Interventional surgical robot operating device

Abstract

The invention provides an interventional surgical robot operating device. The interventional surgical robot operating device comprises a base; the two executing mechanisms each comprise a moving module, a clamping module and a twisting module, the moving modules are arranged on the base in a sliding mode, and the clamping modules and the twisting modules are connected with the corresponding moving modules; wherein the clamping module of one executing mechanism is used for clamping a guide pipe, the twisting module corresponding to one executing mechanism is used for twisting the guide pipe, the clamping module of the other executing mechanism is used for clamping a guide wire in the guide pipe, and the twisting module corresponding to the other executing mechanism is used for twisting the guide wire. According to the operation device of the interventional surgery robot, simultaneous and independent accurate operation of a catheter and a guide wire can be achieved, the interventional requirements of different angles and depths in a complex heart structure are met, the operation device can be compatible with interventional instruments of different models or sizes, the problem that the instruments are damaged or loosened due to clamping force fixation is solved, and the operation efficiency is improved. And the safety and the reliability of the operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an interventional surgery robot operating device. Background Art

[0002] Interventional treatment of structural heart disease has become a research hotspot in the field of cardiovascular disease today because of its low trauma and high safety. However, its surgical process often involves the coordinated operation of multiple interventional devices, such as catheter coaxial technology, and its manual operation usually requires two people to cooperate, with high precision and technical difficulty.

[0003] The development of vascular interventional surgical robots can effectively reduce the difficulty of interventional treatment of structural heart disease. However, existing vascular interventional surgical robots have problems such as low coordination and poor clamping efficiency. In addition, their clamping force is fixed and cannot be compatible with interventional instruments of different models or sizes. Too high or too low clamping force can cause damage or loosening of the interventional instruments, and cannot meet the operational requirements and safety guarantees of multi-instrument collaborative interventional treatment. Summary of the invention

[0004] The present invention provides an interventional surgical robot operating device to solve the problems of low coordination and poor clamping hand efficiency in the prior art, and its clamping force is fixed and cannot be compatible with interventional instruments of different models or sizes. Too high or too low clamping force may cause damage or loosening of the interventional instruments, and cannot meet the operational requirements and safety issues of collaborative interventional treatment of multiple instruments.

[0005] The present invention provides an interventional surgery robot operating device, comprising: Pedestal; Two actuators, each comprising a moving module, a clamping module and a twisting module, wherein the moving module is slidably arranged on the base, and the clamping module and the twisting module are both connected to the corresponding moving module; The clamping module of one of the actuators is used to clamp the catheter, and the corresponding twisting module of one of the actuators is used to twist the catheter, the clamping module of another actuator is used to clamp the guidewire in the catheter, and the corresponding twisting module of another actuator is used to twist the guidewire, so that the delivery of the catheter and the guidewire is completed by driving the clamping module through the moving module, and the twisting of the catheter and the guidewire is completed through the twisting module.

[0006] According to the interventional surgical robot operating device provided by the present invention, a first rack is provided on the base; the moving module includes: a load plate, a first driving member, a first synchronous belt, a first bearing and a first gear; the first driving member is arranged on the load plate, the first bearing is rotatably arranged on the load plate, the first gear is connected to the first bearing, the driving end of the first driving member is connected to the first bearing through a first synchronous belt, and the first gear is meshed with the first rack.

[0007] According to the interventional surgery robot operating device provided by the present invention, a first guide rail is further provided on the base; a slider adapted to the first guide rail is provided on the load plate, and the load plate is slidably arranged on the base through the slider.

[0008] According to the interventional surgical robot operating device provided by the present invention, the base includes: an upper shell of the base and a lower shell of the base, the upper shell of the base and the lower shell of the base are connected to each other to form an installation space for the movement of the mobile module, the lower shell of the base is provided with a protrusion, and the first rack is arranged on the protrusion.

[0009] According to the interventional surgical robot operating device provided by the present invention, the actuator also includes a connecting plate, and a gap extending along the sliding direction of the moving module is formed between the upper shell of the base and the lower shell of the base, one end of the connecting plate is connected to the moving module, and the other end of the connecting plate passes through the gap to be connected to the clamping module and the twisting module.

