An interventional surgical device

Abstract

This application discloses an interventional surgical device, including a trolley, a robotic device, a first docking assembly, and a second docking assembly. The robotic device includes a loading seat, a robotic arm, and an instrument control mechanism. The robotic arm is disposed on the loading seat, and the instrument control mechanism is disposed on the robotic arm. The first docking assembly and the second docking assembly are respectively disposed on opposite sides of the loading seat. When the robotic device is not in use, the first docking assembly can be loaded onto the trolley. When the robotic device is in use, the first docking assembly is separated from the trolley, and the second docking assembly can be loaded onto the hospital bed. With the first docking assembly separated from the trolley and the second docking assembly loaded onto the hospital bed, the robotic device is thus mounted on the hospital bed. The hospital bed can be directly controlled for lifting, lowering, and moving forward and backward, and the robotic device moves synchronously with the hospital bed, ensuring that the instrument control mechanism maintains the same angle as the surgical approach, eliminating the need for repeated calibration of the robotic device and saving surgical time.

Description

Technical Field

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

[0002] Interventional surgical equipment, as a product of the deep integration of modern medicine and high technology, is gradually becoming an important tool in the treatment of cerebrovascular, cardiovascular and peripheral vascular diseases. This type of surgical equipment integrates high-precision image navigation technology, flexible robotic arm positioning system and human-instrument control system, which provides doctors with significant surgical precision and convenience, and greatly improves the safety and success rate of vascular interventional surgery.

[0003] In related technologies, interventional surgical equipment includes a mobile base, a robotic arm, and an instrument control mechanism. The robotic arm is connected to the mobile base, and the instrument control mechanism is connected to the robotic arm. When the interventional surgical equipment is in use, the mobile base transports the robotic arm and instrument control mechanism to the bedside for use. However, because the bed often needs to be adjusted, the instrument control mechanism also needs to be calibrated, making the surgical procedure more complicated. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an interventional surgical device that facilitates the transport and use of robotic devices.

[0005] The interventional surgical device provided in this application adopts the following technical solution:

[0006] An interventional surgical device, comprising:

[0007] trolley;

[0008] A robotic device includes a loading platform, a robotic arm, and a device control mechanism. The robotic arm is mounted on the loading platform, and the device control mechanism is mounted on the robotic arm for intervening in the pushing of consumables.

[0009] The first docking assembly and the second docking assembly are respectively disposed on opposite sides of the loading seat;

[0010] When the robot device is not in use, the first docking component can be loaded onto the trolley; when the robot device is in use, the first docking component is separated from the trolley, and the second docking component can be loaded onto the hospital bed.

[0011] The second docking assembly includes a second supporting side plate, a lower support member, and an upper support member. The second supporting side plate is connected to the side of the loading seat. The lower support member and the upper support member are respectively disposed on the lower and upper parts of the second supporting side plate, and at least one of them is vertically adjustable on the second supporting side plate. The lower support member is used to abut against the lower side of the hospital bed, and the upper support member is used to abut against the upper side of the hospital bed.

[0012] According to some embodiments of the present invention, the first docking assembly includes a first supporting side plate and a supporting top plate connected together. The first supporting side plate is connected to the side of the loading seat and is used to be placed on the side of the trolley. The supporting top plate is used to be placed on the top of the trolley.

[0013] According to some embodiments of the present invention, the side of the trolley is provided with a first pressing mechanism, the first pressing mechanism being used to press against the side of the first support side plate away from the trolley;

[0014] The top of the trolley is provided with a second pressing mechanism, which is used to press against the side of the supporting top plate away from the trolley.

[0015] According to some embodiments of the present invention, the top of the trolley is provided with a limiting member, which is used to limit the edge of the supporting top plate;

[0016] The limiting member has a limiting part located above the supporting top plate, and the limiting part has a first knob fixing member for pressing the supporting top plate.

[0017] According to some embodiments of the present invention, the second docking assembly further includes a side rail baffle, which is disposed on the upper part of the side of the second support side plate away from the loading seat. When the robot device is loaded onto the hospital bed, the side rail baffle is used to abut against the side rail of the hospital bed.

[0018] According to some embodiments of the present invention, the second docking assembly further includes:

[0019] An adjusting seat is connected to the top of the second support side plate. The top of the adjusting seat is provided with a protrusion extending above the side rail baffle. The adjusting seat is vertically provided with a first strip-shaped through groove.

