Sterile isolated robot for xmr image guided cardiovascular intervention

Abstract

The application provides a sterile isolation robot for XMR image-guided cardiovascular interventional surgery, a robot body comprising a rotating mechanism and a guide wire clamping and conveying mechanism, the guide wire clamping and conveying mechanism rotating together with the rotating mechanism; a rotating sterile isolation mechanism is installed on the rotating mechanism to isolate the sterile environment of the rotating mechanism from the guide wire, and a guide wire clamping and conveying sterile isolation mechanism isolates the sterile environment of the power output mechanism of the guide wire clamping and conveying mechanism from the guide wire. Through the structure of the double guide sleeves composed of the isolation sleeve and the isolation film pressing cap of the rotating sterile isolation mechanism and the pressing cap mounting seat, the problem that the inner hole diameter of the guide wire rotating mechanism is small, the depth is relatively long, and the sterile isolation requirement of arbitrary angle rotation is met is solved. Through the sealing ring sealing structure, the sterile isolation effect between the guide wire conveying driving mechanism and the driving wheel is solved, and the relative rotation requirement between the driving wheel shaft and the sterile isolation plate is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical robots, in particular to a sterile isolation robot for XMR image-guided cardiovascular intervention surgery. BACKGROUND

[0002] Vascular intervention surgery is a method in which a doctor manipulates an interventional instrument in the human body under the guidance of a digital subtraction angiography (DSA) device, and finally accurately reaches the lesion and performs treatment. Common interventional instruments include intravenous catheters, guide wires, filters, spring embolus, etc. Vascular intervention surgery has become an important means of treating cardiovascular diseases, and has the characteristics of small incision, fast recovery and good effect compared with traditional surgical operation.

[0003] The existing Chinese patent application document with the publication number CN115568954A discloses an XMR image-guided cardiovascular intervention surgery robot, which comprises a guide wire conveying mechanism, a rotating mechanism, a catheter conveying mechanism and a support structure; the guide wire conveying mechanism is rotationally arranged on the support structure, and drives the guide wire to advance or retreat; the rotating mechanism is positioned and installed on the support structure, and drives the guide wire conveying device to rotate; the catheter conveying mechanism is fixedly installed on the support structure, and drives the catheter to advance or retreat.

[0004] The driving members of the conveying mechanism and the rotating mechanism in the prior art are not sterilely isolated, and it is difficult to apply to operations with sterile requirements, and there is room for improvement. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a sterile isolation robot for XMR image-guided cardiovascular intervention surgery.

[0006] According to the present application, a sterile isolation robot for XMR image-guided cardiovascular intervention surgery is provided, which comprises a robot body, a guide wire clamping and conveying sterile isolation mechanism and a rotating sterile isolation mechanism; the robot body comprises a rotating mechanism and a guide wire clamping and conveying mechanism, and the guide wire clamping and conveying mechanism rotates together with the rotating mechanism; the rotating sterile isolation mechanism is installed on the rotating mechanism to isolate the sterile environment of the rotating mechanism from the guide wire, and the guide wire clamping and conveying sterile isolation mechanism isolates the sterile environment of the power output mechanism of the guide wire clamping and conveying mechanism from the guide wire.

[0007] Preferably, the robot body further comprises a fixing member, the outer surface of the fixing member is sleeved with a fixing member sterile isolation film; the rotating mechanism is rotationally installed on the fixing member, the guide wire clamping and conveying mechanism is fixedly connected with the rotating mechanism, and the guide wire sequentially passes through the rotating mechanism and the guide wire clamping and conveying mechanism.

[0008] Preferably, the robot body further comprises a first driving motor, an output end of the first driving motor is connected with a pinion, and an outer ring gear is arranged on the rotating mechanism, and the pinion and the outer ring gear are engaged.

