Interventional catheter rotation and bending mechanism and surgical robot

Abstract

This invention discloses an interventional catheter rotation and bending mechanism and a surgical robot. The interventional catheter rotation and bending mechanism includes: a main frame; a main drive motor; a rotation module including a rotation shaft, a rotating drive wheel and a rotating auxiliary drive wheel connected by transmission; a bending module including a first bending module and at least one set of second bending modules, the first bending module including a first bending transmission component, a first reversing component and a first bending component, the first bending transmission component including a first bending drive wheel and a first bending auxiliary drive wheel connected by transmission to each other, the first bending drive wheel being connected to the main drive motor; and a switching module connecting the first bending drive wheel and the rotating drive wheel respectively, the switching module being able to lock the first bending drive wheel and the rotating drive wheel for coaxial rotation or separate them for independent movement. This application provides a variety of bending modes, allowing selection of the desired bending mode to stop the activation of irrelevant components, thus simplifying the bending steps and the corresponding control algorithm.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more particularly to an interventional catheter rotation and bending mechanism and a surgical robot. Background Technology

[0002] Some lesions in the human body are located at the end of natural cavities (such as the end of the lungs and the nerve endings in the brain), with complex pathways and numerous intersections, making it difficult for medical instruments to reach them manually. By using a surgical robot in collaboration with a surgeon, the success rate of surgery can be improved, and the hygiene of the surgical process can be ensured. The surgical robot includes an interventional catheter handle, which contains an interventional catheter for insertion into the human body. The surgical robot controls the interventional catheter to reach the intersection of the cavity and then controls its bending, allowing the tip of the interventional catheter to precisely reach the area to be treated.

[0003] Currently, the interventional catheter rotation and bending mechanisms used in surgical robots on the market have bidirectional bending or omnidirectional bending. Omnidirectional bending is achieved by combining bidirectional bending of the interventional catheter with the rotation of the interventional catheter. When the bending direction exceeds bidirectional, that is, when the bending direction required by the interventional sheath is not on the bending pull surface, the interventional catheter must be rotated to make the bending pull surface consistent with the bending direction required by the interventional sheath. This makes the surgical process complicated, and the corresponding interventional catheter rotation and bending mechanism structure becomes more complicated, and the control algorithm of the surgical robot also becomes more complicated. Summary of the Invention

[0004] This application provides an interventional catheter rotation and bending mechanism and a surgical robot, which solves the problems of complex bending and structural complexity in existing interventional catheter rotation and bending mechanisms.

[0005] This application provides an interventional catheter rotation and bending mechanism, including:

[0006] Main frame;

[0007] The main drive motor is mounted on the main frame;

[0008] The rotating module includes a rotating shaft, a rotating drive wheel and a rotating auxiliary drive wheel connected by a transmission. The rotating shaft is rotatably mounted on the main frame, the rotating auxiliary drive wheel is fixedly sleeved on the rotating shaft, and the interventional catheter handle is mounted on the rotating shaft.

[0009] The bending module includes a first bending module and at least one set of second bending modules. The first bending module includes a first bending transmission assembly, a first reversing assembly, and a first bending assembly. The first bending transmission assembly includes a first bending drive wheel and a first bending auxiliary drive wheel that are connected to each other. The first bending drive wheel is connected to the main drive motor. The first bending auxiliary drive wheel and the first bending assembly are rotatably mounted on the rotating shaft. The first bending auxiliary drive wheel drives the first bending assembly to rotate through the first reversing assembly. The second bending module includes a bending drive assembly, a second bending transmission assembly, a second reversing assembly, and a second bending assembly. The second bending assembly and the second reversing assembly are rotatably mounted on the rotating shaft. The rotation of the second reversing assembly drives the second bending assembly to rotate. The bending drive assembly is mounted on the main frame. The bending drive assembly drives the second reversing assembly to rotate through the second bending transmission assembly. The first bending assembly and the second bending assembly are respectively connected to two sets of bending control assemblies of the interventional catheter handle to control the interventional catheter to bend bidirectionally in different planes.

[0010] The switching module connects the first bending drive wheel and the rotating drive wheel respectively, and the first bending drive wheel and the rotating drive wheel are stacked axially on the main frame. The switching module can lock the first bending drive wheel and the rotating drive wheel together for coaxial rotation or can unlock and separate the first bending drive wheel and the rotating drive wheel for independent movement.

[0011] Understandably, this application's design of the main drive motor and switching module allows the first bending transmission component and the rotary module to share a single motor, which simplifies the overall structure and makes the mechanism compact and lightweight. More importantly, the switching module controls the locking connection or separation of the first bending drive wheel and the rotary drive wheel, enabling the mechanism to have a bidirectional bending mode and a rotary omnidirectional bending mode. Combined with the second bending module, the mechanism has a four-way bending mode, which is a non-rotational omnidirectional bending mode. This application can select one of the bending modes according to the requirements. For example, when the four-way bending mode is selected, only the second bending module and the first bending module need to be activated, without the need for the rotary module to rotate. Therefore, the surgical robot using the mechanism of this application can simplify the operation steps and control algorithms.

[0012] In one feasible solution, the switching module includes a switching control component, a stator component, and a locking component. The stator component is fixedly connected to the first bending drive wheel, and the locking component is movably disposed on the rotating drive wheel. The switching control component controls the locking component to move along the rotating drive wheel toward the stator component and engage in locking, or controls the locking component to move along the rotating drive wheel away from the stator component to disengage and unlock.

[0013] In one feasible solution, the switching module is configured as an electromagnetic clutch, the stator component is configured as a clutch friction plate, the locking component is configured as a magnetic pressure plate, and the switching control component is configured as an electromagnetic coil holder. The electromagnetic coil holder is sleeved on the rotating drive wheel, and the magnetic pressure plate is located between the electromagnetic coil holder and the clutch friction plate. When the electromagnetic coil holder is energized, it generates a magnetic field, and the magnetic pressure plate moves towards the clutch friction plate under the action of the magnetic field to engage and lock. The switching of the connection between the rotating drive wheel and the first bending drive wheel is achieved through the electromagnetic clutch. The switching method is simple and easy to control.

