Interventional robot slave end device and system thereof

Abstract

The interventional robot slave end device is characterized in that a first port control module, a first clamping and rotating mechanism, a second port control module and a second clamping and rotating mechanism are sequentially arranged in the length direction of a linear track set from front to back, and the first port control module is fixedly or slidably arranged on the linear track set; the linear rail set can drive the first clamping and rotating mechanism, the second port control mechanism and the supporting base to do synchronous reciprocating motion, and the linear rail set can drive the second clamping and rotating mechanism to do reciprocating motion. Each of the first clamping and rotating mechanism and the second clamping and rotating mechanism comprises a locking structure capable of locking or loosening the interventional consumables, a rotating mechanism capable of driving the locked interventional consumables to rotate, and an axial force sensing element capable of detecting the axial force borne by the interventional consumables; and the torque force sensing element can detect the torsional moment borne by the intervention consumable in the direction around the axis. The working efficiency in the operation process is effectively improved, and the speed of replacing the intervention consumables is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a distal device of an interventional robot and its system. Background Art

[0002] Minimally invasive interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Under the guidance of fluoroscopic imaging equipment, it uses interventional devices to diagnose and treat diseases through physiological channels. Compared with traditional surgical operations, it has obvious advantages such as good curative effect, high safety, small incision, and short postoperative recovery time.

[0003] During the process of vascular interventional surgery, it mainly includes steps such as femoral artery / radial artery puncture, coordinated advancement of guide wires and angiography catheters, digital subtraction angiography (DSA), coordinated advancement of treatment guide wires and balloon catheters, and placement of vascular stents. In this kind of surgery, the coordinated advancement of guide wires, catheters, and balloon catheters is a time-consuming link and also a link that needs to be carried out under the assistance of X-ray imaging navigation. Currently, vascular interventional surgeries are usually completed manually by doctors. During the surgery, since DSA emits X-rays, doctors need to wear heavy lead clothes to complete the surgery. The physical strength of doctors drops rapidly, and their attention and stability also decline, which will lead to a decrease in operation accuracy and easily cause accidents such as intimal injury of blood vessels and perforation and rupture of blood vessels caused by improper pushing force, resulting in life-threatening situations for patients. Moreover, long-term wearing of lead clothes will cause damage to doctors' spines. Secondly, the cumulative harm of long-term ionizing radiation will greatly increase the probability of doctors suffering from leukemia, cancer, and acute cataracts. Therefore, in order to protect the physical health of doctors and the quality of surgeries, the research and development efforts on interventional surgical robots are increasing, and more and more robots can be applied clinically.

[0004] Existing interventional surgical robots mainly adopt a master-slave operation structure to isolate doctors from the radioactive environment. The existing distal devices of interventional robots need to hold slender medical devices such as catheters and guide wires and move them from their proximal ends to distal ends, and drive the advancement of catheters and guide wires through the coordinated movement of the device and deliver them to the lesion site in the patient's body (such as in blood vessels), so as to facilitate doctors to carry out subsequent relevant treatments such as angiography, embolization of malformed blood vessels, thrombolysis, and dilation of stenotic blood vessels.

[0005] The following patents are applied by Shenzhen Aibo Medical Robotics Co., Ltd.: An end device of an interventional surgical robot with the application number 2022116787026; An end device of an interventional surgical robot with the application number 202211686818.4; A guide wire catheter control device for an end device of an interventional surgical robot with the application number 202210923132.6; An end device of an interventional surgical robot with the application number 202210326352.0, etc.; It splits the power for controlling the catheter / wire, controls the delivery of the corresponding catheter through the catheter delivery mechanism, controls the rotation of the corresponding catheter through the catheter rotation mechanism, controls the delivery of the wire through the wire delivery mechanism, and controls the rotation of the wire through the wire rotation mechanism. Its disadvantages are: (1) The structures of the catheter rotation mechanism and the wire rotation mechanism are relatively complex; (2) It is impossible to achieve the coordinated delivery of multiple catheters and wires.

[0006] Therefore, how to provide an end device of an interventional robot with a simple structure and capable of assisting in the rotational delivery of the guide wire catheter is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0007] The purpose of the present invention is to provide an end device of an interventional robot and its system to solve the existing technical defects and unmet technical requirements.

[0008] To achieve the above purpose, the present invention provides the following technical solutions:

[0009] An end device of an interventional robot includes a linear track group, a first port control module, a first clamping and rotating mechanism, a support base, a second port control module, and a second clamping and rotating mechanism. The first port control module, the first clamping and rotating mechanism, the second port control module, and the second clamping and rotating mechanism are sequentially arranged along the length direction of the linear track group from front to back. The first port control module is fixedly or slidably arranged on the linear track group. The linear track group can drive the first clamping and rotating mechanism, the second port control mechanism, and the support base to move synchronously back and forth. The linear track group can drive the second clamping and rotating mechanism to move back and forth. Both the first clamping and rotating mechanism and the second clamping and rotating mechanism include a locking structure capable of locking or loosening the interventional consumables, a rotating mechanism capable of driving the locked interventional consumables to rotate, an axial force sensing element capable of detecting the axial force received by the interventional consumables, and a torque force sensing element capable of detecting the torsional moment received by the interventional consumables in the circumferential direction. The delivery of the interventional consumables is achieved through the coordinated movement of the first port control module, the first clamping and rotating mechanism, the second port control mechanism, and the second clamping and rotating mechanism.

[0010] Preferably, the second port control module is provided with a Y-shaped idle running seal tube. The Y-shaped idle running seal tube includes an idle running part and a bifurcated part. The bifurcated part of the Y-shaped idle running seal tube is fixedly arranged on the support base. A bifurcated joint is arranged on the bifurcated part of the Y-shaped idle running seal tube for injecting liquid into the Y-shaped idle running seal tube. The Y-shaped idle running seal tube is provided with an idle running seal structure. The idle running seal structure includes a seal joint, a sealing ring and a connecting tube. The seal joint is connected with the connecting tube. The sealing ring is pressed tightly at the connection between the seal joint and the connecting tube and is located inside the seal joint or the connecting tube. The connecting tube and the seal joint can rotate relatively. At the same time, the sealing ring at the connection can prevent liquid from leaking when passing through. A hemostatic valve is arranged at the rear end of the connecting tube. The second port control module is provided with a first port driving mechanism and a second port driving mechanism. The first port driving mechanism drives the seal joint to rotate. The second port driving mechanism is used to control the opening and closing of the hemostatic valve, so as to prevent blood or contrast agent from leaking out.

[0011] Preferably, the first port driving mechanism includes a first driving gear. The outer ring of the seal joint is gear-shaped and meshes with the first driving gear. The first driving gear rotates to drive the seal joint to rotate.

[0012] Preferably, the hemostatic valve includes a locking block and an elastic body. The elastic body and the locking block are arranged one in front of the other on the connecting tube. The second port driving mechanism drives the locking block to move axially and squeezes the elastic body to deform the elastic body, causing the elastic body to bulge inward or shrink inward to drive the closing of the hemostatic valve. The second port driving mechanism includes a second driving gear. The locking block can rotate around the axis of the connecting tube, and the locking block is in threaded engagement with the connecting tube. The outer ring of the locking block is gear-shaped. The second driving gear meshes with the outer ring of the locking block. The second driving gear drives the locking block to rotate. The locking block moves axially under the guidance of the thread and squeezes the elastic body to deform the elastic body, causing the elastic body to bulge inward or shrink inward to achieve the closing of the channel, and self-locking is achieved through the thread to keep the relative position of the locking block fixed on the port control valve.