[0010] According to the interventional surgery robot operating device provided by the present invention, the actuator further comprises an actuator upper housing, an actuator lower housing and an actuator cover plate; The actuator upper shell and the actuator cover are connected to the actuator lower shell. The actuator upper shell, the actuator lower shell and the actuator cover are spliced ​​together to form a accommodating cavity for accommodating the clamping module and the twisting module. A groove for accommodating interventional instruments is formed on the actuator cover, and the clamping end of the clamping module extends to the groove.

[0011] According to the interventional surgery robot operating device provided by the present invention, the clamping module comprises: a first clamping unit and a second clamping unit; The first clamping unit and the second clamping unit are both arranged in the accommodating cavity, the clamping end of the first clamping unit and the clamping end of the second clamping unit extend into the groove, and a clamping space for clamping an interventional instrument is formed between the two.

[0012] According to the interventional surgery robot operating device provided by the present invention, the first clamping unit and the second clamping unit both include: A servo, a connecting rod slider and a clamping plate, wherein the servo is arranged in the accommodating cavity, the driving end of the servo is connected to the clamping plate through the connecting rod slider, and the clamping plate of the first clamping unit and the clamping plate of the second clamping unit are arranged opposite to each other to form the clamping space.

[0013] According to the interventional surgical robot operating device provided by the present invention, the twisting module includes: a frame, a second driving member, a second synchronous belt, a second bearing, a second gear, a second rack, and a third rack; The frame is provided with the second guide rail and the third guide rail, the first clamping unit is slidably set on the second guide rail, the second clamping unit is slidably set on the third guide rail, the second gear is set on the second bearing, the second driving member is transmission connected to the second bearing through the second synchronous belt, the first clamping unit is provided with a second rack meshing with one side of the second gear, and the second clamping unit is provided with a third rack meshing with the other side of the second gear, so that the second driving member drives the first clamping unit and the second clamping unit to move relative to each other in the opposite direction.

[0014] According to the interventional surgery robot operating device provided by the present invention, the frame includes: a front support plate and a rear support plate; The front support plate is connected to the rear support plate, the second guide rail and the third guide rail are provided on the front support plate, and the second driving member is fixed on the rear support plate.

[0015] The interventional surgical robot operating device provided by the present invention is designed with two actuators, each of which has the functions of moving, clamping and twisting, so as to realize the simultaneous and independent precise operation of the catheter and the guide wire. This design reduces the complexity of the cooperation between two people in manual operation, improves the degree of coordination during the operation, and thus improves the efficiency and precision of the operation. The moving module of each actuator can be slidably arranged on the base, so that the catheter and the guide wire can move freely in the three-dimensional space, meeting the intervention requirements of different angles and depths in the complex heart structure. This flexibility helps to improve the adaptability and success rate of the operation. The design of the clamping module can be compatible with interventional instruments of different models or sizes, avoiding the problem of instrument damage or loosening caused by the clamping force fixation. By adjusting the parameters of the clamping module, the stable clamping of catheters and guide wires of different specifications can be ensured, thereby improving the safety and reliability of the operation. The setting of the twisting module enables the catheter and the guide wire to perform precise twisting operation during the delivery process, and by accurately controlling the twisting angle and speed, the surgical effect can be further optimized, and the surgical risks and complications can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the final assembly of the interventional surgery robot operating device provided in an embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the internal structure of the interventional surgery robot operating device provided in an embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of the actuator provided in the embodiment of the present application.

[0020] Figure 4 It is one of the schematic diagrams of the internal structure of the actuator provided in the embodiment of the present application.

[0021] Figure 5 This is the second schematic diagram of the internal structure of the actuator provided in the embodiment of the present application.

[0022] Reference numerals: 10. base; 110. first rack; 120. first guide rail; 130. protrusion; 140. upper shell of base; 150. lower shell of base; 160. gap; 170. bolt hole; 20. actuator; 21. moving module; 211. load plate; 212. first driving member; 213. first synchronous belt; 214. first bearing; 215. first gear; 22. clamping module; 221. first clamping unit; 222. second clamping unit; 223, servo; 224, connecting rod slider; 225, clamping plate; 23, twisting module; 231, front support plate; 238, rear support plate; 232, second driving member; 233, second synchronous belt; 234, second bearing; 235, second gear; 236, second rack; 237, third rack; 24, connecting plate; 25, actuator upper housing; 26, actuator lower housing; 27, actuator cover; 270, groove; 28, fixing plate; DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Combine the following Figure 1-Figure 5 The present invention describes an interventional surgery robot operating device, which is mainly used for efficient collaborative vascular interventional surgery for structural heart disease.

