Sliding table force measuring device and medical robot

Abstract

The embodiment of the invention provides a sliding table force measuring device and a medical robot, and the device comprises a substrate which is provided with a connecting assembly, and the connecting assembly is used for being connected with medical equipment; the sliding rail is arranged on the base plate; the medical assembly is connected to the sliding rail in a sliding manner; the driving device is arranged on the base plate, and the driving device is in transmission connection with the medical assembly; the detection device is arranged on the substrate, and the detection end of the detection device is connected with the driving device; wherein the detection device is used for detecting the stress condition of the driving device so as to indirectly detect the stress condition of the medical assembly. According to the technical scheme, when the medical assembly connected with the driving device is subjected to external force in the natural cavity, the force can be conducted to the driving device, and the detection device can indirectly detect the external force borne by the medical assembly in the natural cavity by detecting the force borne by the driving device. The detection process is simple and convenient and the detection precision is high.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a sliding table force measuring device and a medical robot. Background Art

[0002] With the continuous development of medical technology, medical equipment is also constantly innovating. For biopsy and treatment of natural cavities (such as bronchi, esophagus, etc.), it is usually completed through natural cavity medical robots in conjunction with flexible catheters (medical endoscopes). Although natural cavity medical robots can complete most operations, it is difficult for doctors to perceive the force of the flexible catheter after the flexible catheter encounters a natural cavity obstruction. Doctors can only use images to determine whether the flexible catheter continues to be pushed or withdrawn, but this method is not reliable and cannot meet the needs of high-precision surgery.

[0003] Therefore, it is an urgent problem to enable natural cavity medical machines to have the ability to detect the stress conditions of flexible catheters in the natural cavity and provide accurate and intuitive feedback to medical staff. Summary of the invention

[0004] In view of the above objectives, the present application provides the following embodiments.

[0005] In one embodiment of the present application, a sliding table force measuring device is provided, comprising:

[0006] A base plate, on which a connecting component is provided, and the connecting component is used to connect with a medical device;

[0007] A slide rail, arranged on the base plate;

[0008] A medical component slidably connected to the slide rail;

[0009] A driving device, disposed on the substrate, and the driving device is drivingly connected to the medical component;

[0010] A detection device, disposed on the substrate, wherein a detection end of the detection device is connected to the driving device;

[0011] Wherein, the detection device detects the stress condition of the driving device to indirectly detect the stress condition of the medical component.

[0012] Optionally, the detection device includes a floating base and a detection sensor;

[0013] The detection sensor is arranged on the substrate, one end of the floating base is connected to the driving device, and the other end of the floating base is arranged opposite to the detection end of the detection sensor.

[0014] Optionally, it also includes a controller and a signal processing component;

[0015] The detection sensor is electrically connected to the signal processing component, and the signal processing component is electrically connected to the controller.

[0016] Optionally, the detection sensor has a first detection direction and a second detection direction, and the first detection direction is opposite to the second detection direction.

[0017] Optionally, the controller is provided with a force feedback device and a display. Based on the detection signal of the detection sensor, the controller controls the force feedback device to output a corresponding feedback force, and the display displays information of the feedback force.

[0018] Optionally, the controller includes an alarm device, and when the value of the feedback force detected by the detection sensor is greater than a preset value, the alarm device sounds an alarm.

[0019] Optionally, the driving device includes a driving motor and a lead screw;

[0020] The lead screw is connected to the driving motor, an optical axis is arranged at one end of the lead screw, and the floating base of the detection device is connected to the optical axis.

[0021] Optionally, the optical axis is arranged at the adapter connection between the lead screw and the drive motor, and the end of the optical axis is connected to the drive motor through an adapter;

[0022] The connector has a movable stroke along the axial direction.

[0023] Optionally, the medical assembly includes a sliding seat, a clamping mechanism, a catheter controller and a flexible catheter device;

[0024] The flexible catheter device is arranged on the catheter controller, the sliding seat is connected to the slide rail in a cooperative manner, the clamping mechanism is detachably connected to the sliding seat, and the catheter controller is detachably connected to the clamping mechanism.

[0025] In another embodiment of the present application, a medical robot is provided, comprising:

[0026] Multi-degree-of-freedom robotic arm;

[0027] As the slide force measuring device mentioned above, the slide force measuring device is connected to the end of the multi-degree-of-freedom mechanical arm.