[0013] Preferably, the locking structure has a self-locking structure and can maintain the locking state after locking. The locking structure is arranged outside the housing of the first clamping and rotating mechanism or the second clamping and rotating mechanism, and the locking structure is directly driven by hand or an external tool to lock or unlock the interventional consumables.

[0014] Preferably, the locking structure is a passive locking structure, which includes a threaded transition head or a clamping transition head. The threaded transition head includes a threaded structure and a quick-connect structure. The threaded transition head can be connected to the Luer connector at the end of the interventional consumable through the threaded structure, and then the threaded transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a jaw clamping structure, and the quick-connect structure is an anti-rotation snap structure. The clamping transition head includes a clamping structure and a quick-connect structure. The clamping transition head can clamp the interventional consumable through the clamping structure, and then the clamping transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a jaw clamping structure, and the quick-connect structure is an anti-rotation snap structure.

[0015] Preferably, the anti-rotation snap structure includes a hook, which is openably arranged on the clamping transition head. There are two hooks, which are symmetrically arranged on both sides of the clamping transition head. The head of the hook is a clamping part, and the tail of the hook is a pressing part. Pressing the pressing part can make the clamping part open outwards. Releasing the pressing part, the clamping part will close inwards under its own elastic force. The part of the clamping transition head excluding the hook is in the shape of a thin rod, and the maximum radial diameter does not exceed 15 mm.

[0016] Preferably, the first connection part and the Y-shaped idle-running sealing tube are connected through an internal connecting tube, and the internal connecting tube is provided with a flexible hose section. When the first clamping and rotating mechanism rotates the interventional consumable, the second port control module drives the sealing joint of the Y-shaped idle-running sealing tube to rotate synchronously. When the rotation of the interventional consumable and the sealing joint is out of sync, since the flexible hose section can deform and twist relative to the axis, it will not interfere with the torque force sensing component in the first clamping and rotating mechanism.

[0017] Preferably, a support component for guiding the interventional consumable is installed between the first port control module and the first clamping and rotating mechanism and / or between the second port control module and the second clamping and rotating mechanism. The support component can be telescopic or axially translatable, and is used to keep the axis of the interventional consumable in a straight state. The support element is supported by a telescopic sleeve with rigid coaxial progressive sleeves; or supported by a plurality of spaced closed or openable support ring components sliding along the axis of the interventional consumable, and each adjacent two support ring components are connected by an axial elastic element; or supported by a bellows; or supported by a slotted C-shaped tube.

[0018] An end system of an interventional robot further includes a first catheter, a second catheter and a first guide wire. The rear end of the first catheter is installed in the first port control module. The front end of the second catheter penetrates into the first catheter. The second catheter is installed on the first clamping and rotating mechanism. The Y-shaped idle running sealing tube includes an idle running part and a bifurcated part. The bifurcated part of the Y-shaped idle running sealing tube is fixedly arranged on the support seat. A bifurcated joint is arranged on the bifurcated part of the Y-shaped idle running sealing tube. The rear end of the second catheter is connected to the idle running part of the Y-shaped idle running sealing tube. The rear end joint of the Y-shaped idle running sealing tube is connected to the second port control module. The first guide wire penetrates into the second catheter through the Y-shaped idle running sealing tube. The middle part of the first guide wire is installed on the second clamping and rotating mechanism.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The interventional consumables can be quickly fixed on the clamping and rotating mechanism through the locking structure, effectively improving the working efficiency during the operation and increasing the speed of replacing the interventional consumables;

[0021] 2. The Y-shaped idle running sealing tube adopts an idle running sealing structure. The sealing joint at the front end of the Y-shaped idle running sealing tube rotates together with the interventional consumables under the action of the first port driving mechanism, while the bifurcated part of the Y-shaped idle running sealing tube remains stationary. At the same time, the sealing ring at the connection part can prevent liquid from leaking when passing through. And a hemostatic valve is arranged on the Y-shaped idle running sealing tube. The opening and closing of the Y-shaped idle running sealing tube are controlled by driving the hemostatic valve to rotate through the second port driving mechanism;

[0022] 3. The first clamping and rotating mechanism is connected to the Y-shaped idle running sealing tube through an internal connecting tube. The internal connecting tube is provided with a flexible hose section. When the first clamping and rotating mechanism rotates the interventional consumables, the second port control module drives the sealing joint of the Y-shaped idle running sealing tube to rotate synchronously. When the rotation of the interventional consumables is not synchronous with that of the sealing joint, since the flexible hose section can deform and twist relative to the axis, it will not interfere with the torque force sensing component in the first clamping and rotating mechanism. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of Embodiment 1;

[0024] Figure 2 It is a simplified structural diagram of Embodiment 1;

[0025] Figure 3 It is a schematic structural diagram of the second port control module of Embodiment 1;

[0026] Figure 4 It is a schematic top view structural diagram of the second port control module of Embodiment 1;

[0027] Figure 5 It is a schematic internal structural diagram of the second port control module of Embodiment 1;

[0028] Figure 6 Schematic diagram of the clamping button structure in Embodiment 1;

[0029] Figure 7 Side sectional view of the hemostatic valve in Embodiment 1;

[0030] Figure 8 Schematic diagram of the structure of the first clamping and rotating mechanism in Embodiment 1;

[0031] Figure 9 Side sectional view of the first clamping and rotating mechanism in Embodiment 1;

[0032] Figure 10 Internal structure diagram of the first clamping and rotating mechanism in Embodiment 1;

[0033] Figure 11 Exploded view of the first clamping and rotating mechanism in Embodiment 1;

[0034] Figure 12 Side sectional view of the first clamping and rotating mechanism without installed intervention consumables in Embodiment C1;

[0035] Figure 13 Side sectional view of the second clamping and rotating mechanism in Embodiment 1;

[0036] Figure 14 Schematic diagram of the structure of the S-shaped sensor in Embodiment 1;

[0037] Figure 15 Schematic diagram of the offset of the first force sensor;

[0038] Figure 16 Offset of the second force sensor in Embodiment 1;

[0039] Figure 17 Schematic diagram of the structure in Embodiment 2;

[0040] Figure 18 Simplified structure diagram of Embodiment 2. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] The guide wires herein include, but are not limited to, filamentous interventional medical devices such as guide guide wires, micro guide wires, contrast agent guide wires, and loach guide wires; the catheters include, but are not limited to, tubular interventional medical devices such as guide catheters, micro catheters, contrast agent catheters, multi-functional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters, and balloon-expandable stent catheters.