[0025] In one embodiment provided in this application, Figures 1 to 5 As shown, the interventional surgical robot operating device includes: a base 10 and two actuators 20. Both actuators 20 include a moving module 21, a clamping module 22 and a twisting module 23. The moving module 21 is slidably arranged on the base 10, and the clamping module 22 and the twisting module 23 are both connected to the corresponding moving module 21; the clamping module 22 of one actuator 20 is used to clamp the catheter, and the twisting module 23 corresponding to one actuator 20 is used to twist the catheter, and the clamping module 22 of the other actuator 20 is used to clamp the guide wire in the catheter, and the twisting module 23 corresponding to the other actuator 20 is used to twist the guide wire, so as to drive the clamping module 22 through the moving module 21 to complete the delivery of the catheter and the guide wire, and complete the twisting of the catheter and the guide wire through the twisting module 23.

[0026] Specifically, each actuator 20 integrates a moving module 21, a clamping module 22 and a twisting module 23. The moving module 21 is designed to be slidably mounted on the base 10, so that the actuator 20 can move freely, ensuring that the catheter and the guidewire can be accurately delivered to the target position. At the same time, the clamping module 22 and the twisting module 23 are closely connected to their corresponding moving modules 21.

[0027] During the operation, the clamping module 22 of one actuator 20 is responsible for clamping the catheter, while the twisting module 23 connected thereto is responsible for accurately twisting the catheter to achieve flexible steering and positioning of the catheter in the blood vessel. At the same time, the other actuator 20 focuses on clamping and twisting the guidewire inside the catheter. Through the stable control of the guidewire by its clamping module 22 and the fine manipulation of the guidewire by the twisting module 23, the flexible shuttle and precise guidance of the guidewire in the catheter are achieved.

[0028] The two actuators 20 can work closely together during the operation. Driven by the moving module 21, the clamping module 22 can accurately deliver the catheter and the guide wire to the designated position; and the twisting module 23 can adjust the catheter and the guide wire appropriately according to the needs of the operation to ensure the smooth progress of the operation.

[0029] The interventional surgical robot operation device provided in the embodiment of the present invention is designed with two actuators 20, each of which has the functions of moving, clamping and twisting, so as to realize the simultaneous and independent precise operation of the catheter and the guide wire. This design reduces the complexity of the cooperation between two people in manual operation, improves the degree of coordination during the operation, and thus improves the efficiency and accuracy of the operation. The moving module 21 of each actuator 20 is slidably arranged on the base 10, so that the catheter and the guide wire can move freely in the three-dimensional space, meeting the intervention requirements of different angles and depths in the complex heart structure. This flexibility helps to improve the adaptability and success rate of the operation. The design of the clamping module 22 is compatible with interventional instruments of different models or sizes, avoiding the problem of instrument damage or loosening caused by the clamping force fixation. By adjusting the parameters of the clamping module 22, the stable clamping of catheters and guide wires of different specifications can be ensured, thereby improving the safety and reliability of the operation. The setting of the twisting module 23 enables the catheter and the guide wire to perform precise twisting operation during the delivery process, and by accurately controlling the twisting angle and speed, the surgical effect can be further optimized, and the surgical risks and complications can be reduced.

[0030] In some embodiments, Figures 1 to 5 As shown, a first rack 110 is provided on the base 10; the moving module 21 includes: a load plate 211, a first driving member 212, a first synchronous belt 213, a first bearing 214 and a first gear 215; the first driving member 212 is arranged on the load plate 211, the first bearing 214 is rotatably arranged on the load plate 211, the first gear 215 is connected to the first bearing 214, the driving end of the first driving member 212 is connected to the first bearing 214 through the first synchronous belt 213, and the first gear 215 is engaged with the first rack 110, so that the first driving member 212 drives the first bearing 214 to rotate through the first synchronous belt 213, so that the first gear 215 on the first bearing 214 rotates on the first rack 110, so that the load plate 211 can move relative to the base 10, and the linear motion of the actuator 20 is realized.

[0031] Specifically, the first driving member 212 (a motor may be selected) is mounted on the load plate 211, and serves as a power source for the mobile module 21 and is responsible for providing the necessary driving force. The first bearing 214 is rotatably disposed on the load plate 211, and serves as a key component for connecting the first driving member 212 and the first gear 215, ensuring the smooth transmission of power.

