Guide wire stress calibration device and method for vascular interventional operation

Abstract

The invention provides a guide wire stress calibration device for vascular interventional surgery, which comprises a calibration tool and a support frame, and is characterized in that the calibration tool comprises an inclination angle adjustable platform, the inclination angle adjustable platform is provided with a linear module, and the linear module is provided with a first force transducer; the supporting frame is used for installing a guide wire delivery mechanism, a guide wire output by the guide wire delivery mechanism is connected with a first force measurement sensor, a second force measurement sensor used for measuring the stress of the guide wire is installed in the guide wire delivery mechanism, and the first force measurement sensor and the second force measurement sensor are coaxial with the guide wire; according to the invention, the inclination angle adjustable platform and the linear module on the calibration tool are used for simulating the stress conditions of the guide wire in different inclination angle postures, and the first force transducer on the calibration tool is used for calibrating the second force transducer on the guide wire delivery mechanism. Therefore, the measurement precision of the second force measurement sensor on the guide wire delivery mechanism is improved, and the stress measurement error of the guide wire is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of force sensor calibration, and in particular to a guidewire force calibration device and method for vascular intervention surgery. Background Art

[0002] Vascular interventional surgical robots rely on guidewire delivery mechanisms for minimally invasive procedures. Real-time force detection at the guidewire tip is a key guarantee for surgical safety. Neurovascular walls are only 0.1-0.3mm thick, and a guidewire contact force exceeding 0.5N can cause perforation. In calcified coronary artery lesions, lateral friction forces of 0.3N can cause plaque detachment and trigger myocardial infarction. Clinically, force detection requires a force detection error of ≤±0.1N (equivalent to the drag force accuracy of a single hair). However, the actual operating environment of a guidewire is subject to interference such as inclination changes. The measured error of an uncalibrated sensor can reach 0.3N, exceeding the safety threshold by 300%.

[0003] Current guidewire delivery mechanisms generally lack dedicated force sensor calibration solutions. Existing technologies directly use uncalibrated force sensors, whose output values ​​are subject to superimposed interference from assembly stress, temperature drift, posture changes, etc., resulting in large errors between the actual force applied to the guidewire during vascular interventional surgery and the force sensor detection readings, thereby increasing surgical risks.

[0004] Based on the above problems, there is an urgent need to propose a guidewire force calibration device and method for vascular interventional surgery. Summary of the Invention

[0005] The present invention proposes a guidewire force calibration device and method for vascular interventional surgery, which solves the problem in the prior art that the force sensor calibration device of the guidewire delivery mechanism is lacking, resulting in large errors in the guidewire delivery mechanism force sensor, which easily leads to surgical risks.

[0006] The technical solution of the present invention is achieved as follows: A first aspect of the present invention provides a guidewire force calibration device for vascular interventional surgery, comprising a calibration tool and a support frame, wherein the calibration tool comprises an inclination-adjustable platform, a linear module is mounted on the inclination-adjustable platform, and a first force sensor is mounted on the linear module; the support frame is used to mount a guidewire delivery mechanism, the guidewire output by the guidewire delivery mechanism is connected to the first force sensor, a second force sensor for measuring the guidewire force is mounted in the guidewire delivery mechanism, and the first force sensor and the second force sensor are coaxial with the guidewire; the first force sensor is driven by the linear module to approach or move away from the second force sensor to push or pull the guidewire, and the reading of the first force sensor is used to calibrate the reading of the second force sensor.

[0007] Specifically, the inclination-adjustable platform includes a bottom plate, a top plate and a side plate. The bottom plate and one end of the top plate are hinged by a pin, and the linear module is fixedly mounted on the top plate; the side plate is fixedly connected to the bottom plate, and a through arc groove is provided on the side plate, and the center of the arc groove is located on the axis of the pin; a screw is fixedly connected to the side of the top plate, and the end of the screw passes through the arc groove and is sequentially sleeved with a washer and a nut, and the outer diameter of the washer is larger than the width of the arc groove.