[0043] Embodiment 1

[0044] See Figure 1 And Figure 2 As shown, an end device of an interventional robot and its system include a linear track group 10297, a first catheter 10279, a first port control module 10271, a second catheter 10280, a Y-shaped idle sealing tube 102101 (i.e., a Y-valve or T-valve commonly used in interventional surgery, etc.), a first clamping and rotating mechanism 10272, a second port control module 10273, a second clamping and rotating mechanism 10274, and a first guide wire 10281. The first port control module 10271, the first clamping and rotating mechanism 10272, the second port control module 10273, and the second clamping and rotating mechanism 10274 are sequentially arranged along the length direction of the linear track group 10297 from front to back. The first port control module 10271 is fixedly or slidably arranged on the linear track group 10297. When the first port control module 10271 is slidably arranged on the linear track group 10297, the linear track group 10297 can drive the first port control module 10271 to reciprocate. The linear track group 10297 can drive the first clamping and rotating mechanism 10272 and the second port control module 10273 to reciprocate synchronously. The linear track group 10297 can drive the second clamping and rotating mechanism 10274 to reciprocate. The rear end of the first catheter 10279 is installed in the first port control module 10271. The front end of the second catheter 10280 penetrates into the first catheter 10279. The rear end of the second catheter 10280 is directly connected or indirectly connected through an internal connecting tube to the front end of the Y-shaped idle sealing tube 102101. The middle part or the internal connecting tube of the Y-shaped idle sealing tube 102101 is installed on the first clamping and rotating mechanism 10272. The bifurcated joint of the Y-shaped idle sealing tube 102101 is located behind the first clamping and rotating mechanism 10272. The rear end joint of the Y-shaped idle sealing tube 102101 is connected to the second port control module 10273. The first guide wire 10281 penetrates into the second catheter 10280 through the Y-shaped idle sealing tube 102101. The middle part of the first guide wire 10281 is installed on the second clamping and rotating mechanism 10274.

[0045] Preferably, the tail end of the second catheter 10280 is locked by the first clamping and rotating mechanism 10272, and an internal connecting tube is provided between the second catheter 10280 and the Y-shaped idle rotating sealing tube 102101. The internal connecting tube is a flexible tube. When the first clamping and rotating mechanism rotates to intervene in the consumable, the second port control module drives the sealing joint of the Y-shaped idle rotating sealing tube to rotate synchronously. When the rotation of the intervention consumable and the rotatable sealing joint at the front end of the Y-shaped idle rotating sealing tube is asynchronous, since the flexible tube can deform and twist relative to the axis, it will not interfere with the force sensing component in the first clamping and rotating mechanism. The flexible tube is preferably a silicone tube, a latex tube, a rubber tube or a PU tube.

[0046] Preferably, as Figure 1 shown, it further includes a front support seat 102107. The front support seat 102107 is located in front of the first clamping and rotating mechanism 10272 and is fixedly connected to the first clamping and rotating mechanism 10272. The connection position between the Y-shaped idle rotating sealing tube 102101 and the second catheter 10280 is behind the front support seat 102107. A first support component for guiding the movement of the second catheter 10280 is installed between the first port control module and the front support seat 102107. The second catheter 10280 penetrates into the first support component. The first support component can be telescopic or axially translated, and is used to limit the second catheter 10280 in a fixed axial direction to prevent the second catheter 10280 from bending during delivery; the first support component includes at least one of a telescopic tube component 10267, a guiding ring component, a bellows component, and a C-shaped tube component.

[0047] Preferably, when the first support component is the telescopic tube component 10267, the telescopic tube component 10267 includes a set of sleeves that can be telescoped. The sleeves of the set of sleeves are sleeved on each other and are sleeved on the second catheter 10280. The sleeve at the front end of the set of sleeves is connected to the first port control module, and the sleeve at the rear end of the set of sleeves is connected to the front support seat 102107. When the first port control module is fixed and the front support seat 102107 moves forward, the sleeves in the set of sleeves retract from each other; when the first port control module is fixed and the front support seat 102107 moves backward, the sleeves in the set of sleeves stretch apart from each other;

[0048] When the first support component is a guide ring component, the guide ring component includes a guide ring group. Each guide ring of the guide ring group is sleeved on the second conduit 10280. Each guide ring is arranged to slide guidingly on an external guide rail or guide groove. The guide rings are connected by elastic elements. The guide ring at the front end of the guide ring group is connected to or abuts against the first port control module. The guide ring at the rear end of the guide ring group is connected to or abuts against the front support seat 102107. When the first port control module is fixed and the front support seat 102107 moves forward, each guide ring of the guide ring group squeezes the elastic element and gathers together; when the first port control module is fixed and the front support sleeve moves backward, each guide ring of the guide ring group separates from each other under the action of the elastic element;

[0049] When the first support component is a bellows component, the bellows component includes a bellows. The bellows is sleeved on the second conduit 10280. The front end of the bellows is connected to the first port control module. The rear end of the bellows is connected to the front support seat 102107. When the first port control module is fixed and the front support seat 102107 moves forward, the bellows is squeezed and retracted; when the first port control module is fixed and the front support seat 102107 moves backward, the bellows is stretched open;

[0050] When the first support component is a C-shaped tube component, the C-shaped tube component includes a C-shaped tube capable of flexible deformation and a spreading seat. The front half of the C-shaped tube is sleeved on the outside of the second conduit 10280. The front end of the C-shaped tube is connected to the first port control module. The rear end of the C-shaped tube extends behind the front support seat 102107 and is connected to an extension rod extending to the rear on the first port control module. The spreading seat is installed on the front support seat 102107; or the rear half of the C-shaped tube is sleeved on the outside of the second conduit 10280. The rear end of the C-shaped tube is connected to the front support seat 102107. The front end of the C-shaped tube extends in front of the first port control module and is connected to an extension rod extending to the front on the front support seat 102107. The spreading seat is installed on the first port control module;

[0051] A notch is formed along the length direction of the C-shaped tube. The notch on the C-shaped tube naturally closes under the action of elasticity in the initial state. The notch of the C-shaped tube can open a small mouth under the action of the spreading seat so as to allow the second conduit 10280 to enter the C-shaped tube and sleeve the C-shaped tube on the second conduit 10280. When the first port control module is fixed and the front support seat 102107 moves forward, the C-shaped tube gradually disengages from the second conduit 10280 under the spreading action of the spreading seat; when the first port control module is fixed and the front support seat 102107 moves backward, the C-shaped tube gradually sleeves on the second conduit 10280 under the guiding action of the spreading seat and its own elastic action. Since the C-shaped tube has a certain strength, the second conduit 10280 can be restricted in a fixed axial direction.

[0052] Preferably, as Figure 1 shown, it further includes a rear support seat 102108. The rear support seat 102108 is located behind the first clamping and rotating mechanism 10272 and is fixedly connected to the first clamping and rotating mechanism 10272. The second rotary valve driving mechanism (equivalent to the second port driving mechanism) of the second port control mechanism 10273 is fixedly arranged at the rear side of the rear support seat 102108. A second support assembly for guiding the movement of the first guide wire 10281 is installed between the second port control mechanism 10273 and the second clamping and rotating mechanism 10274. The first guide wire 10281 penetrates into the second support assembly. The second support assembly can be telescopic or axially translated, and is used to limit the first guide wire 10281 in a fixed axial direction to prevent the first guide wire 10281 from bending during delivery. The second support assembly includes at least one of a telescopic tube assembly, a guiding ring assembly, a bellows assembly, and a C-shaped tube assembly. It should be noted that Figure 1 the first port driving mechanism of the second port control mechanism 10273 in is not shown. The function of the first port driving mechanism is to drive the sealing joint of the Y-shaped idle rotating sealing tube 102101 to rotate, so that the sealing joint rotates synchronously with the second catheter 10280.

