An interventional surgical robotic operation device

Abstract

The application provides an interventional operation robot operating device, which comprises a base, two actuators, each of which comprises a moving module, a clamping module and a twisting module, the moving module is slidably arranged on the base, and the clamping module and the twisting module are connected with the corresponding moving module; the clamping module of one of the actuators is used for clamping a catheter, the corresponding twisting module of one of the actuators is used for twisting the catheter, the clamping module of the other actuator is used for clamping a guide wire in the catheter, and the corresponding twisting module of the other actuator is used for twisting the guide wire. The interventional operation robot operating device can realize the simultaneous and independent precise operation of the catheter and the guide wire, meets the interventional requirements of different angles and depths in a complex heart structure, can be compatible with different types or sizes of interventional instruments, avoids the instrument damage or loosening problem caused by the fixed clamping force, and improves the safety and reliability of the operation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an interventional surgical robot operating device. Background Technology

[0002] Interventional treatment of structural heart disease has become a research hotspot in the field of cardiovascular disease due to its minimally invasive nature and high safety. However, the procedure often involves the coordinated operation of multiple interventional devices, such as coaxial catheter technology. Manual operation usually requires two people to cooperate, and the operation is highly precise and technically challenging.

[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 gripping efficiency. In addition, their gripping force is fixed and cannot be compatible with different models or sizes of interventional devices. Too high or too low gripping force can cause damage or loosening of interventional devices, and cannot meet the operational needs and safety assurance of multi-device collaborative interventional treatment. Summary of the Invention

[0004] This invention provides an interventional surgical robot operating device to solve the problems of low coordination and poor gripping efficiency in the prior art. In addition, the gripping force is fixed and cannot be compatible with different models or sizes of interventional instruments. Excessive or insufficient gripping force will cause damage or loosening of interventional instruments, and cannot meet the operational needs and safety assurance of multi-instrument collaborative interventional treatment.

[0005] This invention provides an interventional surgical robot operating device, comprising: Base; Both actuators include a moving module, a clamping module, and a twisting module. The moving module is slidably mounted 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 actuator is used to twist the catheter. The clamping module of the other actuator is used to clamp the guidewire in the catheter, and the corresponding twisting module of the other actuator is used to twist the guidewire, so that the clamping module is driven by the moving module to complete the delivery of the catheter and the guidewire, and the twisting module is used to complete the twisting of the catheter and the guidewire.

[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 disposed on the load plate, the first bearing is rotatably disposed 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 the first synchronous belt, and the first gear meshes with the first rack.

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

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

[0009] According to the interventional surgical robot operating device provided by the present invention, the actuator further includes a connecting plate, a gap extending along the sliding direction of the moving module is formed between the upper housing and the lower housing 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 and is connected to the clamping module and the twisting module.

[0010] According to the interventional surgical robot operating device provided by the present invention, the actuator further includes an upper actuator housing, a lower actuator housing, and an actuator cover plate; The upper housing of the actuator and the cover plate of the actuator are connected to the lower housing of the actuator. The upper housing, the lower housing, and the cover plate of the actuator are spliced ​​together to form a receiving cavity for accommodating the clamping module and the twisting module. The cover plate of the actuator has a groove for accommodating interventional instruments. The clamping end of the clamping module extends into the groove.

[0011] According to the interventional surgical robot operating device provided by the present invention, the clamping module includes: a first clamping unit and a second clamping unit; Both the first clamping unit and the second clamping unit are disposed in the receiving cavity. The clamping ends of the first clamping unit and the second clamping unit extend into the groove, and the two are spaced apart to form a clamping space for clamping interventional instruments.

[0012] According to the interventional surgical robot operating device provided by the present invention, both the first clamping unit and the second clamping unit include: The servo motor, the connecting rod slider, and the clamping plate are provided. The servo motor is disposed in the receiving cavity. The drive end of the servo motor is connected to the clamping plate through the connecting rod slider. The clamping plates of the first clamping unit and 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 a second guide rail and a third guide rail. The first clamping unit is slidably disposed on the second guide rail, and the second clamping unit is slidably disposed on the third guide rail. The second gear is disposed on the second bearing. The second driving member is connected to the second bearing via the second synchronous belt. The first clamping unit is provided with a second rack that meshes with one side of the second gear, and the second clamping unit is provided with a third rack that meshes 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 in opposite directions relative to each other.