[0009] Preferably, the rotating sterile isolation mechanism comprises an isolation cap, a cap mounting seat, a sleeve nut, an isolation sleeve and a screw; the cap mounting seat and the sleeve nut are integrally connected by the screw, and a connecting portion of the cap mounting seat and the sleeve nut forms an isolation groove; the isolation sleeve passes through the rotating mechanism, is connected with the sleeve nut through a thread, and an end surface of the isolation sleeve is closed in the isolation groove; an outer surface of the rotating mechanism is covered with a movable sterile isolation film, the isolation cap is mounted on the cap mounting seat, and the sterile isolation film clamped between the isolation cap and the cap mounting seat has a film round hole allowing a guide wire to pass through.

[0010] Preferably, the guide wire clamping and conveying mechanism comprises a driving wheel assembly, a driven wheel assembly, a second driving motor and a clamping driving cylinder; the clamping driving cylinder drives the driven wheel assembly and the driving wheel assembly to approach each other to clamp the guide wire or to move away from each other to release the guide wire; and the second driving motor drives the driving wheel assembly to rotate and drives the guide wire to advance or retreat.

[0011] Preferably, the guide wire clamping and conveying sterile isolation mechanism comprises an isolation plate, the isolation plate is fastened and connected with the rotating mechanism through a fastener, an outer surface of the rotating mechanism is covered with a movable sterile isolation film, and the sterile isolation film extends to a lower surface of the isolation plate; the driving wheel and the driven wheel of the guide wire clamping and conveying mechanism are both arranged above the isolation plate, and the second driving motor of the guide wire clamping and conveying mechanism is arranged below the isolation plate.

[0012] Preferably, an output end of the second driving motor is in transmission connection with the driving wheel through a driving wheel shaft, one end of the driving wheel shaft extends above the isolation plate, a driving shaft sealing ring is sleeved on the driving wheel shaft, the driving wheel is inserted into the driving wheel shaft and covers an end surface interface of the driving wheel shaft, and the driving shaft sealing ring connects the driving wheel and the isolation plate.

[0013] Preferably, the guide wire clamping and conveying sterile isolation mechanism further comprises a sliding block, a guide groove is arranged on the isolation plate, the sliding block is slidingly arranged in the guide groove, and the sliding block moves along a running direction of the guide groove in the guide groove through the clamping driving cylinder; the driven wheel is rotatably arranged on the sliding block, a driven wheel shaft is arranged on the sliding block, one end of the driven wheel shaft extends above the sliding block, a driven shaft sealing ring is sleeved on the driven wheel shaft, the driven wheel is inserted into the driven wheel shaft and covers an end surface interface of the driven wheel shaft, and the driven shaft sealing ring connects the driven wheel and the sliding block.

[0014] Preferably, the upper surface of the isolation plate is provided with a first guide groove, and the upper surface of the isolation plate is also detachably provided with a cover plate, and the cover plate is provided with a second guide groove, and the first guide groove and the second guide groove cooperate to form a circular hole cavity allowing the guide wire to pass through.

[0015] Preferably, the end of the isolation plate away from the rotating mechanism is rotatably installed on the fixing member of the robot body through a rotating shaft.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. The present application solves the problem of small inner hole diameter and long depth of the guide wire rotating mechanism, and meets the sterile isolation requirement of arbitrary angle rotation, by the structure of the double guide sleeve composed of the sterile isolation sleeve, the isolation film cap and the cap mounting seat of the rotating sterile isolation mechanism.

[0018] 2. The present application solves the problem of sterile isolation of the guide wire conveying driving mechanism and the driving wheel, and meets the relative rotation requirement between the driving wheel shaft and the sterile isolation plate, by adopting the sealing ring sealing structure.

[0019] 3. The present application solves the problem of effective isolation of the driving mechanism in a sterile environment by inserting the driving shaft into the driving groove of the driving mechanism through the sterile sealing ring under sterile conditions, so that the driving shaft drives the driving wheel or the driven wheel.