[0028] In the technical solution provided by the embodiment of the present application, when the medical component connected to the driving device is subjected to external force in the natural cavity, the force can be transmitted to the driving device, and the detection device can indirectly detect the magnitude of the external force exerted on the medical component in the natural cavity by detecting the magnitude of the force exerted on the driving device. The detection process is simple and convenient, and the detection accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 A schematic structural diagram of a sliding table force measuring device provided in one embodiment of the present application;

[0031] Figure 2 A schematic diagram of the partial structure of a sliding table force measuring device provided in one embodiment of the present application;

[0032] Figure 3 A schematic diagram of the structure of a sliding table force measuring device and a medical component provided in one embodiment of the present application;

[0033] Figure 4 A schematic diagram of the structure of a medical robot provided in one embodiment of the present application;

[0034] Figure 5 A flow chart of force feedback of a flexible catheter provided in one embodiment of the present application;

[0035] Figure 6 A force signal feedback flow chart provided for an embodiment of the present application.

[0036] Description of labels:

[0037] Base plate 1, connecting assembly 11, slide rail 2, sliding seat 3;

[0038] Detection device 4, floating base 41, detection sensor 42;

[0039] Driving device 5, lead screw 51, optical axis 511, motor 52, connector 53;

[0040] Medical component 6, flexible catheter device 61, flexible catheter 611, main body 612, catheter controller 62, clamping mechanism 63;

[0041] A first sensor 8 , a second sensor 9 , a signal processing component 10 , and a multi-degree-of-freedom robotic arm 100 . DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0043] In some processes described in the specification, claims and the above-mentioned figures of this application, multiple operations appearing in a specific order are included, and these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit "first" and "second" to different types. The following embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0044] At present, with the continuous advancement of medical technology, natural cavity surgical robots, combined with flexible catheters (medical endoscopes), have become increasingly popular methods of biopsy and treatment. During the operation of a traditional endoscope, the doctor mainly relies on the doctor's sense of the force transmitted after the catheter touches the cavity, and combines the image to determine whether to continue pushing. For surgeries with high precision requirements, doctors cannot directly sense the size of the external force exerted on the flexible catheter by feel when using surgical robots, and medical images also have certain blind spots. Obviously, this method cannot meet the needs of high-precision surgery.

[0045] In order to solve the above technical problems, see Figures 1 to 3 In one embodiment of the present application, a slide force measuring device is provided, the slide device comprising: a substrate 1, a slide rail 2, a medical component 6, a driving device 5 and a detection device 4. A connecting component 11 is provided on the substrate 1, and the connecting component 11 is used to connect with medical equipment; the medical equipment includes but is not limited to: a six-degree-of-freedom robotic arm, a seven-degree-of-freedom robotic arm, a multifunctional surgical robot, etc. The connecting component 11 is detachably connected to the medical equipment through a fastener or a snap device, so as to meet different surgical needs.

[0046] The slide rail 2 is arranged on the substrate 1. One slide rail 2 can be arranged on the substrate 1, or multiple slide rails 2 can be arranged in parallel at the same time. The medical component 6 can be slidably connected to the slide rail 2. The medical component 6 can be connected to one of the slide rails 2 or to multiple slide rails 2 at the same time. Alternatively, different medical components 6 are connected to different slide rails 2. The medical component 6 includes but is not limited to: an endoscope component, a flexible catheter sampling device component, a flexible catheter surgery component, etc. The driving device 5 is arranged on the substrate 1, and the driving device 5 is transmission-connected to the medical component 6. The driving device 5 can drive the medical component 6 to move on the slide rail 2. For example, when the medical component 6 is an endoscope component, when it is necessary to check a deeper position of the lung trachea, the driving device 5 drives the endoscope component to slide forward, and the endoscope can enter a deeper position of the lung trachea. When it is necessary to withdraw from the lung trachea, the driving device 5 drives the endoscope component to slide backward, and the endoscope can withdraw.

[0047] The detection device 4 can detect the size of the external force applied to the driving device 5. The detection device 4 is arranged on the substrate 1, and the detection end of the detection device 4 is connected to the driving device 5. When the driving device 5 moves due to the external force, the driving device 5 can abut against the detection device 4 and apply a pressure to the detection device 4. The detection device 4 can detect the size of the external force applied to the driving device 5 by detecting the size of the pressure.