[0053] Specifically, as Figures 3 to 6 , the second port control module 10273 includes a first upper seat 10220. A fixed bin 10220110 is provided on the first upper seat 10220. The Y-shaped idle rotating sealing tube 102101 is placed in the fixed bin 10220110. The clamping or loosening of the Y-shaped idle rotating sealing tube 102101 body by the fixed bin 10220110 can be controlled by the clamping button 10219, which is convenient for the quick disassembly and assembly of the Y-shaped idle rotating sealing tube 102101.

[0054] The Y-shaped idle rotating sealing tube 102101 includes a sealing joint, a sealing ring, and a connecting tube. The sealing joint is connected to the connecting tube. The sealing ring is pressed at the connection between the sealing joint and the connecting tube and is located inside the sealing joint or the connecting tube. The connecting tube and the sealing joint can rotate relative to each other. At the same time, the sealing ring at the connection allows liquid to pass through without leakage. A hemostatic valve is provided at the rear end of the connecting tube. The second port control module is provided with a first port driving mechanism and a second port driving mechanism. The first port driving mechanism drives the sealing joint to rotate. The second port driving mechanism is used to control the opening and closing of the hemostatic valve, thereby preventing blood or contrast agent from leaking out.

[0055] The sealing joint is provided with a joint gear 10222, the hemostatic valve is provided with a valve gear 10223, a first upper base 10220 is rotatably provided with a first driving gear 10217 that can mesh with the joint gear 10222, and the first upper base 10220 is rotatably provided with a second driving gear 10216 that can mesh with the valve gear 10223.

[0056] The first upper base 10220 is connected to the first lower base 10218 through a quick-connect structure. The first lower base 10218 is fixedly arranged on the upper module fixing seat 102091. The quick-connect structure can be one or a combination of threaded connection, snap connection, and buckle connection.

[0057] Two motors B 10215 are arranged inside the first lower base 10218. A first transmission shaft 1021511 and a second transmission shaft 1021512 are rotatably arranged on the first lower base 10218. The output shafts of the two motors B 10215 respectively drive the first transmission shaft 1021511 and the second transmission shaft 1021512 to rotate through bevel gear structures.

[0058] A first transmission docking shaft 1021513 and a second transmission docking shaft 1021514 are rotatably arranged on the first upper base 10220. The first transmission docking shaft 1021513 drives the first driving gear 10217 to rotate through a bevel gear structure. The second transmission docking shaft 1021514 drives the second driving gear 10216 to rotate through a bevel gear structure. After the first upper base 10220 is connected to the first lower base 10218 through the quick-connect structure, the first transmission docking shaft 1021513 is docked with the first transmission shaft 1021511 to achieve circumferential linkage, and the second transmission docking shaft 1021514 is docked with the second transmission shaft 1021512 to achieve circumferential linkage.

[0059] Among them, the rotary valve gear 10223 can control the opening and closing of the channel (the closing mechanism of the channel is the prior art and can be achieved by pressing a flexible valve flap, etc., as Figure 7 shown). When it is necessary to use the port control mechanism 10210 to connect to the Y-type idle sealing tube 102101, pull the clamping button 10219, place the Y-type idle sealing tube 102101 into the fixed bin 10220110. At the same time, the first driving gear 10217 meshes with the joint gear 10222, and the second driving gear 10216 meshes with the valve gear 10223. After the installation is completed, release the clamping button 10219. The clamping button 10219 will laterally press the Y-type idle sealing tube 102101 under the action of the elastic element 102191.

[0060] The motor B10215 controls the rotation of the second driving gear 10216 or the first driving gear 10217. The rotation of the first driving gear 10217 controls the joint gear 10222 to drive the sealing joint of the Y-shaped idle running sealing tube 102101 to rotate, so as to be able to drive the catheter or the internal connecting tube connected to the sealing joint of the Y-shaped idle running sealing tube 102101 to rotate. Due to the idle running sealing structure provided on the Y-shaped idle running sealing tube 102101, the whole of the Y-shaped idle running sealing tube 102101 does not need to rotate, but there will be no liquid leakage at the relative rotation part; the rotation of the second driving gear 10216 drives the valve gear 10223 to rotate, so as to control the opening and closing of the valve, thereby clamping the catheter or guide wire passing through the valve and preventing the leakage of blood and contrast agent.

[0061] Such as Figure 7 , the hemostatic valve includes a first elastic member 1020012 and a valve gear 10223. The valve gear 10223 is threadedly connected to the connecting pipe tail end of the Y-shaped idle running sealing tube 102101. The valve gear 10223 is provided with a first clamping portion 10200131, and the first clamping portion 10200131 extends into the Y-shaped idle running sealing tube 102101. The first elastic member 1020012 is arranged in the Y-shaped idle running sealing tube 102101 and sleeved outside the interventional consumable. The second driving gear 10216 drives the valve gear 10223 to rotate, controls the movement of the valve gear 10223 on the Y-shaped idle running sealing tube 102101 during the rotation process, controls the forward movement of the first clamping portion 10200131 while pressing the first elastic member 1020012, so that the first elastic member 1020012 is deformed and bulges inward, closing the channel of the Y-shaped idle running sealing tube 102101, and the first elastic member 1020012 can also be used to clamp the interventional consumable to achieve auxiliary clamping.

[0062] Such as Figures 8 to 12 , the first clamping and rotating mechanism 10272 includes a rotating shaft driving seat 1027202 and a rotating shaft 1027201 rotatably installed in the rotating shaft driving seat 1027202. A rotating driving component capable of driving the rotating shaft 1027201 to rotate is installed inside or outside the rotating shaft driving seat 1027202; the rotating driving component is a gear driving component or a friction wheel driving component or a friction belt driving component; a rear cover 102720201 is provided at the rear end of the rotating shaft driving seat 1027202.

[0063] Such as Figure 11, the rotary shaft drive seat 1027202 is provided with an opening structure; the rotary shaft drive seat 1027202 includes a base 102720203 and a rotary cover 102720202. The rotary cover 102720202 is movably arranged on the base, and the rotary cover 102720202 is locked on the base 102720203 by one or more combinations of snap fasteners, magnetic attraction, screw structures, and latches. By opening the rotary cover 102720202, it is convenient for the installation and disassembly of the rotary shaft 1027201.

[0064] The rotary shaft 1027201 includes a housing A 1027201001 and a housing B 1027201002. The housing A 1027201001 and the housing B 1027201002 are connected together in an openable and closable manner to facilitate the disassembly and cleaning of the internal structure. The parts inside the rotary shaft 1027201 are installed inside the housing A 1027201001. A part of a driven gear ring or a driven friction ring is provided outside the housing A 027201001 and the housing B 1027201002 respectively. When the housing A 027201001 and the housing B 1027201002 are closed, a complete driven gear ring or a driven friction ring is formed. In order to reduce the stroke length occupied by the rotary shaft 1027201 and enable the interventional consumables inserted into the second catheter to have sufficient effective stroke length, the overall axial length of the rotary shaft 1027201 is less than 100 mm.