[0020] 4. The present application solves the functional requirements of the driven wheel translational clamping guide wire and cooperating with the driving wheel rotation, and realizes the sterile isolation requirement of the driven wheel, by adopting the structure of the guide groove and the sealing ring. BRIEF DESCRIPTION OF DRAWINGS

[0021] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0022] Figure 1 It is a top view of the whole structure of the sterile isolation robot mainly embodied by the present application;

[0023] Figure 2 It is a schematic diagram of the whole structure of the robot body mainly embodied by the present application;

[0024] Figure 3 It is a schematic diagram of the mounting structure of the fixing member and the sterile isolation film mainly embodied by the present application;

[0025] Figure 4 It is a schematic diagram of the mounting structure of the movable member sterile isolation film mainly embodied by the present application;

[0026] Figure 5The installation structure diagram of the fixed part sterile isolation film and the movable part sterile isolation film is mainly embodied in the present application.

[0027] Figure 6 The top view of the guide wire clamping and conveying mechanism is mainly embodied in the present application.

[0028] Figure 7 The exploded view of the guide wire clamping and conveying mechanism is mainly embodied in the present application.

[0029] Figure 8 The schematic diagram of the overall structure of the rotating sterile isolation mechanism is mainly embodied in the present application.

[0030] Figure 9 The schematic diagram of the overall structure of the driving wheel assembly is mainly embodied in the present application.

[0031] Figure 10 The sectional view of the guide wire clamping and conveying mechanism is mainly embodied in the present application.

[0032] The schematic diagram shown in the figure:

[0033] Robot body 100 sliding block 210

[0034] Fixed part 101 driven shaft sealing ring 211

[0035] Rotating mechanism 102 isolation plate 212

[0036] Pinion 103 rotating sterile isolation mechanism 300

[0037] Outer gear ring 104 isolation film pressing cap 301

[0038] First drive motor 105 pressing cap mounting seat 302

[0039] Second drive motor 106 sleeve nut 303

[0040] Guide groove 107 isolation sleeve 304

[0041] Driven wheel shaft 108 screw 305

[0042] Driving wheel shaft 109 isolation groove 306

[0043] Clamping drive cylinder 110 guide wire 400

[0044] Clamping and conveying sterile isolation mechanism 200 movable part sterile isolation film 500

[0045] Rotating base 201 film square hole 501

[0046] Rotating shaft 202 film round hole 502

[0047] Pin shaft 203 connecting hole 503

[0048] Fixing screws 204; fasteners; sterile isolation film 600

[0049] Cover plate 205, drive wheel 700

[0050] Drive shaft seal 206, drive shaft 701

[0051] Second guide groove 207, sealing ring groove 702

[0052] First guide groove 208 Driven wheel 800

[0053] Lock 209 Detailed Implementation

[0054] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0055] like Figures 1 to 10 As shown, a sterile isolation robot for XMR image-guided cardiovascular interventional surgery according to the present invention includes a robot body 100, a guidewire clamping and transport sterile isolation mechanism 200, and a rotating sterile isolation mechanism 300. The robot body 100 includes a rotating mechanism 102 and a guidewire clamping and transport mechanism, which rotates together with the rotating mechanism 102. The rotating sterile isolation mechanism 300 is mounted on the rotating mechanism 102 to isolate the sterile environment of the rotating mechanism 102 from the guidewire 400. The guidewire clamping and transport sterile isolation mechanism 200 isolates the sterile environment of the power output mechanism of the guidewire clamping and transport mechanism from the guidewire 400.

[0056] The aseptic isolation robot of this application uses materials such as polymers, copper alloys, ceramics, or titanium alloys that meet magnetic compatibility performance requirements, enabling the robot system to operate normally in an MR environment without affecting the normal operation performance of the MR system and meeting aseptic operation requirements. It can perform clamping, rotation of the guidewire 400 at any angle, and delivery of the guidewire 400 under aseptic conditions. The robot body 100, the aseptic isolation mechanism 200 for clamping and delivering the guidewire 400, and the rotating aseptic isolation mechanism 300, after sterilization and disinfection, are installed on the robot body 100 through a specific process, forming an aseptic isolation barrier between the guidewire 400 and the robot body 100, thus meeting the robot's usage requirements.