[0014] According to the interventional surgical 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 front support plate is provided with the second guide rail and the third guide rail. The second driving component is fixed on the rear support plate.

[0015] This invention provides an interventional surgical robot operating device. This device features two actuators, each with movement, clamping, and twisting functions, enabling simultaneous and independent precise manipulation of catheters and guidewires. This design reduces the complexity of two-person coordination in manual operations, improves the level of collaboration during surgery, and thus enhances surgical efficiency and precision. The movement module of each actuator is slidably mounted on the base, allowing catheters and guidewires to move freely in three-dimensional space, meeting the interventional needs at different angles and depths in complex cardiac structures. This flexibility contributes to improved surgical adaptability and success rates. The clamping module is designed to be compatible with different models or sizes of interventional instruments, avoiding instrument damage or loosening caused by fixed clamping forces. By adjusting the parameters of the clamping module, stable clamping of catheters and guidewires of different specifications can be ensured, improving the safety and reliability of the surgery. The twisting module allows for precise twisting operations of catheters and guidewires during delivery. By precisely controlling the twisting angle and speed, surgical outcomes can be further optimized, reducing surgical risks and complications. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall assembly of the interventional surgical robot operating device provided in the embodiments of this application.

[0018] Figure 2 This is a schematic diagram of the internal structure of the interventional surgical robot operating device provided in the embodiments of this application.

[0019] Figure 3 This is a schematic diagram of the actuator provided in the embodiments of this application.

[0020] Figure 4 This is one of the schematic diagrams of the internal structure of the actuator provided in the embodiments of this application.

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

[0022] Figure label: 10. Base; 110. First rack; 120. First guide rail; 130. Protrusion; 140. Upper housing of base; 150. Lower housing of base; 160. Gap; 170. Bolt hole; 20. Actuator; 21. Moving module; 211. Load plate; 212. First drive component; 213. First synchronous belt; 214. First bearing; 215. First gear; 22. Clamping module; 221. First clamping unit; 222. Second clamping unit; 223. Servo motor; 224. Connecting rod slider; 225. Clamping plate; 23. Twisting module; 231. Front support plate; 238. Rear support plate; 232. Second drive component; 233. Second timing belt; 234. Second bearing; 235. Second gear; 236. Second rack; 237. Third rack; 24. Connecting plate; 25. Upper housing of actuator; 26. Lower housing of actuator; 27. Actuator cover plate; 270. Groove; 28. Fixing plate; Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] The following is combined with Figures 1-5 This invention describes an interventional surgical robot operating device. This device is primarily designed for efficient and coordinated vascular interventional surgery for structural heart disease.

[0025] In one embodiment provided in this application, such as Figures 1 to 5 As shown, the interventional surgical robot operating device includes a base 10 and two actuators 20. Each actuator 20 includes a moving module 21, a clamping module 22, and a twisting module 23. The moving module 21 is slidably mounted on the base 10, and the clamping module 22 and twisting module 23 are connected to their respective moving modules 21. The clamping module 22 of one actuator 20 is used to clamp a catheter, and the corresponding twisting module 23 of one actuator 20 is used to twist the catheter. The clamping module 22 of the other actuator 20 is used to clamp a guidewire in the catheter, and the corresponding twisting module 23 of the other actuator 20 is used to twist the guidewire. The moving module 21 drives the clamping module 22 to deliver the catheter and guidewire, and the twisting module 23 completes the twisting of the catheter and guidewire.

[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, allowing the actuator 20 to move freely and ensuring that the catheter and guidewire are accurately delivered to the target position. Meanwhile, the clamping module 22 and the twisting module 23 are respectively closely connected to their corresponding moving modules 21.

[0027] During operation, the clamping module 22 of one actuator 20 is responsible for clamping the catheter, while the connected twisting module 23 is responsible for precisely twisting the catheter to achieve flexible turning and positioning of the catheter within the blood vessel. Simultaneously, another 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 precise manipulation of the guidewire by its twisting module 23, flexible movement and precise guidance of the guidewire within the catheter are achieved.

[0028] These two actuators 20 work closely together during the procedure. Driven by the moving module 21, the clamping module 22 can accurately deliver the catheter and guidewire to the designated position; while the twisting module 23 can make appropriate twisting adjustments to the catheter and guidewire according to the needs of the procedure to ensure the smooth progress of the surgery.

