Interventional robot equipment with accurate positioning

Abstract

The utility model discloses an interventional robot device accurate in positioning, and belongs to the technical field of medical instruments. Comprising a base table, multiple sets of mechanical arms, a positioning platform and a positioning assembly. One ends of the mechanical arms are distributed and connected to the base table at equal angles, the other ends of the mechanical arms are connected to the positioning platform through a tip actuator, the mechanical arms are driven by a driving mechanism, the driving mechanism is integrally arranged in the base table, the positioning assembly comprises a first support and a first ball head, and the first support is connected with the first ball head. The first support is connected to the outer side of the positioning platform, the first support is arranged to be of a telescopic structure, the first ball head is rotationally installed at the telescopic end of the first support, a through hole is formed in the first ball head, and an intervention tool penetrates through the through hole and extends to a blocking target. According to the utility model, the fine adjustment capability of the interventional tool is improved, and the adjustment precision of the interventional robot equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and in particular to an interventional robot device with precise positioning. Background Art

[0002] Interventional robotic devices are high-tech auxiliary tools used in medical interventional surgery, designed to improve the precision, safety and efficiency of surgery through robotic technology and computer control systems. These devices usually combine advanced imaging technology, robotic arms, sensors and artificial intelligence, and can perform specific interventional operations independently or semi-independently. They are widely used in various fields, such as cardiovascular, neurosurgery, urology, etc.

[0003] The existing interventional tool adjustment mechanism is shown in the Chinese application with application number 202010759433.0: Adjustment mechanism in control system and method for operating robot, which includes a base, multiple groups of arms and a platform. The two ends of the arms are connected to the base and the platform respectively. A ball joint is provided at the center position of the platform. The ball joint is detachably mounted on the platform through a tool holder. The interventional tool slides along the hole on the ball joint to insert the interventional tool into the patient's body.

[0004] The existing technology has the following defects: in a complex surgical environment, the doctor may need to adjust the position and angle of the interventional tool in real time to deal with emergencies or find the best operating path. In the above-mentioned adjustment mechanism, the position of the tool holder on the platform is fixed, which limits the adjustment ability of the ball joint, thereby limiting the fine-tuning ability of the interventional tool, resulting in the inability to accurately adjust the position of the interventional tool. The adjustment accuracy of the interventional robot equipment is low, and it is difficult to adapt to the individual differences of different patients, so there is room for improvement. Utility Model Content

[0005] In order to solve the above-mentioned technical problems, the utility model provides an interventional robot device with precise positioning to solve the technical problems that the position of the existing tool holder is fixed on the platform, which limits the fine-tuning ability of the interventional tool and the adjustment accuracy of the interventional robot device is low.

[0006] The utility model is realized by the following technical solutions:

[0007] A precise positioning interventional robotic device comprises a base, multiple groups of robotic arms, a positioning platform and a positioning assembly; one end of each group of the robotic arms is connected to the base at an equiangular distribution, and the other end of the robotic arm is connected to the positioning platform via a distal actuator; the robotic arm is driven by a driving mechanism, and the driving mechanism is integrated in the base; the positioning assembly comprises a first bracket and a first ball head, the first bracket is connected to the outside of the positioning platform, the first bracket is configured as a retractable structure, the first ball head is rotatably mounted on the retractable end of the first bracket, a through hole is provided on the first ball head, and an interventional tool extends through the through hole to an occluded target.

[0008] Preferably, a slide groove is provided on the outer circumferential surface of the positioning platform, and a slider is provided at one end of the first bracket, and the slider slides along the slide groove.

[0009] Preferably, the first bracket is hinged to the slider.

[0010] Preferably, an adjusting disk is provided at the telescopic end of the first bracket, and the first ball head is rotatably mounted at the center position of the adjusting disk.

[0011] Preferably, the positioning assembly also includes a second bracket and a second ball head, the second bracket is arranged on the outside of the base, the second ball head is rotatably mounted on the second bracket, a through hole is arranged on the second ball head, and the interventional tool passes through the through holes on the first ball head and the second ball head and extends to the occlusion target.

[0012] Preferably, the second bracket is arranged in an L shape, and the second bracket includes a cross bar and a vertical bar, the vertical bar is arranged on the base, the cross bar is connected to the vertical bar, the cross bar is arranged as a telescopic structure, and the second ball head is arranged at the telescopic end of the cross bar.