[0008] Furthermore, a center ring is rotatably installed at the center of the arc groove, and the center ring is connected to the gasket through a connecting rod; the side of the side plate is provided with an angular scale line, and the connecting rod is used to read the reading of the angular scale line.

[0009] Specifically, the linear module includes a front stopper, a rear stopper, a guide rail, a slider, a driving rod and a rotating wheel. The two ends of the guide rail are respectively connected to the front stopper and the rear stopper. The slider is slidably installed on the guide rail, and the first force sensor is installed on the slider; the rotating wheel is installed at the front end of the driving rod, and the rear end of the driving rod passes through the front stopper and the slider in sequence and is rotatably connected to the rear stopper. The driving rod and the stopper are connected through a threaded pair.

[0010] Specifically, a connecting piece is installed at the force-bearing end of the first force sensor, a guide rod is fixed to the outside of the connecting piece, a spring is sleeved on the guide rod, one end of the spring is fixedly connected to the connecting piece, and the other end of the spring is fixedly connected to the rear end of the guide wire clamp, the rear end of the guide wire clamp is slidably sleeved on the guide rod, and the front end of the guide wire clamp is used to clamp the guide wire.

[0011] Specifically, the support frame is also used to install a handheld dynamometer, the force-bearing end of the handheld dynamometer is connected to the force-bearing end of the first dynamometer through a guide wire, and the first force sensor, the handheld dynamometer and the guide wire are coaxial; the first force sensor is driven close to or away from the handheld dynamometer by the linear module to push or pull the guide wire, and the reading of the handheld dynamometer is used to calibrate the reading of the first force sensor.

[0012] A second aspect of the present invention provides a guidewire force calibration method for vascular intervention surgery, comprising the following steps: A1, install the first load cell on the inclination-adjustable platform of the calibration fixture; A2, installing the guidewire delivery mechanism on the support frame, and connecting the guidewire output by the guidewire delivery mechanism to the force-bearing end of the first force sensor; A3, adjust the inclination of the inclination-adjustable platform, and simultaneously adjust the height and inclination of the support frame, so that the first load cell, the second load cell and the guide wire are coaxial; A4, driving the first force sensor to move closer to or away from the second force sensor through the linear module to push or pull the guide wire, and reading the first force sensor and the second force sensor; A5, repeating steps A3 and A4 to obtain multiple sets of readings of the first force sensor and the second force sensor; A6, based on the multiple sets of readings in step A5, using a least squares fitting calculation to obtain a first calibration coefficient between the first force sensor reading and the second force sensor reading; A7, calibrating the reading of the second force sensor based on the first calibration coefficient.