[0057] Specifically, the robot body 100 further comprises a fixed part 101, which is the installation base of the robot as a whole, and the outer surface of the fixed part 101 is sleeved with a fixed part sterile isolation film 600. A rotating mechanism 102 is rotatably installed on the fixed part 101, and a guide wire 400 clamping and conveying mechanism is fixedly connected with the rotating mechanism 102, and the guide wire 400 passes through the rotating mechanism 102 and the guide wire 400 clamping and conveying mechanism in sequence. The robot body 100 further comprises a first driving motor 105, the output end of the rotating structure driving motor is connected with a pinion 103, and an outer gear ring 104 is arranged on the rotating mechanism 102, and the pinion 103 and the outer gear ring 104 are in meshing engagement. The guide wire 400 clamping and conveying mechanism comprises a driving wheel 700 assembly, a driven wheel 800 assembly, a second driving motor 106, and a clamping driving cylinder 110, the clamping driving cylinder 110 drives the driven wheel 800 assembly and the driving wheel 700 assembly to move close to each other to clamp the guide wire 400 or move away from each other to release the guide wire 400, and the second driving motor 106 drives the driving wheel 700 assembly to rotate and drive the guide wire 400 to advance or retreat.

[0058] More specifically, the robot body 100 can drive the guide wire 400 to complete the functions of advancing, retreating and rotating, and the like, and the robot body 100 is composed of the robot body 100 fixed part 101, the rotating mechanism 102, the pinion 103, the outer gear ring 104, the first driving motor 105, the second driving motor 106, the guide groove 107, the driven wheel shaft 108, the driving wheel shaft 109 and the clamping driving cylinder 110. The first driving motor 105 drives the gear ring on the rotating mechanism 102 through the pinion 103, and then drives the entire guide wire 400 driving mechanism to rotate relative to the robot body 100 fixed part 101. The clamping driving cylinder 110 can drive the driven wheel shaft 108 to move along the guide groove 107, and then move away from or close to the driving wheel shaft 109. The second driving motor 106 can drive the driving wheel shaft 109 to rotate together.

[0059] Further, the rotating sterile isolation mechanism 300 comprises an isolation film pressing cap 301, a pressing cap mounting seat 302, a sleeve nut 303, an isolation sleeve 304 and a screw 305. The pressing cap mounting seat 302 and the sleeve nut 303 are integrated by the screw 305, and the connection part of the pressing cap mounting seat 302 and the sleeve nut 303 forms an isolation groove 306, the isolation sleeve 304 passes through the rotating mechanism 102, the isolation sleeve 304 is connected with the sleeve nut 303 through threads, and the end surface of the isolation sleeve 304 is closed in the isolation groove 306; the outer surface of the rotating mechanism 102 is covered with a movable part sterile isolation film 500, the isolation film pressing cap 301 is mounted on the pressing cap mounting seat 302, and the sterile isolation film clamped between the isolation film pressing cap 301 and the pressing cap mounting seat 302 has a film circular hole 502 allowing the guide wire 400 to pass through.

[0060] In the actual installation process, the movable piece sterile isolation film 500 is first installed on the rotating mechanism 102, and the film square hole 501 and the connecting hole 503 are arranged in the guide wire 400 conveying mechanism area of the robot body 100, and then the rotating sterile isolation mechanism 300 is connected with the rotating mechanism 102 and the movable piece sterile isolation film 500. Further, the rotating sterile isolation mechanism 300 is composed of an isolation film pressing cap 301, a pressing cap mounting seat 302, a sleeve nut 303, an isolation sleeve 304, and a screw 305. The pressing cap mounting seat 302 and the sleeve nut 303 are connected by the screw 305 to form an isolation groove 306, the isolation sleeve 304 passes through the inner hole of the rotating mechanism 102 and is connected with the sleeve nut 303 through threads, at this time the end surface of the isolation sleeve 304 is closed in the isolation groove 306, and the sterile isolation of the inner hole of the rotating mechanism 102 by the isolation sleeve 304 is completed, and further the isolation film pressing cap 301 and the pressing cap mounting seat 302 passing through the film round hole 502 seal and isolate the movable piece sterile isolation film 500 of the robot body 100, and the external overall sterile isolation of the rotating mechanism 102 of the robot body 100 is completed. It needs to be further explained that the inner hole of the rotating mechanism 102 is not a sterile environment, and the end of the isolation sleeve 304 will be contaminated during passing through the inner hole of the rotating mechanism 102, therefore the contaminated end of the isolation sleeve 304 is closed by the isolation groove 306 to ensure the sterile environment inside the rotating sterile isolation mechanism 300. By adopting the structure of guide rod and double guide sleeve, the sterile isolation of the small aperture and deep inner hole of the rotating mechanism 102 is solved.