[0014] In one feasible solution, the first reversing assembly includes a first reversing drive wheel and a first reversing auxiliary wheel that are mutually driven and whose rotation axes are set at an angle. The first reversing drive wheel and the first reversing auxiliary wheel are coaxially fixedly connected, and the first reversing auxiliary wheel is connected to the first reversing assembly.

[0015] The second reversing assembly includes a second reversing drive wheel and a second reversing auxiliary wheel that are mutually connected and whose rotation axes are set at an angle. The second reversing drive wheel is connected to the second bending transmission assembly, and the second reversing auxiliary wheel is connected to the second bending assembly.

[0016] The second reversing drive wheel is sleeved on the rotating shaft and can rotate relative to the rotating shaft. The first reversing drive wheel is sleeved on the second reversing drive wheel and can rotate relative to the second reversing drive wheel. It can be understood that by sleeved the second reversing drive wheel on the rotating shaft and the first reversing drive wheel on the second reversing drive wheel, the rotating shaft rotates simultaneously, driving both the second reversing drive wheel and the first reversing wheel to rotate together, and making the structural layout compact.

[0017] In one feasible embodiment, the second bending transmission assembly includes a second bending drive wheel, a second bending auxiliary drive wheel, and a second bending transmission belt. The second bending transmission belt is respectively fitted onto the second bending drive wheel and the second bending auxiliary drive wheel to transmit power. The second bending auxiliary drive wheel is coaxially and fixedly connected to the second reversing drive wheel. This simplifies the structure and makes it more compact.

[0018] In one feasible solution, the first reversing assembly further includes a first reversing drive belt, a first reversing idler pulley, and a second reversing idler pulley. The two ends of the first reversing drive belt are respectively sleeved on the first reversing driving pulley and the first reversing auxiliary driving pulley. The first reversing idler pulley and the second reversing idler pulley are arranged opposite to each other on both sides of the first reversing drive belt, and the rotation axes of the first reversing idler pulley and the second reversing idler pulley are both set at an angle to the rotation axis of the first reversing driving pulley.

[0019] The second reversing assembly further includes a second reversing drive belt, a third reversing idler pulley, and a fourth reversing idler pulley. The two ends of the second reversing drive belt are respectively sleeved on the second reversing driving pulley and the second reversing auxiliary driving pulley. The third reversing idler pulley and the fourth reversing idler pulley are arranged opposite each other on both sides of the second reversing drive belt, and the rotation axes of the third reversing idler pulley and the fourth reversing idler pulley are both set at an angle to the rotation axis of the second reversing auxiliary driving pulley. Understandably, the first reversing assembly, by setting a first reversing idler wheel and a second reversing idler wheel, transmits the power transmitted on the first reversing drive wheel to the first reversing auxiliary drive wheel after changing the angle of the power transmission. In other words, it reverses the power transmission of the main drive motor and transmits it to the first adjustment assembly. In this way, the main drive motor and the first adjustment assembly can be arranged separately, which is more flexible in layout and prevents the first adjustment assembly from getting tangled with the main drive motor cable when rotating with the rotation shaft. Similarly, the second reversing assembly, by setting a third reversing idler wheel and a fourth reversing idler wheel, reverses the transmission force, which allows the second adjustment drive assembly and the second adjustment assembly to be arranged separately, which is more flexible in layout and prevents the second adjustment assembly from getting tangled with the cable when rotating with the rotation shaft.

[0020] In one feasible embodiment, the rotating module further includes a rotating seat for mounting the interventional catheter handle, the rotating seat being disposed on the rotating shaft; the first bending adjustment component and the second bending adjustment component are arranged side-by-side on the rotating seat along the axial direction of the rotating shaft. By providing a rotating seat, it is beneficial to rationally arrange the first bending adjustment component, the second bending adjustment component, and the interventional catheter handle thereon, making the overall structure more compact.

[0021] In one feasible solution, the two ends of the first reversing drive belt are fitted onto the first reversing drive pulley and the first reversing auxiliary drive pulley to form a transmission ring, and the second reversing assembly and the second bending assembly are located within the transmission ring. This arrangement makes the structural layout more compact and avoids interference between the first and second reversing drive belts during operation, ensuring smooth operation of each reversing drive assembly.

[0022] In one feasible embodiment, the first bending assembly includes a first bending shaft and a first rotating seat. The first bending shaft passes through the rotating seat, one end of the first bending shaft is fixed to the first reversing auxiliary wheel, and the other end is provided with the first rotating seat. The first rotating seat is used to connect with the bending control assembly.

[0023] In one feasible embodiment, the rotary transmission assembly further includes a rotary transmission belt, with its two ends respectively fitted onto the rotary driving pulley and the rotary auxiliary pulley. It is understood that belt drive allows the rotary driving pulley and the rotary auxiliary pulley to achieve transmission without direct contact, thus providing greater flexibility in their placement and reducing the complexity of the overall layout.

[0024] This application also provides a surgical robot, including a main control mechanism, an interventional catheter handle, and an interventional catheter rotation and bending mechanism. The interventional catheter rotation and bending mechanism is the interventional catheter rotation and bending mechanism described in any of the above embodiments. The interventional catheter handle is mounted on the interventional catheter rotation and bending mechanism. The main control mechanism is connected to the interventional catheter rotation and bending mechanism and is used to adjust the position of the interventional catheter rotation and bending mechanism and control the interventional catheter rotation and bending mechanism to adjust the bending direction of the interventional catheter tip in the interventional catheter handle.