[0013] Specifically, before calibrating the second force sensor on the guidewire delivery mechanism using the calibration tool, calibrating the first force sensor on the calibration tool using a handheld dynamometer includes the following steps: B1, install the first load cell on the inclination-adjustable platform of the calibration fixture; B2, installing the handheld dynamometer on the support frame, and connecting the force-bearing end of the handheld dynamometer to the force-bearing end of the first force sensor via a guide wire; B3, adjusting the inclination of the inclination-adjustable platform, and simultaneously adjusting the height and inclination of the support frame, so that the first force sensor, the handheld force gauge, and the guide wire are coaxial; B4, driving the first force sensor to move closer to or away from the handheld force gauge through the linear module to push or pull the guide wire, and readings of the first force sensor and the handheld force gauge; B5, repeating steps B3 and B4 to obtain multiple sets of readings of the first force sensor and the handheld force gauge; B6, based on the multiple sets of readings in step B5, using a least squares fitting method to calculate a second calibration coefficient between the first force sensor reading and the handheld force gauge reading; B7. Calibrate the reading of the first force sensor based on the second calibration coefficient.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention simulates the force conditions of the guidewire at different inclination angles by using the inclination-adjustable platform and the linear module on the calibration tool, and calibrates the second force sensor on the guidewire delivery mechanism by using the first force sensor on the calibration tool, thereby improving the measurement accuracy of the second force sensor on the guidewire delivery mechanism and reducing the guidewire force measurement error; (2) The present invention flexibly connects the first force sensor to the guidewire output by the guidewire delivery mechanism through a spring, which can better simulate the scenario of guidewire delivery within a blood vessel and further improve the calibration accuracy of the second force sensor in the guidewire delivery mechanism; (3) Before using the calibration fixture to calibrate the second force sensor on the guidewire delivery mechanism, the present invention can also calibrate the first force sensor on the calibration fixture with the help of a support frame and a handheld force gauge, thereby using the calibrated first force sensor to calibrate the second force sensor on the guidewire delivery mechanism, further improving the calibration accuracy of the second force sensor in the guidewire delivery mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a schematic structural diagram of calibrating the second force sensor in the guidewire delivery mechanism using a calibration tool according to the present invention; Figure 2 A three-dimensional diagram of a calibration tool according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the installation structure of the first force sensor on the linear module in an embodiment of the present invention; Figure 4 This is a structural schematic diagram of calibrating the first force sensor on the calibration tool using a handheld force gauge according to the present invention; Figure 5 This is a flow chart of a method for calibrating a second force sensor in a guidewire delivery mechanism using a calibration tool according to the present invention; Figure 6 Schematic diagram of the flow of a method for calibrating a first force sensor on a calibration tool using a handheld force gauge according to the present invention; In the figure: 1. Calibration fixture; 2. Support frame; 3. Linear module; 4. First force sensor; 5. Guide wire delivery mechanism; 6. Guide wire; 7. Second force sensor; 8. Bottom plate; 9. Top plate; 10. Side plate; 11. Pin; 12. Arc groove; 13. Screw; 14. Washer; 15. Nut; 16. Center ring; 17. Connecting rod; 18. Angle scale line; 19. Front stopper; 20. Rear stopper; 21. Guide rail; 22. Slider; 23. Drive rod; 24. Rotor; 25. Connector; 26. Guide rod; 27. Spring; 28. Guide wire holder; 29. ​​Handheld force gauge. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] Reference Figures 1 to 4 In a first aspect, the present invention provides a guidewire force calibration device for vascular interventional surgery, comprising a calibration tool 1 and a support frame 2, wherein the calibration tool 1 comprises an inclination-adjustable platform, a linear module 3 is mounted on the inclination-adjustable platform, and a first force sensor 4 is mounted on the linear module 3; the support frame 2 is used to mount a guidewire delivery mechanism 5, the guidewire 6 output by the guidewire delivery mechanism 5 is connected to the first force sensor 4, a second force sensor 7 for measuring the force on the guidewire 6 is mounted in the guidewire delivery mechanism 5, and the first force sensor 4 and the second force sensor 7 are coaxial with the guidewire 6; the first force sensor 4 is driven by the linear module 3 to approach or move away from the second force sensor 7 to push or pull the guidewire 6, and the reading of the first force sensor 4 is used to calibrate the reading of the second force sensor 7.

[0019] The present invention simulates the force conditions of the guide wire 6 at different inclination angles through the inclination-adjustable platform and the linear module 3 on the calibration tool 1, and calibrates the second force sensor 7 on the guide wire delivery mechanism 5 through the first force sensor 4 on the calibration tool 1, thereby improving the measurement accuracy of the second force sensor 7 on the guide wire delivery mechanism 5 and reducing the force measurement error of the guide wire 6.

[0020] In this embodiment, the support frame 2 is a tripod with adjustable height, and a platform with adjustable inclination is installed on the top of the tripod. The platform can be used to fix the guide wire delivery mechanism 5.