[0020] A knob clamping component is inserted into the strip groove and connected to the upper support component;

[0021] The first knob lock is threadedly connected to the protrusion and abuts against the top of the upper support member;

[0022] And / or, the second docking component further includes;

[0023] The cam handle has a second vertically formed slot on the second support side plate. The connecting rod of the cam handle passes through the second slot and is connected to the lower support member.

[0024] The second knob lock has a screw threadedly connected to the lower support member and is used to abut against the bottom of the hospital bed.

[0025] According to some embodiments of the present invention, the robotic arm includes a lifting structure, a first rotating arm, a second rotating arm, and a third rotating arm connected in sequence. The lifting structure is disposed on the loading seat, and the machine control mechanism is connected to the end of the third rotating arm away from the second rotating arm.

[0026] According to some embodiments of the present invention, the interventional surgical device further includes a third docking assembly, the third docking assembly comprising:

[0027] The docking seat has a drive component at the end of the robotic arm, an output shaft at the drive component, one end of the docking seat being connected to the output shaft, and a docking hole along its central axis.

[0028] A locking structure is connected to the side of the docking seat. The locking structure is provided with a locking member that can extend into the docking hole. The locking member can be manipulated to retract from the docking hole.

[0029] A docking shaft, one end of which is connected to the side of the instrument control mechanism, has an insertion hole on the side of the docking shaft, and the locking member is inserted into the insertion hole when it extends into the docking hole.

[0030] According to some embodiments of the present invention, a guide block is provided on the side of the docking shaft, and a guide notch is provided at the end of the docking seat away from the output shaft, and the guide block is used to be fitted into the guide notch.

[0031] As can be seen from the above technical solution, the present invention has the following advantages: When the robotic device is used in a specific application, the first docking component is separate from the trolley, and the second docking component is mounted on the hospital bed, thereby mounting the robotic device on the hospital bed. The robotic arm controls the instrument control mechanism to move relative to the hospital bed. With this configuration, the robotic device and the hospital bed are integrated. During application, medical staff can directly control the raising, lowering, and moving of the hospital bed. The robotic device moves synchronously with the hospital bed, ensuring that the instrument control mechanism maintains the same angle as the surgical approach. Therefore, medical staff do not need to repeatedly calibrate the robotic device, saving time and effort in the surgical procedure. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0033] Figure 1 This is a schematic diagram of the overall structure of the interventional surgical device disclosed in the embodiments of this application;

[0034] Figure 2 This is a schematic diagram of the overall structure of the trolley disclosed in the embodiments of this application;

[0035] Figure 3 This is a schematic diagram of the overall structure of the robot device disclosed in the embodiments of this application;

[0036] Figure 4 This is a schematic diagram of the second docking component disclosed in an embodiment of this application from one angle.

[0037] Figure 5 This is another structural schematic diagram of the second docking component disclosed in the embodiments of this application;

[0038] Figure 6 for Figure 3 Enlarged schematic diagram of region A in the middle;

[0039] Figure 7 This is an exploded structural diagram of the third docking component disclosed in an embodiment of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 100. Trolley; 110. Docking side plate; 120. Docking top plate; 130. Second knob fixing component; 140. Limiting component; 141. Limiting part; 142. First knob fixing component; 150. First pressing mechanism; 160. Second pressing mechanism; 200. Robot device; 210. Loading seat; 220. Mechanical arm; 221. Lifting structure; 222. First rotating arm; 223. Second rotating arm; 224. Third rotating arm; 225. Driving component; 230. Machinery control mechanism; 300. First docking assembly; 310. First supporting side plate; 320. Supporting top plate; 4 00. Second docking assembly; 410. Second support side plate; 411. Second strip-shaped through groove; 420. Lower support member; 430. Upper support member; 440. Side rail baffle; 450. Adjustment seat; 451. Protrusion; 452. First strip-shaped through groove; 460. Knob clamping member; 470. First knob locking member; 480. Cam handle; 490. Second knob locking member; 500. Third docking assembly; 510. Dating seat; 511. Dating hole; 512. Guide notch; 520. Locking structure; 521. Locking member; 530. Dating shaft; 531. Insertion hole; 532. Guide block. Detailed Implementation