[0032] The first gear 215 is closely connected to the first bearing 214, and they together form a rotating unit. This rotating unit is connected to the driving end of the first driving member 212 through the first synchronous belt 213, forming a complete driving system. When the first driving member 212 is started, it drives the first bearing 214 to rotate through the first synchronous belt 213, and then drives the first gear 215 to roll on the first rack 110.

[0033] Due to the close meshing relationship between the first gear 215 and the first rack 110, when the first gear 215 rolls, it will move linearly along the trajectory of the first rack 110. This movement process is not only stable and reliable, but also can accurately control the distance and direction of movement. As the first gear 215 rolls on the first rack 110, the load plate 211 and the components connected thereto will also move linearly accordingly. This movement mode can ensure that the actuator 20 can accurately reach the specified position during the operation, providing a strong guarantee for the smooth progress of the operation.

[0034] The driving directions of the first driving members 212 on the two actuators 20 can be adjusted as needed, and can move synchronously or asynchronously on the base 10. At the same time, the opposite moving directions can be set to achieve reverse movement in the delivery direction.

[0035] At the same time, the base 10 is also provided with a first guide rail 120; the load plate 211 is provided with a slider adapted to the first guide rail 120, and the load plate 211 is slidably arranged on the base 10 through the slider to limit the sliding direction.

[0036] Specifically, the first guide rail 120 is installed on the base 10, parallel to the first rack 110 (depending on the actual design requirements), and together constitutes the guide system of the mobile module 21. On the load plate 211, a slider that perfectly matches the first guide rail 120 is provided. The slider can fit tightly on the first guide rail 120 to ensure the stability and smoothness of the load plate 211 during the sliding process.

[0037] In order to meet the needs of different surgical scenarios, two first guide rails 120 can be flexibly provided on the base 10. When two first guide rails 120 are provided on the base 10, the corresponding load plate 211 will also be equipped with two sliders adapted to the first guide rails 120. The two sliders are respectively located on both sides or front and back of the load plate 211 (depending on the actual design), and jointly support and guide the load plate 211 to slide stably on the first guide rails 120.

[0038] In some embodiments, Figures 1 to 5As shown, the base 10 includes: an upper shell of the base 10 and a lower shell of the base 10, the upper shell of the base 10 and the lower shell of the base 10 are connected to each other to form an installation space for the mobile module 21 to move, and a protrusion 130 is provided on the lower shell of the base 10, and the first rack 110 is arranged on the protrusion 130. The protrusion 130 provides a stable support platform for the first rack 110 thereon. The first rack 110 is accurately mounted on the protrusion 130 and forms a close meshing relationship with the first gear 215 in the mobile module 21. Corresponding bolt holes 170 are provided around the upper shell of the base 10 and the lower shell of the base 10, and the upper shell of the base 10 and the lower shell of the base 10 are detachably connected by bolts.

[0039] In addition, the design of the protrusion 130 also has a certain degree of flexibility. It can be adjusted to different shapes and sizes according to surgical requirements to adapt to different models and specifications of mobile modules 21. This design enables the base 10 to be better compatible with different types of interventional surgical robot operating devices, thereby improving its versatility and practicality.

[0040] In some embodiments, Figures 1 to 5 As shown, the actuator 20 also includes a connecting plate 24, and a gap 160 extending along the sliding direction of the moving module 21 is formed between the upper shell of the base 10 and the lower shell of the base 10, one end of the connecting plate 24 is connected to the moving module 21, and the other end of the connecting plate 24 passes through the gap 160 to be connected to the clamping module 22 and the twisting module 23.

[0041] Specifically, after the upper shell of the base 10 and the lower shell of the base 10 are connected, a long and narrow gap 160 is formed along the sliding direction of the moving module 21. The existence of this gap 160 provides a movable channel for the connecting plate 24 to smoothly pass through and connect the moving module 21 with the clamping module 22 and the twisting module 23.

[0042] In some embodiments, Figures 1 to 5 As shown, the actuator 20 also includes an upper shell of the actuator 20, a lower shell of the actuator 20 and a cover plate of the actuator 20; the upper shell of the actuator 20 and the cover plate of the actuator 20 are connected to the lower shell of the actuator 20, the upper shell of the actuator 20, the lower shell of the actuator 20 and the cover plate of the actuator 20 are spliced ​​with each other to form a accommodating cavity for accommodating the clamping module 22 and the twisting module 23, and a groove 270 for accommodating the interventional instrument is formed on the cover plate of the actuator 20, and the clamping end of the clamping module 22 extends to the groove 270.