[0021] Specifically, if Figure 2As shown, the inclination-adjustable platform includes a bottom plate 8, a top plate 9 and a side plate 10. The bottom plate 8 and one end of the top plate 9 are hinged by a pin 11 and a hinge, and the linear module 3 is fixedly mounted on the top plate 9; the side plate 10 is fixedly connected to the bottom plate 8, and a through arc groove 12 is provided on the side plate 10, and the center of the arc groove 12 is located on the axis of the pin 11; a screw 13 is fixedly connected to the side of the top plate 9, and the end of the screw 13 passes through the arc groove 12 and is sequentially sleeved with a washer 14 and a nut 15, and the outer diameter of the washer 14 is larger than the width of the arc groove 12. By loosening the nut 15, the fixation of the screw 13 and the side plate 10 can be released, so that the pitch angle of the top plate 9 can be adjusted conveniently by turning the screw 13. When the pitch angle of the top plate 9 is adjusted to the specified angle, the screw 13 and the side plate 10 can be locked by tightening the nut 15 so that the washer 14 is pressed against the side plate 10, thereby fixing the angle of the top plate 9.

[0022] Furthermore, if Figure 2 As shown, a center ring 16 is rotatably installed at the center of the arc groove 12, and the center ring 16 is connected to the washer 14 by a connecting rod 17; an angular scale line 18 is provided on the side of the side plate 10, and the connecting rod 17 is used to read the reading of the angular scale line 18; by setting the center ring 16 and the connecting rod 17, when the screw 13 is turned to make the top plate 9 rotate around the pin shaft 11, the center ring 16 rotates synchronously around the center of the circle, and the angle between the top plate 9 and the bottom plate 8 can be read in real time through the connecting rod 17.

[0023] Specifically, if Figure 3 As shown, the linear module 3 includes a front stopper 19, a rear stopper 20, a guide rail 21, a slider 22, a driving rod 23 and a rotating wheel 24, the two ends of the guide rail 21 are respectively connected to the front stopper 19 and the rear stopper 20, the slider 22 is slidably mounted on the guide rail 21, and the first force sensor 4 is mounted on the slider 22; the rotating wheel 24 is mounted on the front end of the driving rod 23, and the rear end of the driving rod 23 passes through the front stopper 19 and the slider 22 in sequence and is rotatably connected to the rear stopper 20, and the driving rod 23 is connected to the block by a threaded pair; by rotating the rotating wheel 24, the slider 22 is driven to slide linearly along the guide rail 21 with the help of the threaded cooperation between the driving rod 23 and the slider 22 (a screw hole is provided on the slider 22, and the cooperation between the screw hole and the driving rod 23 is similar to the cooperation between the screw rod and the nut 15), thereby pushing the first force sensor 4 to move in the direction of approaching or moving away from the second force sensor 7.

[0024] Specifically, if Figure 3As shown, a connector 25 is mounted on the force-bearing end of the first force sensor 4. A guide rod 26 is fixed to the outside of the connector 25. A spring 27 is sleeved on the guide rod 26. One end of the spring 27 is fixedly connected to the connector 25, and the other end of the spring 27 is fixedly connected to the rear end of a guide wire holder 28. The rear end of the guide wire holder 28 is slidably sleeved on the guide rod 26, and the front end of the guide wire holder 28 is used to clamp the guide wire 6. The first force sensor 4 is flexibly connected to the guide wire 6 output by the guide wire delivery mechanism 5 through the spring 27, which can better simulate the scenario of the guide wire 6 being delivered within a blood vessel (the blood vessel wall is also elastic), further improving the calibration accuracy of the second force sensor 7 within the guide wire delivery mechanism 5.

[0025] In this embodiment, the head of the guide wire clamp 28 is a rotating clamping component, and the guide wire 6 can be clamped or loosened by rotating the head of the guide wire clamp 28 (in the specific implementation process, other structures with the function of clamping the guide wire 6 can also be used). The tail of the guide wire clamp 28 is a shaft sleeve, and the shaft sleeve sliding sleeve is arranged on the guide rod 26, so that the guide wire clamp 28 and the guide wire 6 can only be displaced in an axial straight line.