[0013] Preferably, the vertical rod is configured as a telescopic structure, and the cross rod is disposed at the telescopic end of the vertical rod.

[0014] Preferably, a slide rail is provided on the base, and the vertical rod slides along the slide rail.

[0015] The beneficial effects of the utility model are:

[0016] By arranging the first bracket on the outside of the positioning platform, the interventional tool can be moved on the outside of the device, so that the interventional tool has a larger adjustment range and adjustment amplitude, and the adjustment flexibility of the interventional tool is improved; the first bracket is arranged as a retractable structure, and the first ball head is arranged at the retractable end of the first bracket. By adjusting the length of the first bracket, the doctor can quickly change the relative angle of the interventional tool to cope with complex anatomical structures and different lesion locations;

[0017] The first bracket is hinged to the slider, and the hinged design allows the first bracket to rotate and swing around the hinge point of the slider, providing a larger range of free movement, so that the first bracket can be adjusted to the best use angle; the setting of the adjustment disk improves the rotation stability of the first ball head, which is conducive to the smooth progress of the operation; the first bracket and the second bracket provide double support for the insertion of the interventional tool, so that the tool can maintain good alignment during the insertion process;

[0018] By setting the second bracket into an L-shaped structure and setting the cross bar as a telescopic structure, the length of the cross bar can be adjusted according to the surgical requirements, thereby greatly increasing the range of motion of the second ball head; the telescopic structure of the vertical bar allows the doctor to adjust the height of the second ball head according to the surgical requirements and the patient's specific conditions; through the sliding of the slide rail, the position of the second bracket can be adjusted more accurately, allowing the interventional tool to approach the target from different angles.

[0019] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the background technology, the drawings required for use in the embodiments of the utility model or the background technology will be described below.

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to illustrate the technical solutions disclosed in the present utility model.

[0022] Figure 1 This is a schematic diagram of the overall structure of the first embodiment of the interventional robot device of the utility model;

[0023] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0024] Figure 3 This is a schematic diagram of the overall structure of the second embodiment of the interventional robot device of the utility model;

[0025] Figure 4 This is a schematic diagram of the overall structure of the third embodiment of the interventional robot device of the utility model;

[0026] Figure 5 This is a schematic diagram of the overall structure of the fourth embodiment of the interventional robot device of the utility model;

[0027] Figure 6 for Figure 5 Enlarged view of point B in the middle.

[0028] Legend: 1. Base; 2. Robotic arm; 3. Positioning platform; 4. Positioning assembly; 41. First bracket; 42. First ball head; 43. Second bracket; 431. Crossbar; 432. Vertical bar; 44. Second ball head; 5. Distal actuator; 6. Through hole; 7. Intervention tool; 8. Slide groove; 9. Slider; 10. Adjustment disk; 11. Slide rail. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0031] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0033] See also Figure 1-Figure 6 In the first embodiment, an interventional robot device with precise positioning includes a base 1, multiple groups of robotic arms 2, a positioning platform 3 and a positioning component 4; one end of each group of robotic arms 2 is connected to the base 1 at an equal angle, and the other end of the robotic arm 2 is connected to the positioning platform 3 through a distal actuator 5. The robotic arm 2 is driven by a driving mechanism, and the driving mechanism is integrated in the base 1. The positioning component 4 includes a first bracket 41 and a first ball head 42. The first bracket 41 is connected to the outer side of the positioning platform 3. The first bracket 41 is configured as a retractable structure. The first ball head 42 is rotatably installed at the retractable end of the first bracket 41. The first ball head 42 is provided with a through hole 6, and the intervention tool 7 passes through the through hole 6 and extends to the occlusion target.

[0034] In the surgical intervention intelligent robot, the base 1 is set as a ring structure, the positioning platform 3 is set as a disc structure, and the first ball head 42 is connected to a driving mechanism for holding the intervention tool 7 and controlling the insertion of the intervention tool 7 into the patient's body. The positioning platform 3 set with a ring structure and the base 1 set with a disc structure can better fit the patient's body surface and provide a more stable support and operating platform. The first bracket 41 is set on the outside of the positioning platform 3, and the first ball head 42 is rotatably installed on the first bracket 41, so that the intervention tool 7 can move outside the device, so that the intervention tool 7 has a larger adjustment range and adjustment amplitude, and the adjustment flexibility of the intervention tool 7 is improved.