[0061] Further, the sterile isolation mechanism 200 of the guide wire 400 clamping and conveying mechanism comprises an isolation plate 212 which is fastened to the rotating mechanism 102 by fasteners, the outer surface of the rotating mechanism 102 is covered with a movable sterile isolation film 500, and the sterile isolation film extends to the lower surface of the isolation plate 212. The driving wheel 700 and the driven wheel 800 of the guide wire 400 clamping and conveying mechanism are both arranged above the isolation plate 212, and the second driving motor 106 of the guide wire 400 clamping and conveying mechanism is arranged below the isolation plate 212. The output end of the second driving motor 106 is in transmission connection with the driving wheel 700 through the driving wheel shaft 109, one end of the driving wheel shaft 109 extends above the isolation plate 212, the driving wheel shaft 109 is sleeved with the driving shaft sealing ring 206, the driving wheel 700 is inserted into the driving wheel shaft 109 and covers the end face interface of the driving wheel shaft 109, and the driving shaft sealing ring 206 connects the driving wheel 700 and the isolation plate 212. The guide wire 400 clamping and conveying sterile isolation mechanism 200 further comprises a sliding block 210, the isolation plate 212 is provided with a guide groove 107, the sliding block 210 is slidingly arranged in the guide groove 107, and the sliding block 210 moves in the guide groove 107 along the direction of the guide groove 107 through the clamping driving cylinder 110. The driven wheel 800 is rotatably installed on the sliding block 210, the sliding block 210 is provided with the driven wheel shaft 108, one end of the driven wheel shaft 108 extends above the sliding block 210, the driven wheel shaft 108 is sleeved with the driven shaft sealing ring 211, the driven wheel 800 is inserted into the driven wheel shaft 108 and covers the end face interface of the driven wheel shaft 108, and the driven shaft sealing ring 211 connects the driven wheel 800 and the sliding block 210.

[0062] Further, the upper surface of the isolation plate 212 is provided with a first guide groove 208, and the upper surface of the isolation plate 212 is also detachably provided with a cover plate 205, the cover plate 205 is provided with a second guide groove 207, and the first guide groove 208 and the second guide groove 207 cooperatively form a circular hole cavity allowing the guide wire 400 to pass through.

[0063] Further, one end of the isolation plate 212 away from the rotating mechanism 102 is rotatably installed on the fixed part 101 of the robot body 100 through the rotating shaft 202.

[0064] The application provides a feasible implementation: the clamping and conveying sterile isolation mechanism 200 is installed on the rotating mechanism 102 through the movable sterile isolation film 500, and specifically, the clamping and conveying sterile isolation mechanism 200 is composed of a rotating base 201, a rotating shaft 202, a pin shaft 203, a fixing screw 204, a cover plate 205, a driving shaft sealing ring 206, a second guide groove 207, a first guide groove 208, a lock catch 209, a sliding block 210, a driven shaft sealing ring 211, an isolation plate 212 and a guide groove 107. More specifically, the rotating base 201 is installed on the fixing part 101 covered with the fixing part sterile isolation film 600, the rotating shaft 202 is connected with the isolation plate 212 through fasteners and is connected to the rotating mechanism 102 through four fixing screws 204, at this time, the driving wheel shaft 109 and the driven wheel shaft 108 on the robot body 100 are connected with the isolation plate 212 through the driving shaft sealing ring 206 and the driven shaft sealing ring 211, and when the driven wheel shaft 108 is translated under the action of the clamping driving cylinder 110, the sliding block 210 is translated along the guide groove 107 under the drive of the driven wheel shaft 108, and the sterile isolation is completed, and further, the cover plate 205 is connected with the isolation plate 212 through the pin shaft 203 and can be fixed through the lock catch 209 on the isolation plate 212, so that the second guide groove 207 and the first guide groove 208 form a circular cavity, and the relative position relationship between the guide wire 400 and the driving wheel 700 and the driven wheel 800 is ensured.