[0029] The interventional surgical robot operating device provided in this embodiment of the invention features two actuators 20, each with movement, clamping, and twisting functions, enabling simultaneous and independent precise operation of catheters and guidewires. This design reduces the complexity of two-person coordination in manual operation, improves the level of collaboration during the surgical process, and thus enhances the efficiency and precision of the surgery. The movement module 21 of each actuator 20 is slidably mounted on the base 10, allowing the catheter and guidewire to move freely in three-dimensional space, meeting the interventional needs at different angles and depths in complex cardiac structures. This flexibility helps improve the adaptability and success rate of the surgery. The clamping module 22 is designed to be compatible with different models or sizes of interventional instruments, avoiding instrument damage or loosening caused by fixed clamping forces. By adjusting the parameters of the clamping module 22, stable clamping of catheters and guidewires of different specifications can be ensured, improving the safety and reliability of the surgery. The twisting module 23 allows for precise twisting operations of the catheter and guidewire during delivery. By precisely controlling the twisting angle and speed, the surgical effect can be further optimized, reducing surgical risks and complications.

[0030] In some embodiments, such as 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 drive member 212, a first synchronous belt 213, a first bearing 214, and a first gear 215; the first drive member 212 is disposed on the load plate 211, the first bearing 214 is rotatably disposed on the load plate 211, the first gear 215 is connected to the first bearing 214, the drive end of the first drive member 212 is connected to the first bearing 214 through the first synchronous belt 213, and the first gear 215 meshes with the first rack 110 so that the first drive 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, thereby enabling the load plate 211 to move relative to the base 10, realizing the linear motion of the actuator 20.

[0031] Specifically, the first drive unit 212 (optionally a motor) is mounted on the load plate 211, serving as the power source for the moving module 21 and responsible for providing the necessary driving force. The first bearing 214 is rotatably mounted on the load plate 211, serving as a key component connecting the first drive unit 212 and the first gear 215, ensuring smooth power transmission.

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

[0033] Due to the tight meshing between the first gear 215 and the first rack 110, when the first gear 215 rolls, it moves in a straight line along the trajectory of the first rack 110. This movement is not only stable and reliable, but also allows for precise control of the distance and direction of movement. As the first gear 215 rolls on the first rack 110, the load-bearing plate 211 and its connected components also move in a straight line accordingly. This mode of movement ensures that the actuator 20 can accurately reach the designated position during the operation, providing a strong guarantee for the smooth progress of the surgery.

[0034] The driving direction of the first drive member 212 on the two actuators 20 can be adjusted as needed. They can move synchronously or asynchronously on the base 10. They can also move in the opposite direction of delivery by setting the opposite direction of movement.

[0035] Meanwhile, 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 mounted on the base 10 by the slider to limit the sliding direction.

[0036] Specifically, the first guide rail 120 is mounted on the base 10, parallel to the first rack 110 (depending on actual design requirements), together forming the guiding system of the moving module 21. A slider perfectly adapted to the first guide rail 120 is provided on the load plate 211. The slider fits tightly against the first guide rail 120, ensuring the stability and smoothness of the load plate 211 during sliding.

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

[0038] In some embodiments, such as Figures 1 to 5As shown, the base 10 includes an upper housing and a lower housing, which are joined together to form an installation space for the movable module 21 to move. A protrusion 130 is provided on the lower housing, and a first rack 110 is disposed on the protrusion 130. The protrusion 130 provides a stable support platform for the first rack 110. The first rack 110 is precisely mounted on the protrusion 130, forming a tight meshing relationship with the first gear 215 in the movable module 21. Corresponding bolt holes 170 are provided around the perimeter of the upper and lower housings, and the upper and lower housings are detachably connected by bolts.

[0039] Furthermore, the design of the protrusion 130 offers a degree of flexibility. It can be adjusted in shape and size according to surgical needs to accommodate different models and specifications of the moving module 21. This design allows the base 10 to be better compatible with various types of interventional surgical robot operating devices, thereby improving its versatility and practicality.

[0040] In some embodiments, such as Figures 1 to 5 As shown, the actuator 20 also includes a connecting plate 24. A gap 160 extending along the sliding direction of the moving module 21 is formed between the upper housing and the lower housing 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 and is connected to the clamping module 22 and the twisting module 23.