[0065] A second bearing structure 102720104 is provided between the rotary shaft 1027201 and the rotary shaft drive seat 1027202, and a second sealing rubber ring 102720105 is provided between the rear cover 102720201 and the second bearing structure 102720104 to achieve sealing.

[0066] During the installation of the first clamping and rotating mechanism 10272, after the outer shell A027201001 and the outer shell B1027201002 are combined, the second bearing structures 102720104 are respectively sleeved on the front and rear ends of the rotating shaft 1027201. The outer shell A027201001 and the outer shell B1027201002 are fixed together by the second bearing structures 102720104. The rotating cover 102720202 above the base is opened, and then the outer shell A027201001, the outer shell B1027201002 and the second bearing structures 102720104 are integrally placed into the base. Then the rotating cover 102720202 is closed and locked on the base. Finally, the rear cover 102720201 is installed at the rear end of the rotating shaft drive seat 1027202. The rotation drive assembly drives the rotation of the rotating shaft 1027201 through the transmission assembly. The transmission assembly realizes power transmission by meshing with the driven gear ring or realizes power transmission through the friction force between the driven friction rings. The transmission assembly is a driving gear or a driving friction wheel or a driving friction belt.

[0067] The first connecting portion 1022501 extends from the front end of the rotating shaft 1027201. The front end of the first connecting portion 1022501 is fixedly tightened with the mounting head 102204 by a side set screw (or other locking methods). The Luer connector 102201 at the rear end of the second catheter is threadedly connected to the threaded transition head 102202. The threaded transition head 102202 includes a threaded structure and a quick-connect structure. The threaded transition head 102202 is tightly connected to the Luer connector 102201 at the tail end of the interventional consumable through the threaded structure. The threaded structure is a Luer threaded structure, and the quick-connect structure is an anti-rotation buckle structure. The anti-rotation buckle structure is of a hook type or a plug type. And a seal is achieved between the threaded transition head 102202 and the mounting head 102204 at the front end of the first connecting portion 1022501 through the first sealing rubber ring 102205, so that contrast agent will not leak out during subsequent injection; or the threaded transition head 102202 is directly connected to the first connecting portion 1022501.

[0068] The anti-rotation snap structure includes a hook 1033020017, which is disposed on the threaded transition head 102202 in an openable manner. The threaded transition head 102202 includes a clamping joint 1033020016. There are two hooks 1033020017, which are symmetrically disposed on both sides of the threaded transition head 102202. The head of the hook 1033020017 is a clamping portion, and the tail of the hook 1033020017 is a pressing portion. Pressing the pressing portion can cause the clamping portion to open outward, and then insert the clamping joint 1033020016 (the clamping joint is a part of the threaded transition head 102202) at the end of the threaded transition head 102202 into the mounting head 102204. Loosen the tail of the hook 1033020017, so that the clamping portion of the hook 1033020017 closes inward under the action of its own elastic force and is clamped on the clamping ring of the mounting head 102204;

[0069] The anti-rotation snap structure further includes an anti-rotation structure, which is an anti-rotation protrusion or an anti-rotation groove provided on the threaded transition head 102202. The anti-rotation snap structure further includes a tubular guiding portion, which extends towards the rear end of the threaded transition head. The anti-rotation protrusion or the anti-rotation groove is provided at the position where the guiding portion is connected to the main body of the threaded transition head 102202.

[0070] It further includes an internal connecting pipe 1027301, which passes through the first connecting portion 1022501. The front end of the internal connecting pipe 1027301 is connected to the front end of the first connecting portion 1022501; or the first connecting portion 1022501 is a hollow pipe structure, and the front end of the internal connecting pipe 1027301 is connected to the rear end of the first connecting portion 1022501.

[0071] The rear end of the internal connecting pipe 1027301 is connected to the sealing joint at the front end of the Y-shaped idle rotation sealing pipe 102101. The internal connecting pipe 1027301 is provided with a flexible hose section. When the first clamping and rotating mechanism 10272 rotates the second conduit 10280, the second port control module drives the sealing joint of the Y-shaped idle rotation sealing pipe 102101 to rotate synchronously. When the rotation of the second conduit 10280 and the sealing joint is not synchronous, since the flexible hose section can deform and twist relative to the axis, it will not interfere with the torque force sensing component in the first clamping and rotating mechanism 10272.

[0072] As Figure 12As shown, before the operation, the first clamping and rotating mechanism 10272 only needs to install the internal connecting pipe 1027301 and the mounting head 102204 on the first connecting part 1022501 first. During the operation, the operator manually clamps the clamping joint 1033020016 at the end of the threaded transition head 102202 onto the mounting head 102204. The threaded transition head 102202 is screwed and connected to the Luer connector 102201 at the end of the interventional consumable through a threaded structure, so as to replace and install different interventional consumables.

[0073] A first sliding disk 102720101 is provided at the rear end of the rotating shaft 1027201, and a second sliding disk

[0074] 102720102 is fixedly connected to the rear cover 102720201. Multiple concentrically arranged annular conductive rings or protruding conductive bodies are provided on the second sliding disk 102720102. Protruding conductive bodies or multiple concentrically arranged annular conductive rings (or the positions of the conductive rings and the conductive bodies are interchanged) are provided on the first sliding disk 102720101. The conductive bodies or conductive rings are connected to the circuit components 102720103 in the rotating shaft 1027201. When the rotating shaft 1027201 rotates, the first sliding disk 102720101 rotates coaxially relative to the second sliding disk 102720102. At this time, the conductive body rotates on the conductive ring, transmitting the electrical signal between the circuit components 102720103 and the outside. By adopting the structure of the conductive sliding disk, the structure of the entire rotating shaft 1027201 can be made flatter (the axial length is 20 - 100 mm), reducing the stroke occupied by the rotating shaft 1027201, thereby increasing the effective working length of the interventional consumable.

[0075] The circuit components 102720103 are provided with an analog-to-digital conversion element, and the analog-to-digital conversion element is used to convert the analog signal of the force sensor into a digital signal, so as to avoid the signal interference problem caused by directly transmitting the analog signal (especially the contact resistance of the conductive sliding disk will change as the rotating shaft 1027201 rotates, which introduces signal noise). The circuit components 102720103 are provided with a communication element, and the communication element is used to convert the digital signal into a communication signal and implement information transmission using a serial communication protocol. The circuit components 102720103 are PCB circuit boards, and in order to reduce the axial length of the rotating shaft 1027201, the PCB circuit boards are arranged in a manner parallel to the end face of the rotating shaft 1027201.

[0076] The circuit component 102720103 is provided with an accelerometer or an IMU sensor, which can detect various acceleration values of the rotating shaft 1027201, so that in the process of force perception, inertia force and inertia moment compensation are performed based on the various acceleration values of the rotating shaft 1027201, so as to obtain the actual axial force exerted on the interventional consumable and the actual torque exerted on the interventional consumable in the direction around the axis; the acceleration values include gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration.

[0077] Preferably, each of the force sensors corresponds to an accelerometer, and the measuring axis of the force sensor is parallel to the measuring axis of the accelerometer or one of the measuring axes of the accelerometer. The measuring axis of the accelerometer is recorded as the axis to be measured. Based on Newton's second law F=ma, the offset F of the force sensor caused by gravity and inertia at this time can be calculated. x :

[0078] F x =m x a x

[0079] Among them, F x is the offset of the force sensor;

[0080] m x is the mass of the measured coupled structure;

[0081] a x It is the acceleration measured by the accelerometer in the direction of the axis to be measured.