[0043] In this embodiment, the upper shell of the actuator 20 is located above the entire mechanism. The lower shell of the actuator 20 corresponds to the upper shell, and the lower shell is located below the entire mechanism and serves as the basis of the entire actuator 20. The cover plate of the actuator 20 is located above or adjacent to the upper shell, and is used to close a part or all of the accommodating cavity. A groove 270 for placing interventional instruments (catheters and guidewires) is formed on the cover plate. The upper shell of the actuator 20, the lower shell of the actuator 20 and the cover plate of the actuator 20 are connected to each other in some way (such as bolt connection, snap connection, etc.), and together form a closed accommodating cavity. This accommodating cavity provides the necessary installation space for the clamping module 22 and the twisting module 23, ensuring that they can work normally. The clamping end of the clamping module 22 extends into the groove 270 formed on the cover plate, so that the clamping module 22 can directly contact the interventional instrument placed in the groove 270, thereby achieving effective clamping and operation of the instrument.

[0044] Specifically, the clamping module 22 includes: a first clamping unit 221 and a second clamping unit 222; the first clamping unit 221 and the second clamping unit 222 are both arranged in the accommodating cavity, the clamping end of the first clamping unit 221 and the clamping end of the second clamping unit 222 extend into the groove 270, and a clamping space for clamping the interventional instrument is formed between the two.

[0045] The first clamping unit 221 and the second clamping unit 222 each have an independent clamping end, which can extend into the groove 270 formed on the cover plate of the actuator 20. By adjusting the relative position of the first clamping unit 221 and the second clamping unit 222, the size and shape of the clamping space can be precisely controlled to accommodate interventional instruments of different sizes and shapes.

[0046] like Figures 1 to 5 As shown, the first clamping unit 221 and the second clamping unit 222 both include: a servo 223, a connecting rod slider 224 and a clamping plate 225. The servo 223 is arranged in the accommodating cavity. The driving end of the servo 223 is connected to the clamping plate 225 through the connecting rod slider 224. The clamping plate 225 of the first clamping unit 221 and the clamping plate 225 of the second clamping unit 222 are arranged opposite to each other to form a clamping space.

[0047] Specifically, the steering engine 223 and the connecting rod slider 224 are installed on the fixed plate 28. For clamping of the interventional instrument, the steering engine 223 is mainly used to drive the connecting rod slider 224 mechanism and the clamping plate 225 to slide. Since the clamping plate 225 is fixed to the end of the connecting rod slider 224, when the steering engine 223 rotates, it will drive the connecting rod slider 224 and the clamping plate 225 fixed thereon to realize linear movement in the clamping direction, thereby realizing the clamping and loosening of the interventional instrument.

[0048] The clamping plate 225 can be made of flexible material, which can reduce damage to interventional instruments while outputting stable clamping force. It is compatible with interventional instruments of different models and sizes, suitable for a variety of surgical scenarios, and ensures the safety of surgery.

[0049] In an embodiment of the present invention, when an efficient collaborative vascular interventional surgical robot operating device for structural heart disease is needed to clamp an interventional instrument, the interventional instrument is first placed in the groove 270, and the servo 223 is started to drive the connecting rod slider 224 to rotate, so that the connecting rod slider 224 and the clamping plate 225 move linearly in the clamping direction to achieve clamping and loosening of the interventional instrument. By adjusting the rotation angle of the servo 223, the position of the clamping plate 225 can be precisely controlled.

[0050] In some embodiments, Figures 1 to 5 As shown, the twisting module 23 includes: a frame, a second driving member 232, a second synchronous belt 233, a second bearing 234, a second gear 235, a second rack 236, and a third rack 237; a second guide rail and a third guide rail are provided on the frame, the first clamping unit 221 is slidably arranged on the second guide rail, the second clamping unit 222 is slidably arranged on the third guide rail, the second gear 235 is arranged on the second bearing 234, the second driving member 232 is transmission-connected to the second bearing 234 through the second synchronous belt 233, the first clamping unit 221 is provided with a second rack 236 meshing with one side of the second gear 235, and the second clamping unit 222 is provided with a third rack 237 meshing with the other side of the second gear 235, so that the second driving member 232 drives the first clamping unit 221 and the second clamping unit 222 to move relative to each other in the reverse direction.

