is installed on the slider 202. A semicircular groove 1 is provided on the top of the sliding bracket 208. The sliding bracket upper cover 209 is installed on the sliding bracket 208. A semicircular groove 2 is provided at the bottom of the sliding bracket upper cover 209. The semicircular groove 1 and the semicircular groove 2 are combined to form a circular hole for the hand-held synchronous rotating shaft 210 to pass through. The hand-held synchronous rotating shaft 210 is installed on the slider 202 through the sliding bracket 208 and the sliding bracket upper cover 209; the sliding bracket 208 is an inverted T-shaped structure composed of a bottom panel and a sliding column. The rack 204 is fixed to the front end of the bottom panel of the sliding bracket 208, the sliding column is fixed on the bottom panel, and the semicircular groove 1 is opened on the sliding column; a magnetic brake 207 is fixed to the bottom of the sliding bracket 208 by a stud. When the magnetic brake 207 is energized, it has electromagnetic attraction and moves downward to be magnetically attracted to the bottom plate 1, and the sliding bracket 208 is braked by the magnetic brake 207.

[0019] The outer wall of the hand-held synchronous rotating shaft 210 is provided with an axially extending strip groove, and the inner walls of the left and right spring sleeves 302 and 303 are provided with axially extending protrusions. The hand-held synchronous rotating shaft 210 is slidably disposed within the left and right spring sleeves 302 and 303, and moves linearly along the axial direction within the left and right spring sleeves 302 and 303. When the hand-held synchronous rotating shaft 210 is rotated, the strip groove and protrusion drive the left and right spring sleeves 302 and 303 to rotate synchronously. The rotation angle sensor 304 is connected to the angle sensor mounting base 301 via the shaft on the left spring sleeve 302. The left spring 211 in the left spring sleeve 302 and the right spring 212 in the right spring sleeve 303 are of the same specifications and are arranged symmetrically relative to the sliding frame.

[0020] The displacement sensor 206, the rotation angle sensor 304, and the magnetic brake 207 are electrically connected to the main controller respectively. The feedback information of the displacement sensor 206 controls the movement displacement and speed of the interventional instrument, and the feedback information of the rotation angle sensor 304 controls the rotation angle and angular velocity of the interventional instrument. After the main controller collects the resistance size encountered by the interventional instrument during its movement in the blood vessel, it uses the magnetic brake 207 to convey the resistance size of the interventional instrument during its movement to the doctor.

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0022] The master-end operating device described in the present invention is mainly composed of a base plate 1, a linear reciprocating mechanism 2 and a rotation synchronization mechanism 3; the linear reciprocating mechanism 2 includes a guide rail 201, a slider 202, a gear 203, a rack 204, a gear rotation shaft 205, a displacement sensor 206, a magnetic brake 207, a sliding bracket 208, a sliding bracket upper cover 209, a hand-held synchronous rotation shaft 210, a left spring 211 and a right spring 212; the rotation synchronization mechanism 3 includes an angle sensor mounting seat 301, a left spring sleeve 302, a right spring sleeve 303 and a rotation angle sensor 304.

[0023] The guide rail 201, gear shaft 205, and angle sensor mounting bracket 301 are assembled on the base plate 1. The slider 202 is mounted on the guide rail 201 and can move horizontally on the guide rail 201. The sliding bracket 208 is mounted on the slider 202, allowing the linear reciprocating mechanism 2 to move horizontally on the guide rail 201. The hand-held synchronous rotation shaft 210 is attached to the slider 202 of the linear reciprocating mechanism 2 via the sliding bracket 208 and the sliding bracket cover 209. The angle sensor mounting bracket 301 of the rotation synchronization mechanism 3 is mounted on the base plate 1, and the rotation angle sensor 304 is mounted on the angle sensor mounting bracket 301.

[0024] The magnetic brake 207 is fixed by the studs on the sliding bracket 208. When the magnetic brake 207 has suction, it will move downward and magnetically attract the base plate 1. At this time, the sliding bracket 208 is braked by resistance; the electromagnetic attraction of the magnetic brake 207 is related to the magnitude of the current supplied. The greater the current, the greater the electromagnetic attraction, and the greater the friction resistance between the brake and the base plate 1; therefore, the resistance to the horizontal movement of the linear push transmission mechanism 2 can be adjusted by adjusting the magnitude of the current, that is, the horizontal movement resistance of the hand-held synchronous rotating shaft 210 can be adjusted, thereby realizing force feedback of hand operation.