[0082] Preferably, the force values measured by the first force sensor and the second force sensor at the current moment are subtracted from the offset corresponding to the current acceleration, thereby measuring the real force applied by the object under test to the first force sensor and the second force sensor respectively. Preferably, the mass m of the coupling structure is measured. x The parameters stored in the memory chip in the measuring housing can be directly read out by the operation processor for calculating the offset when the measuring housing is driven by an external driving mechanism.

[0083] The measurement coupling structure refers to the part located at the rear end of the force measuring element (such as the strain beam structure). When the force sensor is an S-type sensor, the actual range of the mass of the measurement coupling structure is not limited to the pin at the force measuring end of the force sensor, but also includes this part of the S-type sensor (specifically, Figure 14 The boxed part in the figure is shown in the figure, because this part is directly connected to the force-measuring strain beam structure in the S-type sensor and is located at the rear end of the strain beam structure.

[0084] 1. Specific: Figure 15As shown in the figure, calculate the offset F1 of the first force sensor caused by gravity and inertial force:

[0085] F1 = m1a1

[0086] Where, F1 is the offset of the first force sensor;

[0087] m1 is the mass of the torque coupling structure;

[0088] a1 is the acceleration measured by the first accelerometer on the measurement axis of the first sensor.

[0089] II. Specifically: As Figure 16 shown in the figure, calculate the offset F2 of the second force sensor caused by gravity and inertial force:

[0090] F2 = m2a2

[0091] Where, F2 is the offset of the second force sensor;

[0092] m2 is the mass of the axial force coupling structure;

[0093] a2 is the acceleration measured by the second accelerometer on the measurement axis of the second sensor.

[0094] In the above embodiments, due to the possible time delay in the signal acquisition of the accelerometer and the force sensor, the real-time compensation may not be guaranteed. At this time, there may be a spike-like error when subtracting the offset calculated based on the accelerometer reading from the reading of the force sensor. At this time, filtering can be performed on the basis of the above calculation results to weaken the influence of this spike-like error. The filtering algorithm can be Kalman filtering, mean filtering, low-pass filtering, etc.

[0095] The above embodiments only describe the situation of force detection in up to 2 dimensions. If it is to be extended to 3 dimensions, it only needs to ensure that the measurement axis of the third force sensor is parallel to the measurement axis of the third accelerometer, and they can be made to coincide with each other by translating along the rotation axis of the measurement housing. Moreover, the position of the accelerometer can be translated along the rotation axis of the measurement housing to coincide with the position of the force sensor. The principle of calculating the offset and realizing force compensation is the same as that of the above embodiments and will not be elaborated here.

[0096] A capillary tube 102720107 is fixedly connected to the rear end of the rotating shaft 1027201. The capillary tube 102720107 extends coaxially from the rear end of the rotating shaft 1027201, and the capillary tube 102720107 protrudes and is snapped into a through hole in the middle of the rear cover 102720201. A third sealing rubber ring 102720106 is used to seal between the capillary tube 102720107 and the through hole in the middle of the rear cover 102720201. The second sealing ring 102720105 and the third sealing ring 102720106 prevent liquid from entering between the first sliding disk 102720101 and the second sliding disk 102720102, avoiding short circuits and protecting internal components from external factors.

[0097] The internal connecting tube 1027301 passes through the capillary tube 102720107, and the gap between the internal connecting tube 1027301 and the capillary tube 102720107 is less than 2 mm. The length of the capillary tube 102720107 is greater than 10 mm, so that there is a certain sealing effect between the internal connecting tube 1027301 and the capillary tube 102720107. The small enough gap and long enough length can effectively prevent liquid from entering the rotating shaft 1027201 through the gap between the capillary tube 102720107 and the internal connecting tube 1027301 during the operation, protecting internal components from external factors. Or a necking portion is provided on the capillary tube 102720107, and the necking portion is in close fit with the internal connecting tube 1027301 to improve the sealing effect.

[0098] The axial force sensing element measures the axial force received by the interventional consumable, and the torque force sensing element measures the torque received by the interventional consumable in the axial direction. Both the axial force sensing element and the torque force sensing element are arranged inside the rotating shaft 1027201. The first connecting portion 1022501 extends from the inside of the outer shell of the rotating shaft 1027201 to the outside of the outer shell of the rotating shaft 1027201.

[0099] After the locking structure locks the interventional consumable, when the interventional consumable receives an axial force during the delivery process, the axial force received by the interventional consumable is measured by an axial force sensor or a multi-dimensional force sensor; when the interventional consumable receives a torque around the axis during the rotation process, the torque received by the interventional consumable in the axial direction is measured by a torque sensor, or a combination of a torque sensor and a torque amplification mechanism, or a combination of a torque conversion structure and a force measuring sensor.

[0100] A rotating sleeve is provided inside the rotating shaft 1027201. The first connecting portion 1022501 is rotatably and axially limitedly arranged inside the rotating sleeve through a bearing structure a. The rotating sleeve is connected to the force measuring end of an axial force sensor, and the other end of the axial force sensor is fixedly arranged inside the rotating shaft 1027201. The force measuring direction of the axial force sensor coincides with or is parallel to the axis direction of the intervention consumable.

[0101] When the intervention consumable is subjected to an axial external force during the delivery process, the intervention consumable transmits the axial force to the first connecting portion 1022501 through a locking structure, and the first connecting portion 1022501 transmits the axial force to the rotating sleeve, thereby transmitting the axial force to the axial force sensor fixedly connected to the rotating sleeve.

[0102] When measuring the torque received by the intervention consumable in the axial direction through the combination of a torque conversion structure and a force measuring sensor, the force measuring sensor is a one-dimensional force sensor. One end of the one-dimensional force sensor is fixed on the rotating shaft 1027201, and a sensor force transmission member is fixedly connected or integrally formed at the other end of the one-dimensional force sensor. The first connecting portion 1022501 cooperates with the sensor force transmission member through a torque conversion structure, so that when the first connecting portion 1022501 rotates, it will convert the torsional moment into a pushing or pulling force and apply it to the sensor force transmission member. After the force measuring sensor measures the pushing or pulling force, the torque received by the intervention consumable can be calculated in combination with the force arm.

[0103] The torque conversion structure is one or a combination of a pin-slot structure, a flap structure, a connecting rod structure, a gear-rack structure, and a transmission belt structure;

[0104] When the torque conversion structure is a pin-slot structure, the force measuring sensor is a one-dimensional force sensor. The fixed end of the one-dimensional force sensor is fixedly connected to the inside of the rotating shaft 1027201 and is located on one side of the intervention consumable. The force measuring end of the one-dimensional force sensor is fixedly connected or integrally formed with the sensor force transmission member. The sensor force transmission member is provided with a pin or a slot hole, and the first connecting portion 1022501 is provided with a slot hole or a pin in a matching manner. The relative positions of the sensor force transmission member and the first connecting portion 1022501 are such that the pin can just be inserted into the slot hole, and the axis direction of the pin is parallel to the axis of the intervention consumable and is at a certain distance. After the locking structure locks the intervention consumable, when the intervention consumable is subjected to a torque, when the first connecting portion 1022501 rotates, the slot hole or the pin on the first connecting portion 1022501 will push the pin or the slot hole on the sensor force transmission member. At this time, the torsional moment will be converted into a pushing or pulling force and applied to the sensor force transmission member. At this time, the one-dimensional force sensor will detect the pushing or pulling force and calculate the torque received by the intervention consumable based on the force arm.