[0051] Specifically, the frame is the basis of the entire twisting module 23, and the second guide rail and the third guide rail are arranged on the frame. The two guide rails are used to support and guide the movement of the first clamping unit 221 and the second clamping unit 222 respectively. The second driving member 232 is connected to the second bearing 234 through the second synchronous belt 233. When the second driving member 232 is started, it drives the second synchronous belt 233 to operate, thereby driving the second bearing 234 and the second gear 235 thereon to rotate. The second bearing 234 is used to support the rotation of the second gear 235. The second gear 235 is arranged on the second bearing 234 and is matched and meshed with the second rack 236 on the first clamping unit 221 and the third rack 237 on the second clamping unit 222. The second rack 236 and the third rack 237 are connected to the steering gear 223 through corresponding fixed plates 28, one of which is slidably arranged on the second guide rail, and the other fixed plate 28 is slidably arranged on the third guide rail.

[0052] When the second gear 235 rotates, it drives the second rack 236 and the third rack 237 on both sides to perform reverse relative motion. The second rack 236 and the third rack 237 are respectively arranged on the first clamping unit 221 and the second clamping unit 222, and mesh with the left and right sides of the second gear 235. When the second gear 235 rotates, they perform reverse relative motion along the second guide rail and the third guide rail, thereby driving the clamping unit and the clamping plate 225 to twist.

[0053] The twisting delivery of the interventional instrument is mainly generated by the meshing movement of the second gear 235, the second rack 236 and the third rack 237. Since the second gear 235 is meshed with the second rack 236 and the third rack 237, when the second gear 235 rotates, the second rack 236 and the third rack 237 on both sides will move relative to each other in the opposite direction along the second guide rail and the third guide rail, and the first clamping unit 221 is connected to the second rack 236, and the second clamping unit 222 is connected to the third rack 237, so the first clamping unit 221 and the second clamping unit 222 move relative to each other in the opposite direction to achieve the twisting of the interventional instrument. For example, the first clamping unit 221 moves upward along the second guide rail, and the second clamping unit 222 moves downward along the third guide rail. Therefore, the clamping plate 225 on the first clamping unit 221 and the clamping plate 225 on the second clamping unit 222 move relative to each other in the opposite direction along the twisting direction to achieve the twisting of the interventional instrument.

[0054] In some embodiments, the frame includes: a front support plate 231 and a rear support plate 238; the front support plate 231 is connected to the rear support plate 238, the front support plate 231 is provided with a second guide rail and a third guide rail, and the second driving member 232 is fixed to the rear support plate 238. Specifically, the front support plate 231 and the rear support plate 238 are generally connected to the connecting plate 24, and are disposed in a receiving cavity formed by the upper housing of the actuator 20, the lower housing of the actuator 20, and the cover plate of the actuator 20.

[0055] In the embodiment of the present invention, Figure 1 , Figure 2 As shown, two actuators 20 are provided on the base 10, each actuator 20 is used to clamp the interventional instrument and drive the interventional instrument to deliver or twist at the same time. Each actuator 20 can operate independently to achieve complex coordinated operations of multiple interventional instruments. In addition, each actuator 20 can also work together to achieve complex coordinated operations of multiple interventional instruments. This coordinated operation may involve complex issues such as precise synchronization, position adjustment, and force distribution between multiple actuators 20. Through the control algorithm, it can be ensured that these coordinated operations can be completed accurately and reliably.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An interventional surgery robot operating device, characterized in that: include: Base (10); Two actuators (20), each comprising a moving module (21), a clamping module (22) and a twisting module (23), wherein the moving module (21) is slidably arranged on the base (10), and the clamping module (22) and the twisting module (23) are both connected to the corresponding moving module (21); The clamping module (22) of one of the actuators (20) is used to clamp a catheter, and the corresponding twisting module (23) of one of the actuators (20) is used to twist the catheter, and the clamping module (22) of another of the actuators (20) is used to clamp a guidewire in the catheter, and the corresponding twisting module (23) of another of the actuators (20) is used to twist the guidewire, so that the clamping module (22) is driven by the moving module (21) to complete the delivery of the catheter and the guidewire, and the twisting of the catheter and the guidewire is completed by the twisting module (23).