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

[0042] In some embodiments, such as Figures 1 to 5 As shown, the actuator 20 also includes an upper housing, a lower housing, and a cover plate. The upper housing and the cover plate are connected to the lower housing. The upper housing, lower housing, and cover plate are spliced ​​together to form a cavity for accommodating the clamping module 22 and the twisting module 23. The cover plate has a groove 270 for accommodating interventional instruments, and the clamping end of the clamping module 22 extends into the groove 270.

[0043] In this embodiment, the upper housing of the actuator 20 is located above the entire mechanism. The lower housing of the actuator 20 corresponds to the upper housing and is located below the entire mechanism, serving as the foundation of the entire actuator 20. The cover plate of the actuator 20 is located above or adjacent to the upper housing, used to enclose part or all of the receiving cavity. A groove 270 for placing interventional instruments (catheters and guidewires) is formed on the cover plate. The upper housing, lower housing, and cover plate of the actuator 20 are interconnected in some way (such as bolted connection, snap-fit ​​connection, etc.) and together form a closed receiving cavity. This receiving cavity provides the necessary installation space for the clamping module 22 and the twisting module 23, ensuring their normal operation. The clamping end of the clamping module 22 extends into the groove 270 formed on the cover plate, allowing the clamping module 22 to 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; both the first clamping unit 221 and the second clamping unit 222 are disposed in the receiving 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 the two are spaced apart to form a clamping space for clamping interventional instruments.

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

[0046] like Figures 1 to 5 As shown, both the first clamping unit 221 and the second clamping unit 222 include: a servo motor 223, a connecting rod slider 224, and a clamping plate 225. The servo motor 223 is disposed in the receiving cavity. The drive end of the servo motor 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 servo motor 223 and the connecting rod slider 224 are mounted on the fixed plate 28. The clamping of the interventional device is mainly achieved by using the servo motor 223 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 servo motor 223 rotates, it will drive the connecting rod slider 224 and the clamping plate 225 fixed on it to achieve linear movement in the clamping direction, thereby realizing the clamping and releasing of the interventional device.

[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, and is suitable for a variety of surgical scenarios, ensuring the safety of the operation.

[0049] In this embodiment of the invention, when an interventional device clamping device for a highly efficient collaborative vascular interventional surgery robot for structural heart disease is required, the interventional device is first placed in the groove 270, and the servo motor 223 is activated 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, thereby clamping and releasing the interventional device. By adjusting the rotation angle of the servo motor 223, the position of the clamping plate 225 can be precisely controlled.

[0050] In some embodiments, such as Figures 1 to 5 As shown, the twisting module 23 includes: a frame, a second drive 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, a first clamping unit 221 is slidably disposed on the second guide rail, a second clamping unit 222 is slidably disposed on the third guide rail, the second gear 235 is disposed on the second bearing 234, the second drive member 232 is connected to the second bearing 234 via the second synchronous belt 233, the first clamping unit 221 is provided with a second rack 236 that meshes with one side of the second gear 235, and the second clamping unit 222 is provided with a third rack 237 that meshes with the other side of the second gear 235, so that the second drive member 232 drives the first clamping unit 221 and the second clamping unit 222 to move in opposite directions relative to each other.

[0051] Specifically, the frame forms the foundation of the entire twisting module 23, and a second guide rail and a third guide rail are mounted on the frame. These 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 drive member 232 is connected to the second bearing 234 via a second synchronous belt 233. When the second drive member 232 is activated, it drives the second synchronous belt 233 to rotate, thereby driving the second bearing 234 and its second gear 235 to rotate. The second bearing 234 supports the rotation of the second gear 235. The second gear 235 is mounted on the second bearing 234 and meshes 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 servo motor 223 via corresponding fixing plates 28, one of which is slidably mounted on the second guide rail, and the other fixing plate 28 is slidably mounted 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 move in opposite directions. The second rack 236 and the third rack 237 are respectively mounted 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 move in opposite directions 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 interventional devices is mainly achieved through the meshing motion of the second gear 235, the second rack 236, and the third rack 237. Since the second gear 235, the second rack 236, and the third rack 237 are paired and meshed, when the second gear 235 rotates, the second racks 236 and 237 on both sides move in opposite directions relative to each other along the second and third guide rails in the twisting direction. 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, thus moving in opposite directions relative to both the first and second clamping units 221 and 222, thereby achieving the twisting of the interventional device. For example, the first clamping unit 221 moves upward along the second guide rail, while the second clamping unit 222 moves downward along the third guide rail. Therefore, the clamping plates 225 on the first and second clamping units 221 move in opposite directions relative to each other in the twisting direction, achieving the twisting of the interventional device.