[0026] Specifically, if Figure 4 As shown, the support frame 2 is also used to mount a handheld dynamometer 29 (the handheld dynamometer 29 is fixed to the platform of the tripod). The force-bearing end of the handheld dynamometer 29 is connected to the force-bearing end of the first dynamometer via a guide wire 6. The first force sensor 4, the handheld dynamometer 29, and the guide wire 6 are coaxial. The first force sensor 4 is driven toward or away from the handheld dynamometer 29 by the linear module 3 to push or pull the guide wire 6. The reading of the handheld dynamometer 29 is used to calibrate the reading of the first force sensor 4. Before the calibration fixture 1 is used to calibrate the second force sensor 7 on the guide wire delivery mechanism 5, the present invention can also calibrate the first force sensor 4 on the calibration fixture 1 with the help of the support frame 2 and the handheld dynamometer 29. Thus, the calibrated first force sensor 4 is used to calibrate the second force sensor 7 on the guide wire delivery mechanism 5, further improving the calibration accuracy of the second force sensor 7 in the guide wire delivery mechanism 5.

[0027] like Figure 5 As shown, the second aspect of the present invention provides a guidewire force calibration method for vascular intervention surgery, comprising the following steps: A1, install the first force sensor 4 on the inclination-adjustable platform of the calibration fixture 1; A2, install the guidewire delivery mechanism 5 on the support frame 2, and connect the guidewire 6 output by the guidewire delivery mechanism 5 to the force-bearing end of the first force sensor 4; A3, adjust the inclination of the inclination-adjustable platform, and at the same time adjust the height and inclination of the support frame 2 so that the first force sensor 4, the second force sensor 7 and the guide wire 6 are coaxial; A4, drives the first force sensor 4 to move closer to or away from the second force sensor 7 through the linear module 3 to push or pull the guide wire 6, and reads the readings of the first force sensor 4 and the second force sensor 7; A5, repeat steps A3 and A4 to obtain multiple sets of readings of the first force sensor 4 and the second force sensor 7; A6, based on the multiple sets of readings in step A5, use the least squares fitting method to calculate the first calibration coefficient between the readings of the first force sensor 4 and the readings of the second force sensor 7; the steps are as follows: Let vector ; in, , indicating the first load cell 4 i times reading; The second load cell 7 i times reading; Calculate the first-order optimal parameter estimate through matrix operations: ; in, , is the first calibration coefficient; ; A7, calibrating the reading of the second force sensor 7 based on the first calibration coefficient; The calibration formula of the second force sensor 7 is: ; in, y is the value of the second force sensor 7 after calibration, x is the value of the second force sensor 7 before calibration.

[0028] Specifically, if Figure 5 、 6 As shown, before calibrating the second force sensor 7 on the guidewire delivery mechanism 5 using the calibration fixture 1, the first force sensor 4 on the calibration fixture 1 is calibrated using a handheld dynamometer 29, including the following steps: B1: After step A1, first determine whether it is necessary to calibrate the first force sensor 4 on the calibration tool 1. If so, proceed to step B2; otherwise, proceed to step A2. B2, install the handheld dynamometer 29 on the support frame 2, and connect the force-bearing end of the handheld dynamometer 29 to the force-bearing end of the first force sensor 4 through the guide wire 6; B3, adjust the inclination of the adjustable platform, and at the same time adjust the height and inclination of the support frame 2, so that the first force sensor 4, the handheld force gauge 29 and the guide wire 6 are coaxial; B4, driving the first force sensor 4 to move closer to or away from the handheld dynamometer 29 through the linear module 3 to push or pull the guide wire 6, and readings of the first force sensor 4 and the handheld dynamometer 29 are read; B5, repeat steps B3 and B4 to obtain multiple sets of readings of the first force sensor 4 and the handheld force gauge 29; B6, based on the multiple sets of readings in step B5, a least squares fitting calculation is used to obtain a second calibration coefficient between the readings of the first force sensor 4 and the readings of the handheld force gauge 29, the specific method being the same as step A6; B7, calibrate the reading of the first force sensor 4 based on the second calibration coefficient.