[0065] Further, the driving wheel 700 and the driven wheel 800 are respectively inserted into the driving wheel shaft 109 and the driven wheel shaft 108, cover the end face interfaces of the driving wheel shaft 109 and the driven wheel shaft 108, and then all the sterile isolation work is completed, and the rotating driving guide wire 400 is moved under the drive of the driving wheel shaft 109 and the clamping of the driven wheel shaft 108. Specifically, the driving wheel 700 is mainly composed of a protruding transmission shaft 701 and a sealing ring groove 702, the transmission shaft 701 is provided with a square body corresponding to the square hole of the driving wheel shaft 109 to transmit torque, and the sealing ring groove 702 is provided with a sealing ring corresponding to the round hole of the driving wheel shaft 109 to improve the axial friction and prevent the driving wheel 700 from being separated from the driving wheel shaft 109 in the rotating process. Similarly, the driven wheel 800 is connected with the driven wheel shaft 108, and further, the driving wheel shaft 109 drives the driving wheel 700 to rotate, the driven wheel shaft 108 drives the driven wheel 800 to clamp the guide wire 400, and then drives the guide wire 400 to move, and a sterile isolation barrier is established for the guide wire 400.

[0066] By adopting the sealing ring sealing structure, the sterile isolation effect of the guide wire 400 conveying driving mechanism and the driving wheel is solved, and the relative rotation requirement between the driving wheel shaft and the sterile isolation plate 212 is met. By adopting the protruding transmission shaft 701 design, the transmission shaft 701 under the sterile condition is inserted into the transmission groove of the driving mechanism through the sterile sealing ring, so that the transmission shaft 701 drives the driving wheel 700 or the driven wheel 800 while effectively isolating the sterile environment of the driving mechanism. By adopting the guide groove 107 and the sealing ring structure, the function requirements of the driven wheel 800 translational clamping guide wire 400 and cooperating with the driving wheel 700 rotating motion are solved, and the sterile isolation requirement of the driven wheel 800 is realized.