[0025] Based on the above scheme, it can be seen that the design of the main drive motor and the switching module in this application allows the first bending transmission component and the rotary module to share a single motor, which helps to simplify the overall structure of the mechanism and make the mechanism compact and lightweight. More importantly, the switching module controls the locking connection or separation of the first bending drive wheel and the rotary drive wheel to enable the mechanism to have a bidirectional bending mode and a rotary omnidirectional bending mode. Combined with the second bending module, the mechanism has a four-way bending mode (i.e., non-rotational omnidirectional bending). This application can select one of the bending modes according to the requirements. For example, when the four-way bending mode is selected, only the second bending module and the first bending module need to be started, and the rotary module does not need to be rotated. Therefore, the surgical robot using the mechanism of this application can simplify the operation steps and control algorithm. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the interventional catheter rotation and bending mechanism in one embodiment of this application;

[0028] Figure 2 for Figure 1 A schematic diagram of the interventional catheter rotation and bending mechanism in the embodiment from another perspective (hiding part of the main frame structure);

[0029] Figure 3 for Figure 1 A bottom view of the interventional catheter rotation and bending mechanism in the embodiment;

[0030] Figure 4 for Figure 3 The AA section view in the image (showing the switching module, rotation module, and first bending module);

[0031] Figure 5 for Figure 3 BB section view (showing the second bending module);

[0032] Figure 6 for Figure 1 A partial structural schematic diagram of the interventional catheter rotation and bending mechanism in the embodiment;

[0033] Figure 7 A cross-sectional view of the interventional catheter handle in bidirectional bending mode;

[0034] Figure 8 for Figure 7 A schematic diagram of the cross-section of a transcatheter.

[0035] Figure 9 A cross-sectional view of the interventional catheter handle in four-way bending mode;

[0036] Figure 10 for Figure 9 A schematic diagram of the cross-section of a transcatheter.

[0037] Figure 11 This is a schematic diagram of the interventional catheter in a bent position.

[0038] Numbering on the map:

[0039] 100. Interventional catheter rotation and bending mechanism; 10. Main frame; 20. Rotation module; 21. Rotation shaft; 22. Rotation drive wheel; 23. Rotation auxiliary drive wheel; 24. Rotation transmission belt; 25. Rotation seat; 251. Receiving groove; 26. Rotation tension wheel; 30a. First bending module; 31a. First bending transmission assembly; 311a. First bending drive wheel; 312a. First bending auxiliary drive wheel; 313a. 314a, First bending drive belt; 32a, First bending tension pulley; 321a, First reversing assembly; 322a, First reversing drive pulley; 323a, First reversing drive belt; 324a, First reversing idler pulley; 325a, Second reversing idler pulley; 33a, First bending assembly; 331a, First bending shaft; 332a, First rotating seat; 30b, Second bending module; 31b 311b, Second bending transmission assembly; 312b, Second bending drive wheel; 313b, Second bending auxiliary drive wheel; 314b, Second bending transmission belt; 32b, Second bending tension wheel; 32b, Second reversing assembly; 321b, Second reversing drive wheel; 322b, Second reversing auxiliary drive wheel; 323b, Second reversing transmission belt; 324b, Third reversing idler wheel; 325b, Fourth reversing idler wheel; 33b, Second bending assembly; 331b, Second bending shaft; 332b, Second rotating seat; 34, Slewing bearing; 35, Bending drive assembly; 40, Switching module; 41, Switching control component; 42, Stator component; 43, Locking component; 50, Main drive motor; 200, Intervention catheter handle; 201, Intervention catheter; 202, Bending control assembly; 2021, Pull cable; 2022, Bending wheel; 204, Fiber optic channel. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application 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 application.

[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The technical solutions of this application are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0043] Currently, the interventional catheter rotation and bending mechanisms used in surgical robots on the market only have bidirectional bending mode or rotary universal bending mode. The rotary universal bending is achieved by combining bidirectional bending of the interventional catheter with the rotation of the interventional catheter. When the bending direction exceeds bidirectional, that is, when the required bending direction of the interventional catheter is not on the bending pull surface, the interventional catheter handle must be rotated, which complicates the surgical process and makes the corresponding interventional catheter rotation and bending mechanism structure more complex, and the control algorithm of the surgical robot also becomes more complex.

[0044] When considering solutions to the algorithm problem of interventional catheter rotation and bending mechanism, the applicant considered that during surgery, it is necessary to combine bidirectional bending with interventional catheter rotation to achieve bending directions in more than two directions. At the same time, controlling bending and rotation is the root cause of the complexity of surgical operation steps and control algorithms. Therefore, how to achieve bending modes in more than two directions and simplify surgical operation control steps and the structure of the mechanism is a problem faced by those skilled in the art.

[0045] Figure 7 This is a cross-sectional view of the interventional catheter handle in bidirectional bending mode. Figure 8 for Figure 7 A schematic diagram of the cross-section of a transcatheter. Figure 9 This is a cross-sectional view of the interventional catheter handle in four-way bending mode (i.e., non-rotational universal bending). Figure 10 for Figure 9 A schematic diagram of the cross-section of a transcatheter, as shown below. Figure 7-10As shown, the interventional catheter handle 200 involved in this application includes at least two sets of bending control components 202. Each set of bending control components 202 is used to control the interventional catheter 201 to bend in two opposite directions. Each set of bending control components 202 includes a bending wheel 2022 and two pull wires 2021. One end of the two pull wires 2021 is disposed opposite to each other inside the interventional catheter 201, and the other end is disposed opposite to each other on the bending wheel 2022. By rotating the bending wheel 2022, the two opposite pull wires 2021 can be driven to generate relative displacement, thereby causing the interventional catheter 201 to bend. Each set of bending control components 202 can control the interventional catheter 201 to bend in two opposite directions, i.e., bidirectional bending. An optical fiber channel 204 is also provided inside the interventional catheter 201, and the optical fiber is disposed inside the interventional catheter 201 for communication. Similarly, as Figure 9 and Figure 10 As shown, two sets of bending control components 202 are set. Each set of bending control components 202 controls two bending forces that are not on the same plane to achieve bending in any direction within the angle of the two bending forces. Combined with the bending forces in four directions, the interventional catheter 201 can achieve non-rotational universal bending.

[0046] Figure 1 This is a schematic diagram of the overall structure of the interventional catheter rotation and bending mechanism 100 in one embodiment of this application; Figure 2 for Figure 1 A schematic diagram of the interventional catheter rotation and bending mechanism 100 in the embodiment from another perspective, as shown below. Figure 1 and Figure 2 As shown, the interventional catheter rotation and bending mechanism 100 of this embodiment includes a main frame 10 and a rotation module 20, a bending module, a switching module 40 and a main drive motor 50 respectively disposed on the main frame 10.