2. The interventional surgery robot operating device according to claim 1, characterized in that: The base (10) is provided with a first rack (110); The mobile module (21) comprises: a load plate (211), a first driving member (212), a first synchronous belt (213), a first bearing (214) and a first gear (215); the first driving member (212) is arranged on the load plate (211), the first bearing (214) is rotatably arranged on the load plate (211), the first gear (215) is connected to the first bearing (214), the driving end of the first driving member (212) is connected to the first bearing (214) via a first synchronous belt (213), and the first gear (215) is meshed with the first rack (110).

3. The interventional surgery robot operating device according to claim 2, characterized in that: The base (10) is also provided with a first guide rail (120); the load plate (211) is provided with a sliding block adapted to the first guide rail (120); the load plate (211) is slidably arranged on the base (10) via the sliding block.

4. The interventional surgery robot operating device according to claim 2, characterized in that: The base (10) comprises: a base (10) upper shell and a base (10) lower shell, the base (10) upper shell and the base (10) lower shell are butted against each other to form an installation space for the mobile module (21) to move, the base (10) lower shell is provided with a protrusion (130), and the first rack (110) is arranged on the protrusion (130).

5. The interventional surgery robot operating device according to claim 4, characterized in that: The actuator (20) further comprises a connecting plate (24); a gap (160) extending along the sliding direction of the moving module (21) is formed between the upper shell of the base (10) and the lower shell of the base (10); one end of the connecting plate (24) is connected to the moving module (21); and the other end of the connecting plate (24) passes through the gap (160) to be connected to the clamping module (22) and the twisting module (23).

6. The interventional surgery robot operating device according to claim 1, characterized in that: The actuator (20) further comprises an actuator (20) upper housing, an actuator (20) lower housing and an actuator (20) cover plate; The upper shell of the actuator (20) and the cover plate of the actuator (20) are connected to the lower shell of the actuator (20); the upper shell of the actuator (20), the lower shell of the actuator (20) and the cover plate of the actuator (20) are spliced ​​together to form a receiving cavity for accommodating the clamping module (22) and the twisting module (23); a groove (270) for accommodating an interventional instrument is formed on the cover plate of the actuator (20); and the clamping end of the clamping module (22) extends to the groove (270).

7. The interventional surgery robot operating device according to claim 6, characterized in that: The clamping module (22) comprises: a first clamping unit (221) and a second clamping unit (222); The first clamping unit (221) and the second clamping unit (222) are both arranged in the accommodating cavity, and the clamping end of the first clamping unit (221) and the clamping end of the second clamping unit (222) extend into the groove (270), and a clamping space for clamping the interventional instrument is formed between the two.

8. The interventional surgery robot operating device according to claim 7, characterized in that: The first clamping unit (221) and the second clamping unit (222) both comprise: A steering gear (223), a connecting rod slider (224) and a clamping plate (225), wherein the steering gear (223) is arranged in the accommodating cavity, a driving end of the steering gear (223) is connected to the clamping plate (225) via the connecting rod slider (224), and the clamping plate (225) of the first clamping unit (221) and the clamping plate (225) of the second clamping unit (222) are arranged opposite to each other to form the clamping space.

9. The interventional surgery robot operating device according to claim 8, characterized in that: The twisting module (23) comprises: a frame, a second driving member (232), a second synchronous belt (233), a second bearing (234), a second gear (235), a second rack (236), and a third rack (237); The frame is provided with a second guide rail and a third guide rail, the first clamping unit (221) is slidably arranged on the second guide rail, the second clamping unit (222) is slidably arranged on the third guide rail, the second gear (235) is arranged on the second bearing (234), the second driving member (232) is transmission-connected to the second bearing (234) via the second synchronous belt (233), the first clamping unit (221) is provided with a second rack (236) meshing with one side of the second gear (235), and the second clamping unit (222) is provided with a third rack (237) meshing with the other side of the second gear (235), so that the second driving member (232) drives the first clamping unit (221) and the second clamping unit (222) to move relative to each other in opposite directions.

10. The interventional surgery robot operating device according to claim 9, characterized in that: The frame comprises: a front support plate (231) and a rear support plate (238); The front support plate (231) is connected to the rear support plate (238); the second guide rail and the third guide rail are provided on the front support plate (231); and the second driving member (232) is fixed on the rear support plate (238).

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