[0105] As Figure 13When the clamping and rotating mechanism uses a locking structure to lock the guide wire, specifically, the clamping and rotating mechanism is provided with a first connecting tube 1022501 at the front end thereof, which is connected to a transition head 1033020016 through a buckle structure, and both sides of the transition head 1033020016 are provided with openable hooks.

[0106] 1033020017, pinch the tail of the hook 1033020017 to open the head of the hook 1033020017, then insert the transition head 1033020016 into the first connecting tube 1022501, loosen the tail of the hook 1033020017, so that the hook 1033020017 is stuck in the slot of the first connecting tube 1022501 under the action of its own elastic force. The front end of the transition head 1033020016 is provided with a locking tube 10276001, and an elastic clamping claw 1033020021 is provided in the locking tube 10276001, and the elastic clamping claw 1033020021 extends out of the front end of the locking tube 10276001, and the front end of the locking tube 10276001 is threadedly connected with a tightening cap 1033020022, and the interior of the tightening cap 1033020022 contacts the elastic clamping claw 1033020021 through an inclined surface or a conical surface. When the tightening cap 1033020022 is rotated and tightened on the transition head 1033020016, the elastic clamping claw 1033020021 is driven inward by the inclined surface or the conical surface to lock the internal interventional consumables (first guide wire).

[0107] Thus, to loosen the locking structure between the first guidewire 10281 and the second clamping and rotating mechanism 10274, one only needs to pinch the tail of the transition connector 1033020016, open the hook 1033020017 at the head of the transition connector 1033020016, and then pull the transition connector 1033020016 off the first connecting tube 1022501. This locking structure can be used to lock catheters or guidewires that do not have a Luer connector at the tail end.

[0108] Example 2

[0109] like Figure 17 and Figure 18As shown in the figure, an interventional robotic end device includes a linear track group 10297, a first catheter 10279, a first port control module 10271, a second catheter 10280, a Y-shaped idle sealing tube 102101, a support base 102113, a first clamping and rotating mechanism 10272, a second port control module 10273, a second clamping and rotating mechanism 10274, and a first guide wire 10281. The first port control module 10271, the first clamping and rotating mechanism 10272, the support base 102113, the second port control module 10273, and the second clamping and rotating mechanism 10274 are arranged in sequence along the length direction of the linear track group from front to back. The first port control module 10271 is fixedly or slidably arranged on the linear track group 10297. When the first port control module 10271 is slidably arranged on the linear track group 10297, the linear track group 10297 can drive the first port control module 10271 to reciprocate. The linear track group 10297 can drive the first clamping and rotating mechanism 10272, the support base 102113, and the second port control module 10273 to reciprocate synchronously. The linear track group 10297 can drive the second clamping and rotating mechanism 10274 to reciprocate. The rear end of the first catheter 10279 is installed in the first port control module 10271. The front end of the second catheter 10280 penetrates into the first catheter 10279. The second catheter 10280 is installed on the first clamping and rotating mechanism 10272. The Y-shaped idle sealing tube 102101 includes an idle part and a bifurcated part. The bifurcated part of the Y-shaped idle sealing tube 102101 is fixedly arranged on the support base 102113. A bifurcated joint is provided on the bifurcated part of the Y-shaped idle sealing tube 102101. The rear end of the second catheter 10280 is indirectly or directly connected to the idle part of the Y-shaped idle sealing tube 102101 through an internal connecting tube (different from Embodiment 1, in this embodiment, the rear end of the second catheter 10280 is arranged on the rear side of the second clamping and rotating mechanism 10274, that is, the second catheter 10280 needs to penetrate through the central through hole of the second clamping and rotating mechanism 10274 and penetrate into the first catheter 10279).

[0110] When indirectly connected through an internal connecting tube, the internal connecting tube has a hose part. When the first clamping and rotating mechanism rotates the interventional consumables, the second port control module drives the sealing joint of the Y-shaped idle sealing tube to rotate synchronously. When the rotation of the second catheter and the rotatable sealing joint at the front end of the Y-shaped idle sealing tube is asynchronous, since the hose can deform and twist relative to the axis, it will not interfere with the force sensing component in the first clamping and rotating mechanism.

[0111] When directly connected, the locking mechanism of the first clamping and rotating mechanism 10272 locks with the middle part of the second catheter. When the second catheter and the rotatable sealing joint at the front end of the Y-shaped idle-running sealing tube rotate out of sync, since the section from the middle to the tail of the second catheter can deform and twist relative to the axis, it will not interfere with the force sensing component in the first clamping and rotating mechanism either.

[0112] The rear end joint of the Y-shaped idle-running sealing tube 102101 is connected to the second port control module 10273. The first guide wire 10281 passes through the Y-shaped idle-running sealing tube 102101 and penetrates into the second catheter 10280. The middle part of the first guide wire 10281 is mounted on the second clamping and rotating mechanism 10274.

[0113] Preferably, the Y-shaped idle-running sealing tube 102101 is provided with an idle-running sealing structure. The idle-running sealing structure includes a sealing joint 102110, a sealing ring 102111, and a connecting pipe 102112. One end of the sealing joint 102110 is fixedly connected to the rear end of the second catheter 10280. The other end of the sealing joint 102110 is connected to the connecting pipe 102112. The sealing ring 102111 is pressed at the connection between the sealing joint 102110 and the connecting pipe 102112 and is located inside the sealing joint 102110 or the connecting pipe 102112. The connecting pipe 102112 and the sealing joint 102110 can rotate relative to each other. At the same time, the sealing ring 102111 at the connection allows liquid to pass through without leakage. The rear end joint of the connecting pipe 102112 is connected to the second port control module.

[0114] Preferably, a first support component for guiding the movement of the second catheter 10280 is installed between the first port control module and the first clamping and rotating mechanism 10272. The second catheter 10280 penetrates into the first support component. The first support component can be telescopic or axially translated to restrict the second catheter 10280 in a fixed axial direction and prevent the second catheter 10280 from bending during delivery. The first support component includes at least one of a telescopic tube component 10267, a guiding ring component, a bellows component, and a C-shaped tube component.

[0115] Preferably, the support base 102113 is fixedly arranged at the rear side of the first clamping and rotating mechanism 10272, the second port control module 10273 is fixedly arranged at the rear side of the support base 102113, and a second support assembly for guiding the movement of the first guide wire 10281 is installed between the second port control module 10273 and the second clamping and rotating mechanism 10274. The first guide wire 10281 penetrates into the second support assembly. The second support assembly can be telescopic or axially translated to limit the first guide wire 10281 in a fixed axial direction and prevent the first guide wire 10281 from bending during delivery. The second support assembly includes at least one of a telescopic tube assembly, a guiding ring assembly, a bellows assembly, and a C-shaped tube assembly.