[0048] The detection device 4 detects the stress of the driving device 5 to indirectly detect the stress of the medical component 6. For example, the medical component 6 is a flexible catheter surgical component. As the driving device 5 continues to push the flexible catheter surgical component to move deep into the trachea of ​​the lung, when the end of the flexible catheter surgical component is blocked by the lung tissue and generates a resistance, the resistance can be transmitted to the driving device 5 through the flexible catheter 611. The resistance can cause the driving device 5 to move, and then the driving device 5 will apply a pressure to the detection device 4. The detection device 4 can determine the resistance of the flexible catheter surgical component by detecting the pressure.

[0049] In the technical solution of the present application, the driving device 5 is connected to the medical component 6, and the driving device 5 can drive the medical component 6 to move. When the medical component 6 is subjected to external force in the natural cavity, the external force can be transmitted to the driving device 5. The detection device 4 can indirectly detect the magnitude of the external force exerted on the medical component 6 in the natural cavity by detecting the magnitude of the force exerted on the driving device 5. The detection process is simple and convenient, and the detection accuracy is high.

[0050] See also Figure 1 , Figure 2 and Figure 5In one embodiment provided in the present application, the detection device 4 includes a floating base 41 and a detection sensor 42; the detection sensor 42 can be a pressure sensor, and the driving device 5 is subjected to force to send a displacement, and the floating base 41 will be displaced synchronously to apply a pressure to the strain gauge on the pressure sensor. By detecting the deformation of the strain gauge, the magnitude of the external force can be reversely calculated.

[0051] The detection sensor 42 is arranged on the substrate 1, one end of the floating base 41 is connected to the driving device 5, and the other end of the floating base 41 is arranged opposite to the detection end of the detection sensor 42. The floating base 41 can move with the driving device 5, and the end of the floating base 41 opposite to the detection end of the detection sensor 42 can trigger the detection sensor 42. By setting the floating base 41, the force exerted on the driving device 5 can be effectively transmitted to improve the stability of the detection process.

[0052] In one embodiment provided in the present application, the slide force measuring device further includes a controller and a signal processing component 10 , the detection sensor 42 is electrically connected to the signal processing component 10 , and the signal processing component 10 is electrically connected to the controller.

[0053] The data signal detected by the detection sensor 42 can be sent to the signal processing component 10, and the signal processing component 10 can process and analyze the data signal, for example, signal amplification, signal filtering, selection of effective signals, and other operations.

[0054] After the signal processing component 10 completes the data signal processing, it can send the processed signal to the controller. In the technical solution of the present application, the signal processing component 10 processes and analyzes the signal detected by the detection sensor 42 to effectively remove interference data and improve the detection accuracy of the detection sensor 42.

[0055] In addition, the controller can also be used to control the action of the driving device 5 . For example, a control handle is provided on the controller, and the doctor can control the operation of the driving device 5 through the control handle to achieve the advancement or withdrawal of the medical component 6 .

[0056] Further, in an embodiment provided in the present application, the detection sensor 42 has a first detection direction and a second detection direction, and the first detection direction is opposite to the second detection direction.

[0057] When the driving device 5 moves in the first direction (forward direction), the medical component 6 is subjected to thrust resistance, and the floating base 41 will move in the direction opposite to the first direction. Then the direction opposite to the first direction is the first detection direction of the detection sensor 42, that is, the detection sensor 42 can detect the forward resistance of the medical component 6. When the driving device 5 moves in the second direction (backward direction), the medical component 6 is subjected to tension resistance, and the floating base 41 will move in the direction opposite to the second direction. Then the direction opposite to the second direction is the second detection direction of the detection sensor 42, that is, the detection sensor 42 can detect the backward resistance of the medical component 6.

[0058] In the technical solution of the present application, the detection sensor 42 can not only detect the resistance encountered by the medical component 6 when it moves forward, but also detect the resistance encountered by the medical component 6 when it exits the natural cavity of the human body, thereby adapting to the needs of different surgeries.

[0059] In order to facilitate the doctor to perceive the magnitude of the resistance of the medical component 6 in real time, in one embodiment provided in the present application, a force feedback device and a display are provided on the controller. Based on the detection signal of the detection sensor 42, the controller controls the force feedback device to output the corresponding feedback force, and the display displays the information of the feedback force, such as the magnitude and direction of the feedback force, etc. The magnitude of the feedback force corresponds to the magnitude of the resistance detected by the detection sensor 42.