[0042] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0043] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] This application discloses an interventional surgical device; please refer to [link / reference]. Figures 1 to 3The system includes a trolley 100, a robot device 200, a first docking component 300, and a second docking component 400. The robot device 200 includes a loading seat 210, a robotic arm 220, and an instrument control mechanism 230. The robotic arm 220 is mounted on the loading seat 210, and the instrument control mechanism 230 is mounted on the robotic arm 220 for pushing interventional consumables. The first docking component and the second docking component 400 are respectively mounted on opposite sides of the loading seat 210. When the robot device 200 is not in use, the first docking component 300 can be mounted on the trolley 100. When the robot device 200 is in use, the first docking component 300 is separated from the trolley 100, and the second docking component 400 can be adjusted and mounted on the hospital bed.

[0046] Specifically, when the interventional surgical equipment is not in use, the first docking assembly 300 is mounted on the trolley 100, thereby mounting the robotic device 200 on the trolley 100. When the interventional surgical equipment needs to be used, the robotic device 200 can be detached from the trolley 100, that is, the first docking assembly 300 is separated from the trolley 100, and the second docking assembly 400 is mounted on the side of the bed, thereby mounting the robotic device 200 on the bed for use.

[0047] After the robot device 200 is used, the first docking component 300 is loaded onto the trolley 100, and the second docking component 400 is separated from the bed, thus loading the robot device 200 onto the trolley 100. This allows medical staff to easily move the robot device 200 to any location for placement. When the robot device 200 is needed again, the trolley 100 can easily transport it to the bedside, lower the bed to a suitable position, and then bring the robot device 200 closer to the bed so that the second docking component 400 contacts the bed, securing it firmly. Then, the first docking component 300 is loosened, and the trolley 100 is removed.

[0048] Understandably, when the robotic device 200 is used, the first docking component 300 is separate from the trolley 100, and the second docking component 400 is mounted on the hospital bed, thus mounting the robotic device 200 onto the bed. The robotic arm 220 controls the instrument control mechanism 230 to move relative to the hospital bed for convenient use. The robotic device 200 and the hospital bed are integrated, allowing medical staff to directly control the bed's lifting, lowering, and forward / backward movement. The robotic device 200 moves synchronously with the hospital bed, ensuring that the instrument control mechanism 230 maintains the same angle as the surgical approach. This eliminates the need for repeated calibration of the robotic device 200, saving time and effort in the surgical procedure.

[0049] In some embodiments, please refer to Figures 1 to 3The first docking assembly 300 includes a first supporting side plate 310 and a supporting top plate 320. The first supporting side plate 310 is connected to the side of the loading seat 210, and the first supporting side plate 310 and the supporting top plate 320 are connected in an L-shape. Meanwhile, the trolley 100 has a docking side plate 110 on its side that connects to the first supporting side plate 310, and a docking top plate 120 on its top that connects to the supporting top plate 320. Therefore, when the first docking assembly 300 is loaded onto the trolley 100, the first supporting side plate 310 is used to place the docking side plate 110 on the side of the trolley 100, and the supporting top plate 320 is used to place the docking top plate 120 on the top of the trolley 100.

[0050] It is understandable that the first docking component 300 adopts the above-described structural form, the first supporting side plate 310 can be conveniently placed on the side of the trolley 100, and the supporting top plate 320 can be conveniently placed on the top of the trolley 100. Thus, the robot device 200 can be conveniently loaded onto the trolley 100 through the first docking component 300. Correspondingly, the robot device 200 can be conveniently transferred from the trolley 100 to the hospital bed, or in other words, the robot device 200 can be conveniently transferred from the hospital bed to the trolley 100.

[0051] In some embodiments, please refer to Figures 1 to 3 The trolley 100 also includes a first pressing mechanism 150 and a second pressing mechanism 160. The first pressing mechanism 150 is disposed on the side of the trolley 100 and is used to press against the side of the first support side plate 310 away from the trolley 100. The second pressing mechanism 160 is disposed on the top of the trolley 100 and is used to press against the side of the support top plate 320 away from the trolley 100.