[0047] like Figures 1 to 5 As shown, Figure 3 for Figure 1 A bottom view of the interventional catheter rotation and bending mechanism 100 in the embodiment. Figure 4 for Figure 3 AA section view, Figure 5 for Figure 3 The BB cross-sectional view is shown in the figure. The rotating module 20 includes a rotating shaft 21, which is rotatably mounted on the main frame 10. The interventional catheter handle 200 is mounted on the rotating shaft 21 and can rotate with the rotating shaft 21. The main drive motor 50 can drive the rotating shaft 21 to rotate.

[0048] like Figure 4As shown, the rotating module 20 also includes a rotating transmission assembly, through which the main drive motor 50 drives the rotating shaft 21 to rotate. In this embodiment, the rotating transmission assembly includes a rotating active component and a rotating auxiliary wheel 23 connected by transmission. Specifically, the rotating active component is set as a rotating active wheel 22, which is connected to the main drive motor 50, and the rotating auxiliary wheel 23 is sleeved and fixed on the rotating shaft 21.

[0049] like Figures 1 to 5 As shown, the bending module includes a first bending module 30a and at least one second bending module 30b. The first bending module 30a includes a first bending transmission assembly 31a, a first reversing assembly 32a, and a first bending assembly 33a. The first bending transmission assembly 31a includes a first bending drive wheel 311a and a first bending auxiliary drive wheel 312a that are connected to each other. The first bending drive wheel 311a is connected to the main drive motor 50. The first bending auxiliary drive wheel 312a and the first bending assembly 33a are rotatably mounted on the rotating shaft 21. That is, the first bending auxiliary drive wheel 312a and the first bending component 33a can rotate with the rotating shaft 21 when it rotates, and can also rotate relative to the rotating shaft 21. The first bending auxiliary drive wheel 312a adjusts the direction of the transmission force through the first reversing component 32a and drives the first bending component 33a to rotate. The first bending component 33a is connected to the bending wheel 2022 in the interventional catheter handle 200. The rotation of the first bending component 33a can drive the bending wheel 2022 in the interventional catheter handle 200 to rotate, thereby controlling the bidirectional bending of the interventional catheter 201.

[0050] The second bending module 30b includes a bending drive assembly 35, a second bending transmission assembly 31b, a second reversing assembly 32b, and a second bending assembly 33b. Both the second bending assembly 33b and the reversing assembly 32b are rotatably mounted on the rotating shaft 21, meaning they can rotate with the rotating shaft 21 and simultaneously rotate relative to it. The rotation of the second reversing assembly 32b adjusts the direction of the transmission force and drives the second bending assembly 33b to rotate. The bending drive assembly 35 is mounted on the main frame 10 and drives the second reversing assembly 32b to rotate via the second bending transmission assembly 31b. It can be understood that the first bending assembly 33a and the second bending assembly 33b are respectively connected to two sets of bending control assemblies 202 of the interventional catheter handle 200 to control the bidirectional bending of the interventional catheter 201 in different planes, for example... Figure 11 As shown, Figure 11This is a schematic diagram of the interventional catheter 201 in the bending state. The first bending component 33a can be configured to control the interventional catheter 201 to bend bidirectionally in the first and third quadrants with opposite directions. The second bending component 33b can be configured to control the interventional catheter 201 to bend bidirectionally in the second and fourth quadrants with opposite directions. Thus, the first bending component 33a and the second bending component 33b can work simultaneously to achieve universal bending of the interventional catheter 201 without the interventional catheter 201 needing to rotate. If the first bending component 33a or the second bending component 33b works alone, the interventional catheter 201 can be bent bidirectionally.

[0051] In this embodiment, as Figure 4 and Figure 5 As shown, the switching module 40 is connected to the first bending drive wheel 311a and the rotating drive wheel 22 respectively, and the first bending drive wheel 311a and the rotating drive wheel 22 are stacked on the main frame along the axial direction. The switching module 40 can lock the first bending drive wheel 311a and the rotating drive wheel 22 to rotate coaxially or can unlock and separate the first bending drive wheel 311a and the rotating drive wheel 22 to move independently.

[0052] From the above, it is clear that the main drive motor 50 is switched via the switching module 40 to connect with either the rotating drive wheel 22 or the first bending drive wheel 311a, while the second bending module 30b can be controlled independently. Therefore, when the main drive motor 50 is switched to connect with the rotating drive wheel 22, the switching module 40 locks the first bending drive wheel 311a and the rotating drive wheel 22 together, allowing them to rotate. At this time, the interventional catheter 201 can be controlled to bend bidirectionally and rotate simultaneously. This rotation enables the interventional catheter 201 to achieve bidirectional bending in any axial plane, thus realizing the rotation of the interventional catheter 201. Universal bending mode; when the main drive motor 50 switches to connect with the first bending drive wheel 311a, the switching module 40 separates the first bending drive wheel 311a from the rotating drive wheel 22. In this way, the main drive motor 50 controls the first bending component 33a to rotate independently while the rotating shaft 21 stops rotating. That is, the interventional catheter 201 can achieve bidirectional bending but cannot perform universal bending, thus realizing the bidirectional bending mode of the interventional catheter 201. When performing bidirectional bending mode, the second bending module 30b is activated at the same time to realize the four-way bending mode of the interventional catheter 201, that is, to realize non-rotational universal bending. In summary, this application enables the bending of the interventional catheter 201 to be separated from its rotation by setting the switching module 40. This enriches the bending modes of the interventional catheter 201. When only bidirectional bending or non-rotational omnidirectional bending is required, the connection between the main drive motor 50 and the rotation module 20 can be disconnected, eliminating the need for redundant rotation of the interventional catheter 201 and related bending and reversing components. This simplifies the bending operation steps and simplifies the control algorithm of the robot. At the same time, the design of the main drive motor 50 and the switching module 40 allows the first bending transmission component 31a and the rotation module 20 to share a single motor, which helps to simplify the overall structure and make the mechanism compact and lightweight.