[0060] The resistance detected by the detection sensor 42 can not only be directly displayed on the display, but the doctor can also directly feel the magnitude of the resistance through the touch force feedback device. Figure 5 The controller includes an alarm device and a safety threshold can be set. When the resistance value detected by the detection sensor 42 is greater than the safety threshold, the alarm device sends an alarm signal (e.g., buzzer alarm, indicator light alarm, display warning information, operating handle feedback vibration prompt, etc.) to remind the doctor that there is an operation risk. When the resistance value detected by the detection sensor 42 is within the safety threshold, the doctor can continue to perform normal operations.

[0061] The signal feedback process of the detection sensor 42 is described in detail below through a detailed embodiment.

[0062] See also Figure 6When the floating base 41 applies a pressure to the detection sensor 42, the strain gauge on the detection sensor 42 is deformed and generates a first signal. The controller includes an SMR (Switching-Mode Rectifier, high-frequency switching rectifier) ​​amplifier, a digital-to-analog converter, and a single-chip microcomputer. The SMR amplifier is electrically connected to the detection sensor 42, the SMR amplifier is electrically connected to the digital-to-analog converter, and the digital-to-analog converter is electrically connected to the single-chip microcomputer. After receiving the first signal, the SMR amplifier can amplify the first signal into a second signal, and then output the second signal to the digital-to-analog converter, the digital-to-analog converter processes the second signal into a digital signal, and finally outputs the digital signal to the single-chip microcomputer.

[0063] In addition, the single-chip microcomputer can also be connected to the industrial Ethernet transceiver, the industrial Ethernet transceiver is connected to the servo controller through the field bus system, and the servo controller is connected to the host computer through the transmission control protocol. After receiving the digital signal, the single-chip microcomputer can send the digital signal to the industrial Ethernet transceiver, and then the industrial Ethernet transceiver sends it to the servo controller through the field bus system. Finally, the servo controller sends the digital signal to the host computer through the transmission control protocol, and finally the display can show the change of the real-time resistance value.

[0064] The driving device 5 includes but is not limited to: a linear motor 52, a gear rack device, a lead screw 51 mechanism, etc. Figures 1 to 3 In one embodiment provided in the present application, the driving device 5 includes a lead screw 51 and a motor 52, the motor 52 is connected to one end of the lead screw 51, and the motor 52 can drive the lead screw 51 to rotate. Further, the lead screw 51 is arranged parallel to the slide rail 2, and the medical component 6 is provided with a thread, and the medical component 6 can be connected with the lead screw 51. As the lead screw 51 rotates, the medical component 6 will move along the length direction of the lead screw 51. The motor 52 can be a stepper motor 52, and the displacement of the medical component 6 can be accurately controlled by controlling the number of revolutions of the motor 52. In addition, the cooperation between the lead screw 51 and the medical component 6 can also have a self-locking effect. When the motor 52 does not rotate, the lead screw 51 and the medical component 6 are self-locking, thereby preventing the medical component 6 from moving accidentally.

[0065] As mentioned above, the floating base 41 on the detection device 4 is connected to the driving device 5. When the floating base 41 is connected to the screw 51, it is necessary not only to prevent the floating base 41 from moving with the rotation of the screw 51, but also to ensure that the floating base 41 can move together when the screw 51 moves in the axial direction due to external force.

[0066] In one embodiment provided in the present application, an optical axis 511 is provided at one end of the lead screw 51, and the floating base 41 of the detection device 4 is connected to the optical axis 511. Specifically, a through hole is provided on the floating base 41, and the optical axis 511 is provided in the through hole. When the lead screw 51 rotates, the floating base 41 will not rotate with the lead screw 51, but when the lead screw 51 moves along its axial direction, the limit portion on the optical axis 511 will push the floating base 41 to move along the axial direction of the lead screw 51.

[0067] Furthermore, the optical axis 511 is disposed at the adapter connection between the lead screw 51 and the drive motor 52, the end of the optical axis 511 is connected to the drive motor 52 through an adapter, and the connector 53 has a movable stroke in the axial direction. Since the motor 52 is fixed on the substrate 1, if the output shaft of the motor 52 is directly connected to the lead screw 51, the lead screw 51 will not be able to move along its axis.