[0116] Preferably, a bifurcated joint is provided on the connecting tube of the Y-shaped idle running seal tube 102101 for injecting liquid into the Y-shaped idle running seal tube 102101.

[0117] The foregoing shows and describes the basic principles, main features and advantages of the present invention. For a person skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0118] In addition, it should be understood that although this specification is described in accordance with the embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. A person skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by a person skilled in the art.

Claims

1. An interventional robot slave device, characterized in that: It includes a linear track group, a first port control module, a first clamping rotation mechanism, a support seat, a second port control module and a second clamping rotation mechanism. The first port control module, the first clamping rotation mechanism, the second port control module and the second clamping rotation mechanism are arranged in sequence from front to back along the length direction of the linear track group. The first port control module is fixedly or slidably arranged on the linear track group. The linear track group can drive the first clamping rotation mechanism, the second port control mechanism and the support seat to reciprocate synchronously. The linear track group can drive the second clamping rotation mechanism to reciprocate. The first clamping rotation mechanism and the second clamping rotation mechanism both include a locking structure that can lock or release the interventional consumable, a rotation mechanism that can drive the locked interventional consumable to rotate, an axial force sensing element that can detect the axial force exerted on the interventional consumable, and a torque force sensing element that can detect the torsional torque exerted on the interventional consumable in the direction around the axis. The delivery of the interventional consumable is achieved through the coordination of the reciprocating motion of the first port control module, the first clamping rotation mechanism, the second port control mechanism and the second clamping rotation mechanism.

2. The interventional robot slave device according to claim 1, characterized in that: The second port control module is provided with a Y-type idling sealing tube, which includes an idling part and a forked part. The forked part of the Y-type idling sealing tube is fixedly arranged on the support seat, and the forked part of the Y-type idling sealing tube is provided with a forked joint for injecting liquid into the Y-type idling sealing tube; the Y-type idling sealing tube is provided with an idling sealing structure, which includes a sealing joint, a sealing ring and a connecting pipe. The sealing joint is connected to the connecting pipe, and the sealing ring is pressed at the connection between the sealing joint and the connecting pipe, and is located inside the sealing joint or the connecting pipe. The connecting pipe and the sealing joint can rotate relative to each other, and the sealing ring at the connection can prevent liquid from leaking when passing through. The rear end of the connecting pipe is provided with a hemostatic valve, and the second port control module is provided with a first port driving mechanism and a second port driving mechanism. The first port driving mechanism drives the sealing joint to rotate, and the second port driving mechanism is used to control the opening and closing of the hemostatic valve to prevent blood or contrast agent from seeping out.

3. The interventional robot slave device according to claim 2, characterized in that: The first port driving mechanism includes a first driving gear. The outer ring of the sealing joint is gear-shaped and meshes with the first driving gear. The sealing joint is driven to rotate by the rotation of the first driving gear.

4. The interventional robot slave device according to claim 2, characterized in that: The hemostatic valve includes a locking block and an elastomer, and the elastomer and the locking block are arranged on the connecting pipe one after the other, and the second port driving mechanism drives the locking block to move axially, and squeezes the elastomer to deform the elastomer, so that the elastomer bulges inward or shrinks inward, driving the closing of the hemostatic valve; the second port driving mechanism includes a second driving gear, the locking block can rotate around the axis of the connecting pipe, and the locking block cooperates with the connecting pipe through a threaded structure, and the outer ring of the locking block is gear-shaped, the second driving gear is engaged with the outer ring of the locking block, and the second driving gear drives the locking block to rotate, and the locking block moves axially under the guidance of the thread to squeeze the elastomer to deform the elastomer, so that the elastomer bulges inward or shrinks inward, realizing the closure of the channel, and self-locking is achieved through the thread to keep the relative position of the locking block on the port control valve fixed.

5. The interventional robot slave device according to claim 1, characterized in that: The locking structure has a self-locking structure and can maintain the locked state after locking; the locking structure is arranged on the outside of the shell of the first clamping and rotating mechanism or the second clamping and rotating mechanism, and the locking structure is directly driven by hand or external tools to achieve locking or unlocking of the interventional consumables.

6. The interventional robot slave device according to claim 5, characterized in that: The locking structure is a passive locking structure, and the passive locking structure includes a threaded transition head or a clamping transition head. The threaded transition head includes a threaded structure and a quick-connect structure. The threaded transition head can be connected to the Luer connector at the tail end of the interventional consumable through the threaded structure, and then the threaded transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a clamping claw clamping structure, and the quick-connect structure is an anti-rotation snap-on structure; the clamping transition head includes a clamping structure and a quick-connect structure. The clamping transition head can be clamped to the interventional consumable through the clamping structure, and then the clamping transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a clamping claw clamping structure, and the quick-connect structure is an anti-rotation snap-on structure.

7. The interventional robot slave device according to claim 6, characterized in that: The anti-rotation snap structure includes a hook, which is openably arranged on the clamping transition head. There are two hooks, which are symmetrically arranged on both sides of the clamping transition head. The head of the hook is a clamping part, and the tail of the hook is a pressing part. Pressing the pressing part can make the clamping part open outward, and releasing the pressing part will cause the clamping part to close inward under its own elastic action. The part of the clamping transition head excluding the hook is in the shape of a thin rod, and the maximum radial diameter does not exceed 15 mm.

8. The interventional robot slave device according to claim 6, characterized in that: The first connecting part and the Y-shaped idle sealing tube are connected through an internal connecting tube, and the internal connecting tube is provided with a flexible hose section. When the first clamping and rotating mechanism rotates the interventional consumable, the second port control module drives the sealing joint of the Y-shaped idle sealing tube to rotate synchronously. When the rotation of the interventional consumable is not synchronized with the rotation of the sealing joint, since the flexible hose section can be deformed and twisted relative to the axis, it will not interfere with the torque force sensing component in the first clamping and rotating mechanism.

9. The interventional robot slave device according to claim 1, characterized in that: A support assembly for guiding the interventional consumable is installed between the first port control module and the first clamping and rotating mechanism and / or between the second port control module and the second clamping and rotating mechanism. The support assembly can be telescopic or axially translated to keep the axis of the interventional consumable in a straight line. The support element is supported by a rigid coaxial telescopic sleeve that is step-by-step sleeved; or supported by a plurality of closed or openable support ring assemblies that are arranged at intervals and slide along the axis of the interventional consumable, with each adjacent two support ring assemblies connected by an axial elastic element; or supported by a bellows; or supported by a slotted C-shaped tube.

10. An interventional robot slave system, characterized by: The interventional robot slave device includes the method according to any one of claims 1 to 9, and further includes a first catheter, a second catheter and a first guidewire, the rear end of the first catheter is installed in the first port control module, the front end of the second catheter is inserted into the first catheter, the second catheter is installed on the first clamping and rotating mechanism, the Y-type idling sealing tube includes an idling part and a forked part, the forked part of the Y-type idling sealing tube is fixedly arranged on the support seat, the forked part of the Y-type idling sealing tube is provided with a forked joint, the rear end of the second catheter is connected to the idling part of the Y-type idling sealing tube, the rear end joint of the Y-type idling sealing tube is connected to the second port control module, the first guidewire is inserted into the second catheter through the Y-type idling sealing tube, and the middle part of the first guidewire is installed on the second clamping and rotating mechanism.

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