[0053] Alternatively, in one embodiment, as Figure 1 As shown, the rotary transmission assembly also includes a rotary transmission belt 24. The two ends of the rotary transmission belt 24 are respectively fitted onto the rotary driving pulley 22 and the rotary auxiliary pulley 23 to transmit power to both. That is, the rotary driving pulley 22 and the rotary auxiliary pulley 23 are belt driven. This belt drive method allows the main drive motor 50 and the rotary shaft 21 to be arranged separately, preventing the cable of the main drive motor 50 from becoming entangled with the rotary shaft 21. In other embodiments, the rotary driving pulley 22 and the rotary auxiliary pulley 23 can be other transmission methods, such as gear transmission, chain transmission, etc.

[0054] Alternatively, in one embodiment, as Figure 2 and Figure 4As shown, the rotating module 20 also includes a rotating seat 25 for mounting the interventional catheter handle 200. The rotating seat 25 is mounted on the rotating shaft 21, and a receiving groove 251 extending axially along the rotating shaft 21 is formed on the rotating seat 25. The receiving groove 251 is used to mount the interventional catheter 201. The first bending component 33a and the second bending component 33b are both mounted on the rotating seat 25 and opposite to the receiving groove 251. That is, the interventional catheter handle 200 and the first bending component 33a and the second bending component 33b are positioned opposite each other on both sides of the rotating seat 25. In this way, each bending component can directly control the bending of the interventional catheter 201 without the need for multi-stage transmission, which simplifies the structure of the mechanism. Of course, in other embodiments, the bending components can also be connected to the bending control component in the interventional catheter handle 200 through multi-stage transmission, which is more labor-saving, and the corresponding motor for driving the bending can also be a smaller and less powerful motor.

[0055] like Figure 3 As shown, the rotary transmission assembly also includes a rotary tensioner 26, which is rotatably mounted on the main frame 10 and located between the rotary drive pulley 22 and the rotary auxiliary drive pulley 23. The rotary tensioner 26 is located outside the rotary transmission belt 24 and in contact with the rotary transmission belt 24. The tension of the rotary transmission belt 24 is adjusted by rotating the tensioner 26 to provide the necessary tension to the rotary transmission belt 24, ensuring the normal and stable operation of the rotary transmission assembly.

[0056] In this embodiment, as Figure 1 As shown, the bending drive assembly 35 in the second bending module 30b includes a bending drive motor. The bending drive motor and the main drive motor 50 are arranged side by side on the main frame 10, making the component distribution more neat and compact. The bending drive motor transmits power to the second reversing assembly 32b through the second bending transmission assembly 31b, and the main drive motor 50 transmits power to the rotating shaft 21 through the rotation transmission assembly. In this way, the rotating shaft 21 and the second reversing assembly 32b follow the rotation of the rotating shaft 21 and do not get tangled with the cables of the main drive motor 50 and the bending drive motor, ensuring that the rotating shaft 21 can rotate at any angle, that is, achieve infinite rotation, and effectively ensure safety performance.

[0057] In this embodiment, as Figure 6 As shown, both the first bending transmission assembly 31a and the second bending transmission assembly 31b transmit power via belt transmission. In other embodiments, the second bending transmission assembly 31b can also be configured as a chain drive, worm gear drive, or rack and pinion drive.

[0058] Specifically, such as Figure 2 and Figure 6 As shown, Figure 6This is a partial structural diagram of the interventional catheter rotation and bending mechanism 100 in one embodiment of this application. The first bending transmission assembly 31a further includes a first bending transmission belt 313a. The two ends of the first bending transmission belt 313a are respectively sleeved on the first bending drive wheel 311a and the first bending auxiliary drive wheel 312a to transmit power. The second bending transmission assembly 31b includes a second bending drive wheel 311b, a second bending auxiliary drive wheel 312b, and a second bending transmission belt 313b. The two ends of the second bending transmission belt 313b are respectively sleeved on the second bending drive wheel 311b and the second bending auxiliary drive wheel 312b to transmit power. The second bending drive wheel 311b is connected to the bending drive motor. Through belt transmission, the output shaft of the bending drive motor, the output of the main drive motor 50, and the rotation shaft 21 of the rotating assembly are not in the same plane, avoiding the cable from getting tangled around the rotation shaft 21 and ensuring that the rotation shaft 21 can rotate at any angle, thus realizing the universal bending of the interventional catheter 201.

[0059] In one embodiment, such as Figure 6 As shown, the first bending transmission assembly 31a also includes a first bending tensioning wheel 314a. The first bending tensioning wheel 314a is rotatably mounted on the main frame 10 and located between the first bending drive wheel 311a and the first bending auxiliary drive wheel 312a. The first bending tensioning wheel 314a is located outside the first bending transmission belt 313a and is in contact with the first bending transmission belt 313a. The tension of the first bending transmission belt 313a is adjusted by the first bending tensioning wheel 314a, providing the necessary tension to the first bending transmission belt 313a and preventing belt slippage to a certain extent, thus ensuring the normal and stable operation of the transmission system.

[0060] Similarly, such as Figure 6 As shown, the second bending transmission assembly 31b also includes a second bending tension wheel 314b. The second bending tension wheel 314b is rotatably mounted on the main frame 10 and located between the second bending drive wheel 311b and the second bending auxiliary drive wheel 312b. The second bending tension wheel 314b is located outside the second bending transmission belt 313b and in contact with the second bending transmission belt 313b. The tension of the second bending transmission belt 313b is adjusted by the second bending tension wheel 314b to provide the necessary tension force to the second bending transmission belt 313b.

[0061] In one embodiment, such as Figure 1 and Figure 6As shown, the first reversing assembly 32a includes a first reversing drive wheel 321a and a first reversing auxiliary wheel 322a that are mutually driven and whose rotation axes are set at an angle. The first reversing drive wheel 321a and the first bending auxiliary wheel 312a are coaxially fixedly connected. When the first bending auxiliary wheel 312a rotates, it can drive the first reversing drive wheel 321a to rotate. The first reversing auxiliary wheel 322a is connected to the first bending assembly 33a. Due to the rotation axes of the first reversing drive wheel 321a and the first reversing auxiliary wheel 322a... The two components are set at an angle, and their transmission cooperation can redirect the power transmitted along the circumference of the first bending auxiliary wheel 312a to the first bending assembly 33a by a certain angle. That is, the force perpendicular to the rotation axis of the first bending auxiliary wheel 312a is adjusted to a force parallel to the rotation axis of the first bending auxiliary wheel 312a. This ensures that the rotation of the output shaft of the main drive motor 50 and the rotation of the terminal first bending assembly 33a are not in the same plane, thus avoiding problems such as mutual interference or cable entanglement during their rotation.