[0029] Specifically, in step B1 , the calibration tool 1 needs to be calibrated at least once a month using the handheld dynamometer 29 .

[0030] Furthermore, after calibrating the reading of the second force sensor 7, by analyzing the force conditions of the guidewire motion platform, the force balance equations of the guidewire 6 under static, uniform, and acceleration / deceleration conditions are established as follows: The force balance equation of the guide wire 6 in the static state is: ; ; in, represents the measured value of the second force sensor 7 after calibration, Indicates that the second force sensor 7 is subject to the gravity of the upper device (consumables box) The downward force component, g is the acceleration due to gravity, θ is the tilt angle of the second force sensor 7; is the actual resistance experienced by the end of the guidewire 6; The force balance equation of guide wire 6 at a uniform speed is: ; ; in, represents the damping of the guide wire 6, Indicates the displacement of the guide wire 6 s About time t Find the first-order derivative, that is, the speed of the guide wire 6, k is the damping coefficient; The force balance equation of the guide wire 6 in the acceleration and deceleration state is: ; ; in, a is the acceleration of the guide wire 6, Indicates the displacement of the guide wire 6 s About time t Find the second-order derivative; The measured value after calibration of the second force sensor 7 Substituting the above equation, the actual resistance experienced by the end of the guide wire 6 can be calculated. .

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A guidewire force calibration device for vascular intervention surgery, characterized in that: The invention comprises a calibration tool (1) and a support frame (2), wherein the calibration tool (1) comprises an inclination-adjustable platform, a linear module (3) is mounted on the inclination-adjustable platform, and a first force sensor (4) is mounted on the linear module (3); the support frame (2) is used to mount a guide wire delivery mechanism (5), a guide wire (6) output by the guide wire delivery mechanism (5) is connected to the first force sensor (4), a second force sensor (7) for measuring the force applied to the guide wire (6) is mounted in the guide wire delivery mechanism (5), and the first force sensor (4) and the second force sensor (7) are coaxial with the guide wire (6); the first force sensor (4) is driven by the linear module (3) to approach or move away from the second force sensor (7) to push or pull the guide wire (6), and the reading of the first force sensor (4) is used to calibrate the reading of the second force sensor (7).

2. A guidewire force calibration device for vascular interventional surgery according to claim 1, characterized in that: The tilt-adjustable platform comprises a bottom plate (8), a top plate (9) and a side plate (10), wherein the bottom plate (8) is hinged to one end of the top plate (9) through a pin shaft (11), and the linear module (3) is fixedly mounted on the top plate (9); the side plate (10) is fixedly connected to the bottom plate (8), and a through arc groove (12) is provided on the side plate (10), and the center of the arc groove (12) is located on the axis of the pin shaft (11); a screw rod (13) is fixedly connected to the side surface of the top plate (9), and the end of the screw rod (13) passes through the arc groove (12) and is sequentially sleeved with a washer (14) and a nut (15), and the outer diameter of the washer (14) is larger than the width of the arc groove (12).

3. A guidewire force calibration device for vascular interventional surgery according to claim 2, characterized in that: A center ring (16) is rotatably mounted at the center of the arc groove (12), and the center ring (16) is connected to the washer (14) via a connecting rod (17); an angular scale line (18) is provided on the side surface of the side plate (10), and the connecting rod (17) is used to read the reading of the angular scale line (18).

4. The guidewire force calibration device for vascular interventional surgery according to claim 1, characterized in that: The linear module (3) comprises a front block (19), a rear block (20), a guide rail (21), a slider (22), a driving rod (23) and a rotating wheel (24); the two ends of the guide rail (21) are respectively connected to the front block (19) and the rear block (20); the slider (22) is slidably mounted on the guide rail (21); the first force sensor (4) is mounted on the slider (22); the rotating wheel (24) is mounted on the front end of the driving rod (23); the rear end of the driving rod (23) passes through the front block (19) and the slider (22) in sequence and is rotatably connected to the rear block (20); the driving rod (23) is connected to the block via a threaded pair.