[0035] The first bracket 41 is configured as a retractable structure, and the first ball head 42 is disposed at the retractable end of the first bracket 41. By adjusting the length of the first bracket 41, the doctor can quickly change the relative angle of the interventional tool 7 to cope with complex anatomical structures and different lesion locations; the retractable function allows the doctor to make fine adjustments when necessary to make the position of the interventional tool 7 more precise, especially in difficult operations, subtle adjustments can significantly improve the safety of the operation; by precisely controlling the insertion depth and direction of the interventional tool 7, damage to the tissue is reduced and the patient's postoperative recovery speed is improved; the design of the retractable first bracket 41 allows the doctor to make adjustments during the operation without performing too many complicated operations, thereby saving time and improving the efficiency of the entire operation.

[0036] The external operator inputs instructions through the console or other control devices, and these instructions include positioning, moving, rotating and other operations of the distal actuator 5; the input instructions are converted into electrical signals or other forms of signals through the control system, and then transmitted to the connected robotic arm 2 through the distal actuator 5; the distal actuator 5 that receives the instructions will control the position, angle or other parameters of the robotic arm 2 connected to it according to the instructions; the distal actuator 5 contains sensors and actuators inside, the sensors are used to detect the position and state of the robotic arm 2, and the actuators are used to control the movement of the robotic arm 2. After receiving the instructions, the distal actuator 5 will adjust the position and angle of the robotic arm 2 through the internal control system to meet the requirements of the surgical operation.

[0037] Integrating the drive mechanism inside the base 1 makes the external structure of the entire device more compact. This design reduces the space occupied by the outside of the device, allowing operators to operate in a smaller space, thereby improving the overall flexibility and operability; since the drive mechanism is no longer exposed to the outside, the interventional tool 7 is not interfered with by the drive mechanism during the insertion process, reducing unnecessary friction and collision during the insertion process, and improving the smoothness of the tool's movement, thereby ensuring the accuracy of the interventional path. This design makes the insertion path of the interventional tool 7 more direct, reduces the path deviation caused by the influence of the external structure, achieves more precise control, and significantly reduces the deviation between the insertion point and the pivot point; the integrated design of the drive mechanism also enhances the structural stability of the overall device, reduces the distortion and instability of the connecting arm that may be caused by external forces, which is particularly critical when performing complex interventional operations, ensuring the accurate positioning and effect of the interventional tool 7.

[0038] The height of the positioning platform 3 relative to the base 1 is determined in the calibration stage before the operation according to the specifications of the interventional tool 7, the use requirements, the physiological conditions of the patient and other factors. The multiple sets of mechanical arms 2 are connected to the drive assembly to coordinately adjust the positioning platform 3 to move on the same plane. During the adjustment process, the interventional tool 7 is loosely held by the first ball head 42 and the drive mechanism, and is freely pivoted or rotated around the occluded target, so that the interventional tool 7 is inserted into the occluded target at a specific angle.

[0039] Among them, occlusion targets include inspection targets and treatment targets. For example, in the inspection of the vascular system, coronary angiography, pulmonary angiography, carotid angiography, etc. can be used to help doctors understand the condition of blood vessels and diagnose vascular diseases; in interventional tumor embolization therapy and interventional radiotherapy, tumors, vascular malformations and other diseases are treated through radiological intervention; as well as percutaneous tumor ablation, interventional tumor embolization therapy, etc., tumors are treated through interventional means to reduce surgical trauma; cardiac pacemaker implantation, heart valve replacement, etc., are used to treat heart diseases and improve heart function through interventional means.

[0040] The first bracket 41 is fixedly connected to the outside of the device, so that the interventional tool 7 can be moved outside the device, which can increase the flexibility and maneuverability of the interventional tool 7. This design can make it easier for the interventional tool 7 to reach the target position that needs treatment or examination during the operation, thereby improving the operability and convenience of the operation; the first bracket 41 is fixedly connected to the outside of the device, and the positioning platform 3 of the device can more flexibly control the movement of the interventional tool 7 during the movement. Since the interventional tool 7 moves outside the device, the interventional tool 7 can have a larger range of movement, and the position and angle of the interventional tool 7 can be adjusted more accurately to meet the needs of different surgical scenes, thereby realizing multi-dimensional adjustment of the interventional tool 7; the design of making the interventional tool 7 move outside the device can reduce the limitation of the surgical space. In some surgical scenes, the surgical space may be limited, resulting in the limitation of the operation of the interventional tool 7. Placing the interventional tool 7 outside the device can reduce the occupation of the surgical space, thereby improving the flexibility and efficiency of the operation.