[0068] Specifically, the first part of the connector 53 is arranged on the output shaft of the motor 52, and the second part is arranged at the end of the optical axis 511 of the lead screw 51. The first part and the second part are connected in a circumferential direction, and the first part and the second part have a relative movable stroke in the axial direction of the lead screw 51. When the motor 52 rotates, the rotational force can be transmitted to the lead screw 51. However, when the lead screw 51 is moved in the axial direction by an external force, the second part will move relative to the first part in the axial direction of the lead screw 51. By providing the connector 53 with a movable stroke in the axial direction, it is possible to effectively prevent the motor 52 from hindering the axial movement of the lead screw 51.

[0069] join Figures 1 to 3 In one embodiment provided in the present application, the medical assembly 6 includes a sliding seat 3, a clamping mechanism 63, a catheter controller 62 and a flexible catheter device 61. The flexible catheter device 61 is arranged on the catheter controller 62, and the flexible catheter device 61 also includes a main body 612 and a flexible catheter 611. The main body 612 is connected to the catheter controller 62, and the flexible catheter 611 is arranged on the main body 612. The flexible catheter device 61 includes but is not limited to: a medical endoscope, a sampling catheter, a surgical catheter, etc.

[0070] The sliding seat 3 is connected to the slide rail 2, the clamping mechanism 63 is detachably connected to the sliding seat 3, and the catheter controller 62 is detachably connected to the clamping mechanism 63. Taking the flexible catheter device 61 as a medical endoscope as an example, after the medical endoscope enters the human body cavity, the driving device 5 drives the sliding seat 3 to move forward, so that the medical endoscope can be further extended into the human body cavity, and the catheter controller 62 can control the medical endoscope to turn, extend, shorten, etc.

[0071] The clamping mechanism 63 allows different types of medical components 6 to be connected to the sliding seat 3, increasing the versatility and functional diversity of the medical components 6. The clamping mechanism 63 is also provided with a quick release device, through which the catheter controller 62 can be quickly installed and removed. In addition, multiple medical components 6 can be installed and connected to the clamping mechanism 63. For example, if a surgery requires the simultaneous use of multiple medical components 6 with different functions, multiple medical components 6 can be simultaneously installed on the same clamping mechanism 63, thereby facilitating the simultaneous operation of multiple medical components 6.

[0072] Furthermore, in an embodiment provided in the present application, the substrate 1 is a rectangular plate-like structure, the substrate 1 has a first wall and a second wall arranged opposite to each other, the connecting component 11 is arranged on the first wall, and the connecting component 11 is located in the middle position of the substrate 1, so that the force on the substrate 1 is more stable, and the sliding seat 3 is not allowed to shake when sliding on the slide rail 2.

[0073] further, Figure 3 The direction indicated by the middle arrow X is the length direction of the substrate 1, and the slide rail 2 is arranged on the second wall surface along the length direction of the substrate 1. When the sliding seat 3 slides on the slide rail 2, it will not be interfered by the connecting component 11, and it is also convenient to install and remove the sliding seat 3.

[0074] Furthermore, in order to prevent the sliding seat 3 from sliding beyond the travel on the slide rail 2, the base plate 1 is provided with a first sensor 8 and a second sensor 9, which are respectively located at the ends of the slide rail 2; when the sliding seat 3 moves to the end of the slide rail 2, the sliding seat 3 will trigger the first sensor 8 or the second sensor 9, thereby determining that the sliding seat 3 has moved to the limit position. The first sensor 8 and the second sensor 9 include but are not limited to: a contact switch, a pressure switch, a micro switch, etc.

[0075] In addition, the first sensor 8 and the second sensor 9 can be linked with the driving device 5, which can be understood as being connected to the above-mentioned controller. When the first sensor 8 or the second sensor 9 is triggered, the driving device 5 stops driving and can only move in the direction opposite to the triggering direction. In addition, the first sensor 8 and the second sensor 9 are arranged at the end of the slide rail 2, which can also play a role of limiting. That is, when the medical catheter slide force measuring device is in the manual working mode, when the sliding seat 3 slides to the end of the slide rail 2, the first sensor 8 and the second sensor 9 will directly limit the sliding seat 3, thereby preventing the sliding seat 3 from leaving the slide rail 2.