[0062] In one embodiment, the commutation angle range of the first commutation component 32a is 45° to 135°, such as... Figure 6 As shown, in this embodiment, the reversing angle is 90°, and the rotation axes of the corresponding first reversing drive wheel 321a and first reversing auxiliary drive wheel 322a are set to be perpendicular to each other.

[0063] Optional, such as Figure 6 As shown, the first reversing assembly 32a also includes a first reversing drive belt 323a, a first reversing idler pulley 324a, and a second reversing idler pulley 325a. The two ends of the first reversing drive belt 323a are respectively sleeved on the first reversing drive pulley 321a and the first reversing auxiliary drive pulley 322a. The first reversing idler pulley 324a and the second reversing idler pulley 325a are arranged opposite to each other on both sides of the first reversing drive belt 323a, and the rotation axes of the first reversing idler pulley 324a and the second reversing idler pulley 325a are both set at an angle to the rotation axis of the first reversing drive pulley 321a, for example, at a 90-degree angle. It is understood that the first reversing idler pulley 324a and the second reversing idler pulley 325a divide the first reversing transmission belt 323a into two parts with different directions, thereby realizing the reversal of the transmission force. Of course, in other embodiments, in addition to the above-mentioned reversing method through idler pulleys, other methods can also be used for reversing, such as adding a bevel gear set between the first reversing driving pulley 321a and the first reversing auxiliary driving pulley 322a for transmission reversing.

[0064] Similarly, such as Figure 6As shown, the second reversing assembly 32b includes a second reversing drive wheel 321b and a second reversing auxiliary wheel 322b that are mutually connected and whose rotation axes are set at an angle. The second reversing drive wheel 321b is connected to the second bending transmission assembly 31b, and the second reversing auxiliary wheel 322b is connected to the second bending assembly 33b. The second reversing drive wheel 321b and the second bending auxiliary wheel 312b are coaxially fixedly connected. When the second bending auxiliary wheel 312b rotates, it can drive the second reversing drive wheel 321b to rotate. Since the rotation axes of the second reversing drive wheel 321b and the second reversing auxiliary wheel 322b are set at an angle, their transmission cooperation can reverse the transmission force along the circumference of the second bending auxiliary wheel 312b by a certain angle and then transmit it to the second bending assembly 33a. This ensures that the rotation of the output shaft of the bending drive motor and the rotation of the terminal second bending assembly 33b are not in the same plane, thus avoiding the problem of mutual interference or cable entanglement during their rotation.

[0065] In one embodiment, the commutation angle range of the second commutation component 32b is 45° to 135°, such as... Figure 6 As shown, in this embodiment, the reversing angle is 90°, and the rotation axes of the second reversing drive wheel 321b and the second reversing auxiliary drive wheel 322b are set at an angle.

[0066] Optionally, the second reversing assembly 32b further includes a second reversing drive belt 323b, a third reversing idler pulley 324b, and a fourth reversing idler pulley 325b. The two ends of the second reversing drive belt 323b are respectively fitted onto the second reversing driving pulley 321b and the second reversing auxiliary driving pulley 322b. The third and fourth reversing idler pulleys 324b and 325b are arranged opposite each other on both sides of the second reversing drive belt 323b, and the rotation axes of both pulleys are set at an angle to the rotation axis of the second reversing driving pulley 321b, for example, at a 90-degree angle. It can be understood that the third and fourth reversing idler pulleys 324b and 325b divide the second reversing drive belt 323b into two parts with different directions, thereby realizing the reversal of the transmission force.

[0067] Optionally, in one embodiment, such as Figure 4 As shown, the second reversing drive wheel 321b is sleeved on the rotating shaft 21 and can rotate relative to the rotating shaft 21, while the first reversing drive wheel 321a is sleeved on the second reversing drive wheel 321b and can rotate relative to the second reversing drive wheel 321b. This sleeved arrangement makes the overall layout more compact.

[0068] Specifically, in this embodiment, such as Figure 4As shown, the second reversing drive wheel 321b is rotatably mounted on the rotating shaft 21 via the slewing bearing 34, and the first reversing drive wheel 321a is rotatably mounted on the second reversing drive wheel 321b via the slewing bearing 34.

[0069] Optional, such as Figure 6 As shown, the first reversing drive belt 323a is sleeved at both ends on the first reversing drive pulley 321a and the first reversing auxiliary drive pulley 322a to form a transmission ring. The second reversing assembly 32b and the second bending assembly 33b are located inside the transmission ring. That is, the second reversing drive pulley 321a, the second reversing auxiliary drive pulley 322b, the second reversing drive belt 323b, the third reversing idler pulley 324b and the fourth reversing idler pulley 325b are all located inside the transmission ring. This sleeved arrangement makes the overall layout more compact, the mechanism smaller and lighter, and at the same time avoids interference between the rotation of the first reversing drive belt 323a and the second reversing drive belt 323b, ensuring the stability of the mechanism operation.

[0070] like Figure 4 As shown, in one embodiment, the switching module 40 includes a switching control element 41, a stator component 42, and a locking component 43. The stator component 42 is fixedly connected to the first bending drive wheel 311a. The locking component 43 is movably disposed on the rotating drive wheel 22. The switching control element 41 controls the locking component 43 to move along the rotating drive wheel 22 toward the stator component 42 and contact the locking element, or controls the locking component 43 to move along the rotating drive wheel 22 away from the stator component 42 to separate and unlock.