[0067] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0068] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A sterile isolated robot for XMR image guided cardiovascular interventional procedures, characterized in that, The robot body (100), the guide wire clamping and conveying sterile isolation mechanism (200) and the rotating sterile isolation mechanism (300) are included; The robot body (100) includes a rotating mechanism (102) and a guide wire clamping and conveying mechanism which rotates together with the rotating mechanism (102); The rotating sterile isolation mechanism (300) is installed on the rotating mechanism (102) to isolate the sterile environment of the rotating mechanism (102) from the guide wire (400), and the guide wire clamping and conveying sterile isolation mechanism (200) isolates the sterile environment of the power output mechanism of the guide wire clamping and conveying mechanism from the guide wire (400); The guide wire (400) passes through the rotating mechanism (102) and the guide wire clamping and conveying mechanism in sequence; The rotating sterile isolation mechanism (300) includes an isolation film pressing cap (301), a pressing cap mounting seat (302), a sleeve nut (303), an isolation sleeve (304) and a screw (305); The pressing cap mounting seat (302) and the sleeve nut (303) are integrated by the screw (305), and the connection part of the pressing cap mounting seat (302) and the sleeve nut (303) forms an isolation groove (306), the isolation sleeve (304) passes through the rotating mechanism (102), the isolation sleeve (304) is connected with the sleeve nut (303) through threads, and the end surface of the isolation sleeve (304) is closed in the isolation groove (306); The outer surface of the rotating mechanism (102) is covered with a movable part sterile isolation film (500), the isolation film pressing cap (301) is installed on the pressing cap mounting seat (302), and the movable part sterile isolation film (500) clamped between the isolation film pressing cap (301) and the pressing cap mounting seat (302) has a film round hole (502) allowing the guide wire (400) to pass through; The guide wire clamping and conveying sterile isolation mechanism (200) includes an isolation plate (212), the isolation plate (212) is fastened and connected with the rotating mechanism (102) through fasteners, and the movable part sterile isolation film (500) extends to the lower surface of the isolation plate (212); The driving wheel (700) and the driven wheel (800) of the guide wire clamping and conveying mechanism are both arranged above the isolation plate (212), and the second driving motor (106) of the guide wire clamping and conveying mechanism is arranged below the isolation plate (212). The output end of the second driving motor (106) is in transmission connection with a driving wheel (700) through a driving shaft (109), one end of the driving shaft (109) extends above a partition plate (212), a driving shaft sealing ring (206) is sleeved on the driving shaft (109), the driving wheel (700) is inserted into the driving shaft (109) and covers the end surface interface of the driving shaft (109), and the driving shaft sealing ring (206) connects the driving wheel (700) and the partition plate (212); the wire clamping and conveying sterile isolation mechanism (200) further comprises a sliding block (210), a guide groove (107) is arranged on the partition plate (212), and the sliding block (210) is slidingly arranged in the guide groove (107); the sliding block (210) moves in the guide groove (107) along the direction of the guide groove (107) through a clamping driving cylinder (110). The driven wheel (800) is rotatably installed on the sliding block (210), a driven shaft (108) is installed on the sliding block (210), one end of the driven shaft (108) extends above the sliding block (210), a driven shaft sealing ring (211) is sleeved on the driven shaft (108), the driven wheel (800) is inserted into the driven shaft (108) and covers the end surface interface of the driven shaft (108), and the driven shaft sealing ring (211) connects the driven wheel (800) and the sliding block (210).

2. The sterile isolated robot for XMR image-guided cardiovascular interventional procedures of claim 1, wherein, The robot body (100) further comprises a fixing member (101), an outer surface of the fixing member (101) is sleeved with a fixing member sterile isolation film (600); The rotating mechanism (102) is rotatably installed on the fixing member (101), and the wire clamping and conveying mechanism is fixedly connected with the rotating mechanism (102).

3. The sterile isolated robot for XMR image-guided cardiovascular interventional procedures of claim 1, wherein, The robot body (100) further comprises a first driving motor (105), an output end of the first driving motor (105) is connected with a pinion (103), an outer gear ring (104) is arranged on the rotating mechanism (102), and the pinion (103) and the outer gear ring (104) are in meshing connection.

4. The sterile isolated robot for XMR image-guided cardiovascular interventional procedures of claim 1, wherein, The wire clamping and conveying mechanism comprises a driving wheel assembly, a driven wheel assembly, a second driving motor (106) and a clamping driving cylinder (110), the clamping driving cylinder (110) drives the driven wheel assembly and the driving wheel assembly to approach each other to clamp the wire (400) or to move away from each other to release the wire (400), and the second driving motor (106) drives the driving wheel assembly to rotate and drives the wire (400) to advance or retreat.

5. The sterile isolated robot for XMR image-guided cardiovascular interventional procedures of claim 1, wherein, A first guide groove (208) is arranged on an upper surface of the partition plate (212), a cover plate (205) is detachably installed on the upper surface of the partition plate (212), a second guide groove (207) is arranged on the cover plate (205), and the first guide groove (208) and the second guide groove (207) cooperatively form a circular hole cavity allowing the wire (400) to pass through.

6. The sterile isolated robot for XMR image-guided cardiovascular interventional procedures of claim 1, wherein, The isolation plate (212) is rotatably installed on the fixed member (101) of the robot body (100) through the rotating shaft (202) at one end away from the rotating mechanism (102).

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