[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 on 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 within the 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 embodiments of the present invention, such as Figure 1 , Figure 2 As shown, the base 10 is equipped with two actuators 20. Each actuator 20 is used to clamp the interventional instrument and simultaneously drive the instrument to deliver or twist. Each actuator 20 can operate independently to achieve complex coordinated operation of multiple interventional instruments. Furthermore, the actuators 20 can also work collaboratively to achieve complex coordinated operation of multiple interventional instruments. This coordinated operation may involve complex issues such as precise synchronization, position adjustment, and force distribution among the multiple actuators 20. Through control algorithms, these coordinated operations can be ensured to 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A surgical robot operating device, characterized in that, include: Base (10); Both actuators (20) include a moving module (21), a clamping module (22), and a twisting module (23). The moving module (21) is slidably mounted on the base (10). 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 the catheter, and the corresponding twisting module (23) of one actuator (20) is used to twist the catheter. The clamping module (22) of the other actuator (20) is used to clamp the guidewire in the catheter, and the corresponding twisting module (23) of the other actuator (20) is used to twist the guidewire. The clamping module (22) is driven by the moving module (21) to complete the delivery of the catheter and guidewire, and the twisting module (23) is used to complete the twisting of the catheter and guidewire. The actuator (20) further includes an upper actuator housing, a lower actuator housing, and an actuator cover plate; the upper actuator housing and the actuator cover plate are connected to the lower actuator housing, and the upper actuator housing, the lower actuator housing, and the actuator cover plate are spliced ​​together to form a receiving cavity for accommodating the clamping module (22) and the twisting module (23), and a groove (270) for accommodating interventional instruments is formed on the actuator cover plate, and the clamping end of the clamping module (22) extends to the groove (270). The clamping module (22) includes: a first clamping unit (221) and a second clamping unit (222); both the first clamping unit (221) and the second clamping unit (222) are disposed in the receiving cavity, the clamping ends of the first clamping unit (221) and the second clamping unit (222) extend into the groove (270), and the two are spaced apart to form a clamping space for clamping interventional instruments; both the first clamping unit (221) and the second clamping unit (222) are The system includes: a servo motor (223), a connecting rod slider (224), and a clamping plate (225). The servo motor (223) is disposed in the receiving cavity. The drive end of the servo motor (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 the clamping space. The twisting module (23) includes: a frame, a second... The frame includes a drive unit (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 mounted on the second guide rail, and the second clamping unit (222) is slidably mounted on the third guide rail. The second gear (235) is mounted on the second bearing (234). The second drive unit (232) is connected to the second bearing (234) via the second synchronous belt (233). The first clamping unit (221) is provided with a second rack (236) that meshes with one side of the second gear (235), and the second clamping unit (222) is provided with a third rack (237) that meshes with the other side of the second gear (235), so that the second drive unit (232) drives the first clamping unit (221) and the second clamping unit (222) to move in opposite directions relative to each other.

2. The interventional surgical robot operating device according to claim 1, characterized in that, The base (10) is provided with a first rack (110); The moving module (21) includes: a load plate (211), a first drive member (212), a first timing belt (213), a first bearing (214), and a first gear (215); the first drive member (212) is disposed on the load plate (211), the first bearing (214) is rotatably disposed on the load plate (211), the first gear (215) is connected to the first bearing (214), the drive end of the first drive member (212) is connected to the first bearing (214) through the first timing belt (213), and the first gear (215) meshes with the first rack (110).

3. The interventional surgical 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 slider adapted to the first guide rail (120), and the load plate (211) is slidably mounted on the base (10) by means of the slider.

4. The interventional surgical robot operating device according to claim 2, characterized in that, The base (10) includes an upper housing and a lower housing. The upper housing and the lower housing are connected to each other to form an installation space for the moving module (21) to move. The lower housing is provided with a protrusion (130), and the first rack (110) is disposed on the protrusion (130).

5. The interventional surgical robot operating device according to claim 4, characterized in that, The actuator (20) also includes a connecting plate (24). A gap (160) extending along the sliding direction of the moving module (21) is formed between the upper housing of the base (10) and the lower housing 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) and is connected to the clamping module (22) and the twisting module (23).

6. The interventional surgical robot operating device according to claim 1, characterized in that, 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 the second guide rail and the third guide rail. The second driving member (232) is fixed on the rear support plate (238).

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