[0041] During the surgical operation, the base 1 can be adhered to the patient's body by tape or other fixing means, or it can be fixed on other mechanisms. When the base 1 is fixed on other mechanisms, the control point is closer to the patient's body, which can reduce the deviation caused by the insertion of the interventional tool 7, thereby improving the positioning accuracy; the interventional tool 7 can select a suitable direction to pass through the through hole 6, and multiple groups of robotic arms 2 work together to control the positioning platform 3 to adjust the position, thereby realizing the orientation adjustment of the interventional tool 7 within a larger range.

[0042] A limit piece is also provided on the interventional tool 7, and the limit piece is fixed to the end of the interventional tool 7 away from the occlusion target. After confirming the insertion direction and depth of the interventional tool 7, the first ball head 42 is locked, and the driving mechanism holds the interventional tool 7 so that the distance between the limit piece and the first ball head 42 is approximately equal to the insertion depth of the interventional tool 7 into the patient's body, thereby limiting the insertion depth of the interventional tool 7 into the patient's body, avoiding excessive insertion of the interventional tool 7, and ensuring the accuracy and safety of the interventional surgery.

[0043] The interventional tool 7 is also communicatively connected to a pressure sensor, which detects the change in contact pressure of the interventional tool 7 at different positions and depths, and performs data analysis and processing. During the operation, the surgeon can make timely adjustments based on the data information, ensuring the accuracy and safety of the insertion process of the interventional tool 7.

[0044] In order to increase the moving range of the first bracket 41 and quickly adjust the position of the interventional tool 7, based on this, in one embodiment, a slide groove 8 is provided on the outer circumferential surface of the positioning platform 3, and a slider 9 is provided at one end of the first bracket 41, and the slider 9 slides along the slide groove 8. The design of the slider 9 sliding along the slide groove 8 allows the first bracket 41 to move around the positioning platform 3, increasing the moving range of the first bracket 41, so that the first bracket 41 can change the position between the positioning platform 3, which helps to more flexibly adapt to the needs of different surgical scenarios; the design of the slider 9 enables the first bracket 41 to achieve more precise fine-tuning, increasing the accuracy of the interventional tool 7 in specific surgical operations, which is particularly important for minimally invasive surgery and can reduce the risk of damage to surrounding healthy tissues; the sliding of the slider 9 allows the interventional tool 7 to be operated in a variety of positions, and the doctor can quickly adjust the position of the interventional tool 7 according to specific surgical needs and actual environment, thereby improving the flexibility of operation.

[0045] In order to quickly adjust the angle and position of the interventional tool 7, and to achieve more precise control of the insertion angle and depth of the interventional tool 7, based on this, in one embodiment, the first bracket 41 is hinged with the slider 9. The hinged design allows the first bracket 41 to rotate and swing around the hinge point of the slider 9, providing a larger range of free movement, so that the first bracket 41 can be adjusted to the best angle of use; during surgery, the patient's position and the condition of the lesion site may affect the path of the interventional tool 7. The hinged setting of the first bracket 41 allows the position and posture of the first bracket 41 to be quickly adjusted during the operation to adapt to these changes; the first bracket 41 can achieve rapid angle and position adjustment through the hinge with the slider 9; the doctor can quickly respond to various operation needs during the operation, and the operation efficiency is improved; with the adjustment of the first bracket 41, the insertion angle and depth of the interventional tool 7 can be more finely controlled, which helps to improve the accuracy of the operation and reduce the damage to the surrounding tissues.

[0046] See also Figure 3 In the second embodiment, in order to improve the rotational stability of the first ball head 42 and ensure the smooth progress of the operation, based on this, in one embodiment, the telescopic end of the first bracket 41 is provided with an adjustment disk 10, and the first ball head 42 is rotatably installed at the center of the adjustment disk 10. The retractability of the first bracket 41 allows the angle of the interventional tool 7 to be quickly adjusted as needed during the operation, which improves the doctor's controllability during the operation and can effectively adapt to different clinical needs; the existence of the adjustment disk 10 provides the interventional tool 7 with multi-directional and all-round adjustment capabilities, and the doctor can quickly locate and adjust the insertion angle and depth of the tool, which improves the flexibility of the overall minimally invasive surgery; at the same time, the setting of the adjustment disk 10 improves the rotational stability of the first ball head 42, which is conducive to the smooth progress of the operation.