[0071] Specifically, in this embodiment, such as Figure 4 As shown, the switching module 40 is configured as an electromagnetic clutch, the stator component 42 is configured as a clutch friction plate, the locking component 43 is configured as a magnetic pressure plate, and the switching control component 41 is configured as an electromagnetic coil seat. The electromagnetic coil seat is sleeved on the rotating drive wheel 22, and the magnetic pressure plate is located between the electromagnetic coil seat and the clutch friction plate. When the electromagnetic coil seat is energized, it generates a magnetic field. The magnetic pressure plate moves towards the clutch friction plate under the action of the magnetic field and comes into contact with it. After they come into contact, the large friction between them causes them to lock and prevent relative movement. Thus, the rotating drive wheel 22 and the first bending drive wheel 311a are locked together. The electromagnetic clutch can be an electromagnetic brake of model PY-S035-24V or an electronic component with equivalent function, and its specific structure will not be described here.

[0072] Optionally, in this embodiment, the first bending component 33a and the second bending component 33b are stacked side by side on the rotating seat 25 along the axial direction of the rotation axis 21, and the side-by-side stacking makes the layout more compact and orderly.

[0073] In one embodiment, such as Figure 4 and Figure 5As shown, the first bending assembly 33a includes a first bending shaft 331a and a first rotating seat 332a. The first bending shaft 331a passes through the rotating seat 25. One end of the first bending shaft 331a is fixed with a first reversing auxiliary wheel 322a, and the other end is provided with the first rotating seat 332a. The first rotating seat 332a is used to connect with the bending wheels 2022 of a set of bending control assemblies 202 of the interventional catheter handle 200. The second bending assembly 33b includes a second bending shaft 331b and a second rotating seat 332b. The second bending shaft 331b passes through the rotating seat 25. One end of the second bending shaft 331b is fixed with a second reversing auxiliary wheel 322b, and the other end is provided with the second rotating seat 332b. The second rotating seat 332b is used to connect with the bending wheels 2022 of another set of bending control assemblies 202 of the interventional catheter handle 200.

[0074] The interventional catheter rotation and bending mechanism 100 provided in this application allows for selection of a bending mode based on the desired bending direction during application. After selecting the bending mode, the control switching module 40 locks or separates the first bending drive wheel 311a and the rotation drive wheel 22. Specifically, as shown... Figures 7 to 10 As shown, when the bidirectional bending mode is selected, the main drive motor 50 is turned off, and only the second bending module 30b needs to be activated to achieve bidirectional bending. Alternatively, the second bending module 30b is turned off and the main drive motor 50 is activated, and the switching module 40 separates the first bending drive wheel 311a from the rotating drive wheel 22. In this way, the first bending component 33a controls the interventional catheter 201 to achieve bidirectional bending. When the four-way bending mode is selected, the main drive motor 50 is activated, and the switching module 40 separates the first bending drive wheel 311a from the rotating drive wheel 22. In this way, the rotating shaft 21 remains stationary during operation, and the interventional catheter 201 does not rotate. At the same time, the second bending module 30b is activated, so the first bending module 30a and the second bending module 30b simultaneously adjust the interventional catheter 201. 01. Bidirectional bending can be performed to complete non-rotational universal bending. When the rotational universal bending mode is selected, the second bending module 30b is turned off, the main drive motor 50 is started, and the switching module 40 locks the first bending drive wheel 311a to the rotation drive wheel 22. When working in this way, the rotating shaft 21 drives the interventional catheter 201 to rotate, and at the same time, the first bending module 30a controls the interventional catheter 201 to perform bidirectional bending. When bidirectional bending occurs, the interventional catheter 201 rotates itself to achieve universal bending. The interventional catheter rotation and bending mechanism 100 provided in this application has a variety of working modes, and some modules are activated instead of all modules according to different working modes. This simplifies the bending operation steps and avoids unnecessary losses.

[0075] Furthermore, the first bending adjustment component 33a indirectly drives the main drive motor 50 through the cooperation of the first bending adjustment transmission component 31a and the first reversing component 32a, and the second bending adjustment component 33b indirectly drives the bending adjustment drive motor through the cooperation of the second bending adjustment transmission component 31b and the second reversing component 32b. In this way, the bending adjustment drive motor and the main drive motor 50 can be separated from the rotating module 20 and do not rotate with the rotating module 20, thereby reducing the load on the rotating module 20 when it rotates. This allows for the selection of a smaller power drive motor, reducing the overall size of the mechanism and minimizing blind spots for the surgeon. The rotating module 20 is not affected by the cable of the second bending adjustment drive motor and can rotate indefinitely. At the same time, the bending adjustment drive motor and the main drive motor 50 are fixedly installed, so their motor cables remain stationary, thus reducing the risk of abnormal motor communication during surgery.

[0076] This application embodiment also provides a surgical robot, including a main control mechanism, an interventional catheter handle 200, and an interventional catheter rotation and bending mechanism. The interventional catheter rotation and bending mechanism is the interventional catheter rotation and bending mechanism 100 described in any of the above embodiments. The interventional catheter handle 200 is mounted on the interventional catheter rotation and bending mechanism 100. The main control mechanism is connected to the interventional catheter rotation and bending mechanism 100 and is used to adjust the position and orientation of the interventional catheter rotation and bending mechanism 100 and control the interventional catheter rotation and bending mechanism 100 to adjust the bending direction of the end of the interventional catheter 201 in the interventional catheter handle 200.

[0077] In this application, unless otherwise expressly specified and limited, the first feature being "on" or "below" the second feature may be in direct contact with the first feature and the second feature, or indirect contact between the first feature and the second feature through an intermediate medium.

[0078] Furthermore, "above," "on top of," and "above" the first feature in relation to the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "under," and "beneath" the first feature in relation to the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0079] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 this application.