[0052] In practical application, when the first docking component 300 is placed on the trolley 100, the first supporting side plate 310 is attached to the side of the trolley 100, and the supporting top plate 320 is attached to the top of the trolley 100. At this time, the first pressing mechanism 150 can be operated to press against the side of the first supporting side plate 310 away from the trolley 100, thereby ensuring that the first supporting side plate 310 is firmly attached to the side of the trolley 100. Similarly, the second pressing mechanism 160 can be operated to press against the side of the supporting top plate 320 away from the trolley 100, thereby ensuring that the supporting top plate 320 is firmly attached to the top of the trolley 100. It can be seen that the first pressing mechanism 150 and the second pressing mechanism 160 cooperate to ensure that the first docking component 300 can be stably loaded on the trolley 100.

[0053] Understandably, with the first clamping mechanism 150 and the second clamping mechanism 160 configured, when the first docking component 300 is loaded onto the trolley 100, the first clamping mechanism 150 and the second clamping mechanism 160 can conveniently fix the robot device 200, thereby conveniently fixing the robot device 200 onto the trolley 100; when the first docking component 300 is separated from the trolley 100, the first clamping mechanism 150 and the second clamping mechanism 160 can conveniently unlock the robot device 200, thereby conveniently separating the robot device 200 from the trolley 100 and then loading it onto the hospital bed.

[0054] To further secure the top plate 320, in some embodiments, please refer to... Figures 1 to 3 The trolley 100 has multiple limiting members 140 on its top, which are located around the support top plate 320 to restrict the edges of the support top plate 320. Each limiting member 140 also has a limiting portion 141 located above the support top plate 320, and this limiting portion 141 has a first knob fixing member 142 for pressing the support top plate 320. The trolley 100 also has a second knob fixing member 130 on its top, which passes through the support top plate 320 to press downwards against it.

[0055] In some embodiments, please refer to Figure 1 , Figure 2 and Figure 4 The second docking assembly 400 includes a second support side plate 410, a lower support member 420, and an upper support member 430. The second support side plate 410 is connected to the side of the loading seat 210 away from the first support side plate 310. The lower support member 420 and the upper support member 430 are respectively disposed on the lower and upper parts of the second support side plate 410. At least one of the lower support member 420 and the upper support member 430 is vertically adjustable on the second support side plate 410. The lower support member 420 is used to abut against the lower side of the hospital bed, and the upper support member 430 is used to abut against the upper side of the hospital bed.

[0056] Understandably, when the second docking assembly 400 is mounted on the hospital bed, the lower support member 420 is located on the lower side of the hospital bed, and the upper support member 430 is located on the upper side of the hospital bed. At least one of the lower support member 420 and the upper support member 430 is vertically adjustable on the second support side plate 410, thereby allowing the lower support member 420 and the upper support member 430 to be securely clamped to the upper and lower sides of the hospital bed, thus ensuring that the robot device 200 is securely mounted on the hospital bed.

[0057] In some embodiments, please refer to Figure 4The second docking assembly 400 also includes a side rail baffle 440, which is disposed on the upper part of the side of the second support side plate 410 away from the loading seat 210. For example, the side rail baffle 440 is fixedly connected to the second support side plate 410 by screws. When the second docking assembly 400 is loaded on the side of the hospital bed, the side rail baffle 440 is used to abut against the side rail of the hospital bed. Thus, the second docking assembly 400 can be firmly abutted against the side of the hospital bed, thereby making the robot device 200 firmly loaded on the hospital bed.

[0058] In some embodiments, please refer to Figure 4 and Figure 5 The second docking assembly 400 also includes an adjusting seat 450, a knob clamping member 460, and a first knob locking member 470. The adjusting seat 450 is generally Z-shaped, with one end connected to the top of the second support side plate 410 and vertically upward. The vertical portion of the adjusting seat 450 has a first strip-shaped through groove 452, and the top of the adjusting seat 450 has a protrusion 451 extending above the side rail baffle 440. The screw of the knob clamping member 460 passes through the first strip-shaped through groove 452 and is connected to one end of the upper support member 430. The screw of the first knob locking member 470 passes vertically through the protrusion 451 and is threadedly connected to the protrusion 451; the screw of the first knob locking member 470 abuts against the top of the upper support member 430.

[0059] Specifically, when the second docking assembly 400 is loaded onto the hospital bed, the medical staff controls the screw of the first knob lock 470 to move downward, thereby pushing the upper support 430 to be firmly pressed against the hospital bed; then, the medical staff tightens the knob of the knob clamping member 460, thereby making the upper support 430 firmly abut against the side of the second support side plate 410, thereby tightening the upper support plate, thus the upper support 430 is firmly pressed against the upper side of the hospital bed.