[0076] In addition, when the flexible conduit 611 assembly is sliding, the sliding distance of the flexible conduit 611 assembly needs to be measured in time, so that the controller can read the corresponding data. In one embodiment provided in the present application, a displacement sensor is provided on the sliding seat 3, and a position mark is provided on the second wall surface of the substrate 1. The displacement sensor can move synchronously with the sliding seat 3. The displacement sensor can measure the displacement distance of the flexible conduit 611 assembly based on the position mark, and the controller connected to the displacement sensor can accurately read the corresponding displacement data.

[0077] See also Figure 4 In one embodiment of the present application, a medical robot is also provided, which includes: a multi-degree-of-freedom mechanical arm 100 (a multi-joint mechanical arm) and the above-mentioned slide force measuring device. The slide force measuring device is connected to the end of the multi-degree-of-freedom mechanical arm 100. Specifically, the slide force measuring device is connected to the end of the multi-degree-of-freedom mechanical arm 100 through a connecting component 11 on the substrate 1. In addition to connecting the medical catheter slide force measuring device to the multi-degree-of-freedom mechanical arm 100 structure, the connecting component 11 can also connect the various electronic components (driving device 5, flexible catheter 611 component, sensor, etc.) on the medical catheter slide force measuring device to the controller circuit of the multi-degree-of-freedom mechanical arm 100.

[0078] In summary, in the technical solution of the present application, when a medical component connected to a driving device is subjected to an external force in a natural cavity, the force can be transmitted to the driving device, and the detection device can indirectly detect the magnitude of the external force exerted on the medical component in the natural cavity by detecting the magnitude of the force exerted on the driving device. The detection process is simple and convenient, and the detection accuracy is high. In addition, the resistance detected by the detection device can be directly fed back to the doctor through the feedback device, and the doctor can directly feel the magnitude of the resistance, which is convenient for the doctor to perform more delicate surgical operations.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 application.

Claims

1. A sliding table force measuring device, characterized in that: include: A base plate, on which a connecting component is provided, and the connecting component is used to connect with a medical device; A slide rail, arranged on the base plate; A medical component slidably connected to the slide rail; A driving device, disposed on the substrate, and the driving device is drivingly connected to the medical component; A detection device, disposed on the substrate, wherein a detection end of the detection device is connected to the driving device; Wherein, the detection device detects the stress condition of the driving device to indirectly detect the stress condition of the medical component.

2. The slide force measuring device according to claim 1, characterized in that: The detection device includes a floating base and a detection sensor; The detection sensor is arranged on the substrate, one end of the floating base is connected to the driving device, and the other end of the floating base is arranged opposite to the detection end of the detection sensor.

3. The slide force measuring device according to claim 2, characterized in that: Also includes a controller and a signal processing component; The detection sensor is electrically connected to the signal processing component, and the signal processing component is electrically connected to the controller.

4. The slide force measuring device according to claim 3, characterized in that: The detection sensor has a first detection direction and a second detection direction, and the first detection direction is opposite to the second detection direction.

5. The slide force measuring device according to claim 4, characterized in that: The controller is provided with a force feedback device and a display. Based on the detection signal of the detection sensor, the controller controls the force feedback device to output a corresponding feedback force, and the display displays information of the feedback force.

6. The slide force measuring device according to claim 5, characterized in that: The controller comprises an alarm device, and when the value of the feedback force detected by the detection sensor is greater than a preset value, the alarm device sounds an alarm.

7. The slide force measuring device according to any one of claims 1 to 6, characterized in that: The driving device includes a driving motor and a lead screw; The lead screw is connected to the driving motor, an optical axis is arranged at one end of the lead screw, and the floating base of the detection device is connected to the optical axis.

8. The slide force measuring device according to claim 7, characterized in that: The optical axis is arranged at the adapter connection between the lead screw and the drive motor, and the end of the optical axis is connected to the drive motor through an adapter; The connector has a movable stroke along the axial direction.

9. The slide force measuring device according to claim 1, characterized in that: The medical assembly includes a sliding seat, a clamping mechanism, a catheter controller and a flexible catheter device; The flexible catheter device is arranged on the catheter controller, the sliding seat is connected to the slide rail in a cooperative manner, the clamping mechanism is detachably connected to the sliding seat, and the catheter controller is detachably connected to the clamping mechanism.

10. A medical robot, characterized in that: include: Multi-degree-of-freedom robotic arm; The slide force measuring device as described in any one of claims 1 to 9 above, wherein the slide force measuring device is connected to the end of the multi-degree-of-freedom robotic arm.

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