[0025] The displacement sensor 206 is installed on the base plate 1 and is connected to the gear 203 through the gear rotating shaft 205. The rack 204 is fixed on the sliding bracket 208. The gear 203 rotates along the rack 204, thereby driving the displacement sensor connecting shaft 205 to rotate. By pushing the displacement sensor 206, it can detect the angle and angular velocity of the gear 203 rotation, and thus detect the horizontal displacement and speed of the sliding bracket 208, and further detect the horizontal displacement and speed of the hand-held synchronous rotating shaft 210.

[0026] The left side of the hand-held synchronous rotating shaft 210 is covered with a left spring 211, and the right side is covered with a right spring 212. The left spring 211 and the right spring 212 are respectively installed in the left spring sleeve 302 and the right spring sleeve 303, and the rebound force of the spring is used to realize the automatic centering and resetting of the sliding bracket 208; the hand-held synchronous rotating shaft 210 is fixed to the sliding bracket 208 through the sliding bracket cover 209, and forms a whole with the sliding bracket 208 to perform linear reciprocating motion; the sliding bracket 208 slides on the slider 202 of the linear reciprocating mechanism 2. The block 202 is installed on the guide rail 201 of the linear reciprocating mechanism 2, so that the linear reciprocating mechanism 2 and the rotation synchronization mechanism 3 can move horizontally along the guide rail 201 as a whole; when the hand-held synchronous rotating shaft 210 is rotated, the left spring sleeve 302 and the right spring sleeve 303 will be driven to rotate synchronously, and at the same time, the hand-held synchronous rotating shaft 210 can move linearly in the sleeve; the rotation of the left spring sleeve 302 drives the rotation angle sensor 304 to rotate, so that the rotation angle and angular velocity of the hand-held synchronous rotating shaft 210 can be detected.

[0027] The angle sensor mounting base 301 of the rotation synchronization mechanism 3 is mounted on the base plate 1 . The left spring sleeve 302 is mounted on the angle sensor mounting base 301 . The rotation angle encoder 304 is mounted on the other side of the angle sensor mounting base 301 . The left spring 211 is mounted inside the left spring sleeve 302 via a shaft connected to the left spring sleeve 302 . When the hand-held synchronous rotation shaft 210 rotates, it drives the left spring sleeve 302 to rotate with it. The left spring sleeve 302 drives the rotation angle sensor 304 to rotate, thereby detecting the rotation angle and angular velocity of the hand-held synchronous rotation shaft 210 . The right spring sleeve 303 rotates with the hand-held synchronous rotation shaft 210 to maintain the hand-held synchronous rotation shaft in a horizontal position.

[0028] In the present invention, to restore the traditional practice of doctors grasping the instrument with their fingers, when using the device, the doctor grasps the hand-held synchronous rotating shaft 210 with their fingers to push or twist. During the pushing process, when the fingers are released, the linear reciprocating mechanism 2 quickly returns to the center position under the action of the spring force, thus avoiding manual reciprocating motion. To prevent the linear reciprocating mechanism 2 from moving beyond the total length of the guide rail 201, the spring mounting seats within the left spring sleeve 302 and the right spring sleeve 303 act as limit protection, and when they contact the bottom of the hand-held synchronous rotating shaft 210, they are limited. During operation, feedback from the displacement sensor 206 is used to control the movement displacement and speed of the interventional instrument; feedback from the rotation angle sensor 304 is used to control the rotation angle and angular velocity of the interventional instrument. After the main controller collects the resistance encountered by the interventional instrument during movement within the blood vessel, it uses the magnetic brake 207 to transmit the resistance of the interventional instrument during movement to the doctor.

[0029] In summary, the operating device of the present invention is specifically designed for use as the master end of an interventional surgical robot. It realistically simulates a physician's existing operating habits, providing a convenient, reliable, and highly precise operating method for assisting physicians in completing complex interventional procedures, effectively reducing the reliance on physician experience for these procedures. Furthermore, the operating device has a simple overall structure, is easy to install, and features an ergonomic design. Its compact size and light weight make it easy to place and transport.

[0030] The contents not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field. The standard parts used can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connections adopt conventional connection methods in the existing technology, which will not be described in detail here.