[0060] In some embodiments, please refer to Figure 4 and Figure 5 The second docking assembly 400 also includes a cam handle 480 and a second knob lock 490. A second strip-shaped through groove 411 is vertically formed at the lower part of the second support side plate 410. The connecting rod of the cam handle 480 passes through the second strip-shaped through groove 411 and is connected to the lower support member 420. The screw of the second knob lock 490 is threadedly connected to the lower support member 420 and is used to abut against the lower side of the hospital bed.

[0061] Specifically, when the second docking assembly 400 is loaded onto the hospital bed, the medical staff controls the screw of the second rotary lock 490 to move upward, thereby firmly pressing it against the lower side of the hospital bed; then, the medical staff tightens the cam handle 480, thereby making the lower support 420 firmly abut against the side of the second support side plate 410, thereby tightening the lower support 420. Thus, the lower support 420 is fastened to the lower side of the hospital bed by the second rotary lock 490.

[0062] In some embodiments, please refer to Figure 1 and Figure 3 The robotic arm 220 includes a lifting structure 221, a first rotating arm 222, a second rotating arm 223, and a third rotating arm 224. The lifting structure 221 is mounted on the loading base 210. The first rotating arm 222, the second rotating arm 223, and the third rotating arm 224 are sequentially rotatably connected to the top of the lifting structure 221. The instrument control mechanism 230 is connected to the end of the third rotating arm 224 away from the second rotating arm 223. It is understood that the robotic arm 220, with the above-described structure, has five degrees of freedom: four rotational degrees of freedom and one lifting degree of freedom. It is controlled by two sets of buttons on the handle of the instrument control system. Pressing the button controlling the four rotational degrees of freedom unlocks all four rotating joints, allowing for arbitrary dragging. Pressing the + / - button controlling the lifting degree of freedom raises or lowers the lifting structure 221, allowing for convenient and quick adjustment to the desired height and angle.

[0063] In some embodiments, please refer to Figure 1 , Figure 6 and Figure 7 The interventional surgical device also includes a third docking assembly 500. The end of the robotic arm 220 is equipped with a drive member 225, which has an output shaft. The third docking assembly 500 is connected between the output shaft and the robotic device 200. Specifically, the third docking assembly 500 includes a docking seat 510, a locking structure 520, and a docking shaft 530. The docking seat 510 has a docking hole 511 along its central axis. One end of the docking seat 510 is connected to the output shaft by a screw, thereby enabling the drive member 225 to drive the docking seat 510 to rotate. The locking structure 520 is connected to the side of the docking seat 510 and has a locking member 521 that can extend into the docking hole 511. The locking member 521 can be manipulated to retract from the docking hole 511. One end of the docking shaft 530 is connected to the side of the instrument control mechanism 230, and the other end of the docking shaft 530 is used to insert into the docking hole 511 of the docking seat 510. The side of the docking shaft 530 is provided with a socket 531, and the locking member 521 is inserted into the socket 531 when it extends into the docking hole 511.

[0064] Understandably, when the instrument control mechanism 230 is assembled onto the robotic arm 220, the medical staff operates the locking member 521 of the locking structure 520 to retract towards the side of the docking seat 510, and the docking shaft 530 is inserted into the docking hole 511 of the docking seat 510. Then, the locking member 521 of the locking structure 520 is inserted into the insertion hole 531 of the docking shaft 530, thereby locking the docking shaft 530, thus facilitating the assembly of the instrument control mechanism 230 onto the robotic arm 220. If it is necessary to disassemble the instrument control mechanism 230, the medical staff operates the locking member 521 of the locking structure 520 to retract towards the side of the docking seat 510, and the locking member 521 separates from the insertion hole 531, thereby allowing the docking shaft 530 to be pulled out from the docking hole 511, and the instrument control mechanism 230 to be removed from the robotic arm 220. Therefore, the locking structure 520 facilitates the installation and disassembly of the instrument control mechanism 230.