5. The guidewire force calibration device for vascular interventional surgery according to claim 1, characterized in that: The force-bearing end of the first force sensor (4) is provided with a connecting piece (25), a guide rod (26) is fixed on the outer side of the connecting piece (25), a spring (27) is sleeved on the guide rod (26), one end of the spring (27) is fixedly connected to the connecting piece (25), and the other end of the spring (27) is fixedly connected to the rear end of the guide wire clamp (28), the rear end of the guide wire clamp (28) is slidably sleeved on the guide rod (26), and the front end of the guide wire clamp (28) is used to clamp the guide wire (6).

6. The guidewire force calibration device for vascular intervention surgery according to claim 1, characterized in that: The support frame (2) is also used to install a handheld dynamometer (29); the force-bearing end of the handheld dynamometer (29) is connected to the force-bearing end of the first dynamometer via a guide wire (6); the first force sensor (4), the handheld dynamometer (29) and the guide wire (6) are coaxial; the first force sensor (4) is driven to approach or move away from the handheld dynamometer (29) via a linear module (3) to push or pull the guide wire (6); and the reading of the handheld dynamometer (29) is used to calibrate the reading of the first force sensor (4).

7. A guidewire force calibration method for vascular interventional surgery, based on the guidewire force calibration device according to claim 1, characterized in that: The following steps are involved: A1, installing the first force sensor (4) on the tilt-adjustable platform of the calibration tool (1); A2, installing the guidewire delivery mechanism (5) on the support frame (2), and connecting the guidewire (6) output by the guidewire delivery mechanism (5) to the force-bearing end of the first force sensor (4); A3, adjusting the inclination of the inclination-adjustable platform and simultaneously adjusting the height and inclination of the support frame (2) so that the first force sensor (4), the second force sensor (7) and the guide wire (6) are coaxial; A4, driving the first force sensor (4) to move closer to or away from the second force sensor (7) through the linear module (3) to push or pull the guide wire (6), and readings of the first force sensor (4) and the second force sensor (7); A5, repeating steps A3 and A4 to obtain multiple sets of readings of the first force sensor (4) and the second force sensor (7); A6, based on the multiple groups of readings in step A5, using a least squares fitting calculation to obtain a first calibration coefficient between the readings of the first force sensor (4) and the readings of the second force sensor (7); A7, calibrating the reading of the second force sensor (7) based on the first calibration coefficient.

8. A guidewire force calibration method for vascular intervention surgery according to claim 7, characterized in that: Before calibrating the second force sensor (7) on the guidewire delivery mechanism (5) using the calibration fixture (1), the first force sensor (4) on the calibration fixture (1) is calibrated using a handheld dynamometer (29), including the following steps: B1, installing the first force sensor (4) on the inclination-adjustable platform of the calibration tool (1); B2, installing the handheld dynamometer (29) on the support frame (2), and connecting the force-bearing end of the handheld dynamometer (29) to the force-bearing end of the first force sensor (4) through a guide wire (6); B3, adjusting the inclination of the inclination-adjustable platform and simultaneously adjusting the height and inclination of the support frame (2) so that the first force sensor (4), the handheld force gauge (29) and the guide wire (6) are coaxial; B4, driving the first force sensor (4) to move closer to or away from the handheld force gauge (29) via the linear module (3) to push or pull the guide wire (6), and readings of the first force sensor (4) and the handheld force gauge (29); B5, repeating steps B3 and B4 to obtain multiple sets of readings of the first force sensor (4) and the handheld force gauge (29); B6, based on the multiple groups of readings in step B5, using the least squares fitting method to calculate a second calibration coefficient between the readings of the first force sensor (4) and the readings of the handheld force gauge (29); B7, calibrating the reading of the first force sensor (4) based on the second calibration coefficient.

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