[0031] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A main end operating device of a pan-vascular interventional surgery robot, comprising a base plate (1), characterized in that: A guide rail (201), a gear rotating shaft (205), and an angle sensor mounting seat (301) are mounted on the bottom plate (1); the gear rotating shaft (205) is located in front of the guide rail (201); and the angle sensor mounting seat (301) is symmetrically located on the left and right sides of the guide rail (201); The guide rail (201) is extended along the length direction, and a slider (202) is slidably connected to the guide rail (201). The slider (202) moves horizontally along the guide rail (201). A sliding frame is installed on the top surface of the slider (202) and drives the sliding frame to move horizontally on the guide rail (201); A hand-held synchronous rotating shaft (210) is provided in the sliding frame, and the hand-held synchronous rotating shaft (210) is arranged horizontally. A left spring (211) is provided on the left side of the hand-held synchronous rotating shaft (210), and a right spring (212) is provided on the right side of the hand-held synchronous rotating shaft (210). The left spring (211) and the right spring (212) are respectively installed in the inside of a left spring sleeve (302) and a right spring sleeve (303). The left spring sleeve (302) is installed on the angle sensor mounting seat (301) on the left side, and the right spring sleeve (303) is installed on the angle sensor mounting seat (301) on the right side. A rotation angle sensor (304) is installed on the other side of the angle sensor mounting seat (301) on the left side. When the hand-held synchronous rotating shaft (210) rotates, the rotation angle sensor (304) is driven to rotate by the left spring sleeve (302), thereby detecting the rotation angle and angular velocity of the hand-held synchronous rotating shaft (210). A rack (204) is fixed to the front end of the sliding frame, the rack (204) is arranged to extend in the axial direction, the rack (204) is meshed with the gear (203), the gear (203) is mounted on the gear rotating shaft (205), a displacement sensor (206) is provided below the base plate (1), the displacement sensor (206) is mounted on the base plate (1), the displacement sensor (206) is connected to the gear (203) via the gear rotating shaft (205), the gear (203) rotates along the rack (204), and drives the gear rotating shaft (205) on the displacement sensor (206) to rotate, the displacement sensor (206) is used to detect the rotation angle and angular velocity of the gear (203), and further detect the horizontal displacement and speed of the sliding frame; The outer wall of the hand-held synchronous rotating shaft (210) is provided with a strip groove extending in the axial direction, and the inner walls of the left spring sleeve (302) and the right spring sleeve (303) are provided with a convex strip extending in the axial direction. The hand-held synchronous rotating shaft (210) is slidably arranged in the left spring sleeve (302) and the right spring sleeve (303), and performs linear motion in the axial direction in the left spring sleeve (302) and the right spring sleeve (303). When the hand-held synchronous rotating shaft (210) rotates, the strip groove and the convex strip drive the left spring sleeve (302) and the right spring sleeve (303) to rotate synchronously. The rotation angle sensor (304) is connected to the angle sensor mounting seat (301) via a shaft on the left spring sleeve (302); the left spring (211) in the left spring sleeve (302) and the right spring (212) in the right spring sleeve (303) have the same specifications and are arranged symmetrically with respect to the sliding frame.

2. The master-end operating device of the pan-vascular interventional surgical robot according to claim 1, characterized in that: The sliding frame is composed of a sliding bracket (208) and a sliding bracket upper cover (209), the sliding bracket (208) is installed on the slider (202), the top of the sliding bracket (208) is provided with a semicircular groove 1, the sliding bracket upper cover (209) is installed on the sliding bracket (208), and the bottom of the sliding bracket upper cover (209) is provided with a semicircular groove 2, the semicircular groove 1 and the semicircular groove 2 are combined to form a circular hole for the hand-held synchronous rotating shaft (210) to pass through, and the hand-held synchronous rotating shaft (210) is installed on the slider (202) through the sliding bracket (208) and the sliding bracket upper cover (209).

3. The master-end operating device of the pan-vascular interventional surgical robot according to claim 2, characterized in that: The sliding bracket (208) is an inverted T-shaped structure consisting of a bottom panel and a sliding column, the rack (204) is fixed to the front end of the bottom panel of the sliding bracket (208), the sliding column is fixed on the bottom panel, and the semicircular groove is opened on the sliding column.

4. The master-end operating device of the pan-vascular interventional surgery robot according to claim 2, characterized in that: The bottom of the sliding bracket (208) is fixed with a magnetic brake (207) via a stud. When the magnetic brake (207) is energized, it has electromagnetic attraction and moves downward to be magnetically attracted to the bottom plate (1). The sliding bracket (208) is braked by the magnetic brake (207).

5. The master-end operating device of the pan-vascular interventional surgical robot according to claim 4, characterized in that: The displacement sensor (206), the rotation angle sensor (304), and the magnetic brake (207) are electrically connected to the main controller, respectively. Feedback information from the displacement sensor (206) controls the movement displacement and speed of the interventional instrument. Information fed back from the rotation angle sensor (304) controls the rotation angle and angular velocity of the interventional instrument. After collecting the magnitude of the resistance encountered by the interventional instrument during its movement within the blood vessel, the main controller uses the magnetic brake (207) to transmit the magnitude of the resistance encountered by the interventional instrument during its movement to the doctor.

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