[0065] Furthermore, the docking shaft 530 has a guide block 532 on its side, and the docking seat 510 has a guide notch 512 at its end away from the output shaft. When the docking shaft 530 is inserted into the docking hole 511 of the docking seat 510, the guide block 532 is used to fit into the guide notch 512. It can be understood that when the docking shaft 530 is inserted into the docking hole 511 of the docking seat 510, the guide block 532 and the guide notch 512 guide and position it, thereby aligning the insertion hole 531 with the locking structure 520, thus ensuring that the locking member 521 of the locking structure 520 can be inserted into the insertion hole 531 of the docking shaft 530. At the same time, when the driving member 225 drives the docking seat 510 to rotate, the docking seat 510 drives the docking shaft 530 to rotate through the guide block 532, thereby adjusting the posture of the instrument control mechanism 230.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An interventional surgical device, characterized in that, include: trolley; A robotic device includes a loading platform, a robotic arm, and a device control mechanism. The robotic arm is mounted on the loading platform, and the device control mechanism is mounted on the robotic arm for intervening in the pushing of consumables. The first docking component and the second docking component are respectively disposed on opposite sides of the loading seat; When the robot device is not in use, the first docking component can be loaded onto the trolley; when the robot device is in use, the first docking component is separated from the trolley, and the second docking component can be loaded onto the hospital bed. The first docking assembly includes a first supporting side plate and a supporting top plate connected to each other. The first supporting side plate is connected to the side of the loading seat and is used to be placed on the side of the trolley. The supporting top plate is used to be placed on the top of the trolley. The second docking assembly includes a second supporting side plate, a lower support member, an upper support member, a side rail baffle, an adjusting seat, a knob clamping member, and a first knob locking member. The second supporting side plate is connected to the side of the loading seat. The lower support member and the upper support member are respectively disposed on the lower and upper parts of the second supporting side plate, and at least one of them is vertically adjustable on the second supporting side plate. The lower support member is used to abut against the lower side of the hospital bed, and the upper support member is used to abut against the upper side of the hospital bed. The side rail baffle is provided with... The upper part of the second support side plate on the side away from the loading seat is used to abut against the side rail of the hospital bed; the adjusting seat is connected to the top of the second support side plate, and the top of the adjusting seat is provided with a protrusion extending to the top of the side rail baffle; the adjusting seat is vertically provided with a first strip-shaped through groove; the knob clamping member passes through the first strip-shaped through groove and is connected to the upper support member; the screw of the first knob locking member is threadedly connected to the protrusion and abuts against the top of the upper support member; And / or, the second docking assembly further includes a cam handle, a second knob lock, and a second vertically formed slot in the second support side plate. The connecting rod of the cam handle passes through the second slot and is connected to the lower support. The screw of the second knob lock is threaded to the lower support and is used to abut against the lower side of the bed. The third docking assembly includes a docking seat, a locking structure, and a docking shaft. The end of the robotic arm is provided with a drive member, and the drive member is provided with an output shaft. One end of the docking seat is connected to the output shaft, and the docking seat is provided with a docking hole along its central axis. The locking structure is connected to the side of the docking seat and is provided with a locking member that can extend into the docking hole. The locking member can be manipulated to retract from the docking hole. One end of the docking shaft is connected to the side of the instrument control mechanism, and the side of the docking shaft is provided with an insertion hole. When the locking member extends into the docking hole, it is inserted into the insertion hole.

2. The interventional surgical device according to claim 1, characterized in that, The trolley is provided with a first pressing mechanism on its side, which is used to press against the side of the first support side plate away from the trolley. The top of the trolley is provided with a second pressing mechanism, which is used to press against the side of the supporting top plate away from the trolley.

3. The interventional surgical device according to claim 1, characterized in that, The top of the trolley is provided with a limiting member, which is used to limit the edge of the supporting top plate; The limiting member has a limiting part located above the supporting top plate, and the limiting part has a first knob fixing member for pressing the supporting top plate.

4. The interventional surgical device according to claim 1, characterized in that, The robotic arm includes a lifting structure, a first rotating arm, a second rotating arm, and a third rotating arm connected in sequence. The lifting structure is located on the loading seat, and the machine control mechanism is connected to the end of the third rotating arm away from the second rotating arm.

5. The interventional surgical device according to claim 1, characterized in that, The side of the docking shaft is provided with a guide block, and the end of the docking seat away from the output shaft is provided with a guide notch. The guide block is used to be embedded in the guide notch.

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