Claims

1. An interventional catheter rotation and bending mechanism, wherein the interventional catheter handle includes an interventional catheter and at least two sets of bending control components, each set of the bending control components being used to control the interventional catheter to bend in two opposite directions, characterized in that, include: Main frame; The main drive motor is mounted on the main frame; The rotating module includes a rotating shaft, a rotating drive wheel and a rotating auxiliary drive wheel connected by a transmission. The rotating shaft is rotatably mounted on the main frame, the rotating auxiliary drive wheel is fixedly sleeved on the rotating shaft, and the interventional catheter handle is mounted on the rotating shaft. The bending module includes a first bending module and at least one set of second bending modules. The first bending module includes a first bending transmission assembly, a first reversing assembly, and a first bending assembly. The first bending transmission assembly includes a first bending drive wheel and a first bending auxiliary drive wheel that are connected to each other. The first bending drive wheel is connected to the main drive motor. The first bending auxiliary drive wheel and the first bending assembly are rotatably mounted on the rotating shaft. The first bending auxiliary drive wheel drives the first bending assembly to rotate through the first reversing assembly. The second bending module includes a bending drive assembly, a second bending transmission assembly, a second reversing assembly, and a second bending assembly. The second bending assembly and the second reversing assembly are rotatably mounted on the rotating shaft. The rotation of the second reversing assembly drives the second bending assembly to rotate. The bending drive assembly is mounted on the main frame. The bending drive assembly drives the second reversing assembly to rotate through the second bending transmission assembly. The first bending assembly and the second bending assembly are respectively connected to two sets of bending control assemblies of the interventional catheter handle to control the interventional catheter to bend bidirectionally in different planes. The switching module connects the first bending drive wheel and the rotating drive wheel respectively, and the first bending drive wheel and the rotating drive wheel are stacked axially on the main frame. The switching module can lock the first bending drive wheel and the rotating drive wheel together for coaxial rotation or can unlock and separate the first bending drive wheel and the rotating drive wheel for independent movement.

2. The interventional catheter rotation and bending mechanism according to claim 1, characterized in that, The switching module includes a switching control component, a stator component, and a locking component. The stator component is fixedly connected to the first bending drive wheel. The locking component is movably disposed on the rotating drive wheel. The switching control component controls the locking component to move along the rotating drive wheel toward the stator component and engage in locking, or controls the locking component to move along the rotating drive wheel away from the stator component to separate and unlock.

3. The interventional catheter rotation and bending mechanism according to claim 2, characterized in that, The switching module is configured as an electromagnetic clutch, the stator component is configured as a clutch friction plate, the locking component is configured as a magnetic pressure plate, and the switching control component is configured as an electromagnetic coil seat. The electromagnetic coil seat is sleeved on the rotating drive wheel, and the magnetic pressure plate is located between the electromagnetic coil seat and the clutch friction plate. When the electromagnetic coil seat is energized, it generates a magnetic field, and the magnetic pressure plate moves toward the clutch friction plate under the action of the magnetic field to fit and lock.

4. The interventional catheter rotation and bending mechanism according to claim 1, characterized in that, The first reversing assembly includes a first reversing drive wheel and a first reversing auxiliary wheel that are mutually driven and whose rotation axes are set at an angle. The first reversing drive wheel and the first reversing auxiliary wheel are coaxially fixedly connected, and the first reversing auxiliary wheel is connected to the first reversing assembly. The second reversing assembly includes a second reversing drive wheel and a second reversing auxiliary wheel that are mutually connected and whose rotation axes are set at an angle. The second reversing drive wheel is connected to the second bending transmission assembly, and the second reversing auxiliary wheel is connected to the second bending assembly. The second reversing drive wheel is sleeved on the rotating shaft and can rotate relative to the rotating shaft, and the first reversing drive wheel is sleeved on the second reversing drive wheel and can rotate relative to the second reversing drive wheel.

5. The interventional catheter rotation and bending mechanism according to claim 4, characterized in that, The second bending transmission assembly includes a second bending drive wheel, a second bending auxiliary drive wheel, and a second bending transmission belt. The second bending transmission belt is respectively sleeved on the second bending drive wheel and the second bending auxiliary drive wheel to transmit power. The second bending auxiliary wheel is coaxially and fixedly connected to the second reversing drive wheel.

6. The interventional catheter rotation and bending mechanism according to claim 4, characterized in that, The first reversing assembly further includes a first reversing drive belt, a first reversing idler pulley, and a second reversing idler pulley. The two ends of the first reversing drive belt are respectively sleeved on the first reversing drive pulley and the first reversing auxiliary drive pulley. The first reversing idler pulley and the second reversing idler pulley are arranged opposite to each other on both sides of the first reversing drive belt, and the rotation axes of the first reversing idler pulley and the second reversing idler pulley are both set at an angle to the rotation axis of the first reversing drive pulley. The second reversing assembly further includes a second reversing drive belt, a third reversing idler pulley, and a fourth reversing idler pulley. The two ends of the second reversing drive belt are respectively sleeved on the second reversing driving pulley and the second reversing auxiliary driving pulley. The third reversing idler pulley and the fourth reversing idler pulley are arranged opposite each other on both sides of the second reversing drive belt, and the rotation axes of the third reversing idler pulley and the fourth reversing idler pulley are both set at an angle to the rotation axis of the second reversing driving pulley.

7. The interventional catheter rotation and bending mechanism according to claim 6, characterized in that, The rotating module further includes a rotating seat for mounting the interventional catheter handle, the rotating seat being disposed on the rotating shaft; the first bending assembly and the second bending assembly are disposed side by side on the rotating seat along the axial direction of the rotating shaft.

8. The interventional catheter rotation and bending mechanism according to claim 7, characterized in that, The first reversing drive belt is sleeved at both ends on the first reversing drive wheel and the first reversing auxiliary drive wheel to form a drive ring, and the second reversing assembly and the second bending assembly are located inside the drive ring.

9. The interventional catheter rotation and bending mechanism according to claim 7, characterized in that, The first bending assembly includes a first bending shaft and a first rotating seat. The first bending shaft passes through the rotating seat. One end of the first bending shaft is fixed to the first reversing auxiliary wheel, and the other end is provided with the first rotating seat. The first rotating seat is used to connect with the bending control assembly.

10. A surgical robot, characterized in that, The device includes a main control mechanism, an interventional catheter handle, and an interventional catheter rotation and bending mechanism, wherein the interventional catheter rotation and bending mechanism is the interventional catheter rotation and bending mechanism as described in any one of claims 1-9; the interventional catheter handle is mounted on the interventional catheter rotation and bending mechanism, and the main control mechanism is connected to the interventional catheter rotation and bending mechanism for adjusting the position and orientation of the interventional catheter rotation and bending mechanism and controlling the interventional catheter rotation and bending mechanism to adjust the bending direction of the interventional catheter tip in the interventional catheter handle.

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