[0047] See also Figure 4 In the third embodiment, in order to provide a more precise intervention channel and improve the flexibility and controllability of the operation, based on this, in one embodiment, the positioning assembly 4 also includes a second bracket 43 and a second ball head 44, the second bracket 43 is arranged on the outside of the base 1, the second ball head 44 is rotatably mounted on the second bracket 43, and a through hole 6 is provided on the second ball head 44. The intervention tool 7 passes through the through holes 6 on the first ball head 42 and the second ball head 44 and extends to the occlusion target. The first bracket 41 and the second bracket 43 provide double support for the insertion of the interventional tool 7, so that the tool maintains good alignment during the insertion process; the first ball head 42 and the second ball head 44 provide more precise channels through their respective through holes 6, so that the path of the interventional tool 7 passing through is more stable, which significantly improves the accuracy of the tool when inserted into the occluded target; the two groups of brackets are respectively arranged on the outside of the positioning platform 3 and the base 1, allowing the interventional tool 7 to be adjusted within a wider angle range to adapt to different surgical needs and path planning, thereby improving the flexibility and controllability of the operation; by expanding the adjustment range, the positioning component 4 can better cover potential operational blind spots, so that the interventional tool 7 can also make corresponding adjustments in complex environments, ensuring that the doctor can successfully complete the interventional surgery under various circumstances.

[0048] See also Figure 5 and Figure 6 In the fourth embodiment, in order to accurately adjust the incident angle and position of the interventional tool 7 and improve the accuracy of the operation, based on this, in one embodiment, the second bracket 43 is set in an L shape, and the second bracket 43 includes a crossbar 431 and a vertical rod 432. The vertical rod 432 is set on the base 1, and the crossbar 431 is connected to the vertical rod 432. The crossbar 431 is set as a telescopic structure, and the second ball head 44 is set at the telescopic end of the crossbar 431. The telescopic structure allows the crossbar 431 to adjust its length according to the needs of the operation, thereby greatly increasing the range of motion of the second ball head 44, so that the interventional tool 7 can reach more surgical sites, especially in complex surgical scenes, and can more flexibly meet the needs of different operating positions; the combination of the telescopic crossbar 431 and the second ball head 44 can accurately adjust the incident angle and position of the interventional tool 7 by simply stretching or shortening, improve the accuracy of the operation, reduce damage to surrounding tissues and avoid postoperative complications.

[0049] In order to adjust the height of the second ball head 44 according to the surgical requirements and the specific conditions of the patient, and effectively expand the scope of the operation, based on this, in one embodiment, the vertical rod 432 is set as a telescopic structure, and the horizontal rod 431 is set at the telescopic end of the vertical rod 432. The telescopic structure of the vertical rod 432 allows the doctor to adjust the height of the second ball head 44 according to the surgical requirements and the specific conditions of the patient; by properly adjusting the height, the doctor can more accurately position the intervention tool 7, reduce damage to non-target tissues, and improve the safety and effectiveness of the operation, while reducing the obstruction of the surgical field; the telescopic design combination of the horizontal rod 431 and the vertical rod 432 enables the robot to achieve greater depth and breadth when performing interventional operations, so that the intervention tool 7 can reach more surgical sites, especially when operating in complex or narrow spaces, which can effectively expand the scope of the operation.

[0050] In order to more accurately position the interventional tool 7 and make the interventional tool 7 approach the target from different angles, based on this, in one embodiment, a slide rail 11 is provided on the base 1, and the vertical rod 432 slides along the slide rail 11. The design of the slide rail 11 allows the vertical rod 432 to slide along the slide rail 11, thereby achieving a wider range of movement of the second bracket 43; the position of the second bracket 43 can be adjusted more accurately through the sliding of the slide rail 11; during the operation, the doctor can adjust the height and position of the vertical rod 432 according to the real-time situation to more accurately position the interventional tool 7 and quickly respond to changes in the operation; the movement of the vertical rod 432 in the slide rail 11 can make the interventional tool 7 approach the target from different angles.

[0051] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An interventional robotic device with precise positioning, characterized in that: The invention comprises a base (1), a plurality of groups of mechanical arms (2), a positioning platform (3) and a positioning assembly (4); one end of each group of the mechanical arms (2) is connected to the base (1) at an equal angle, and the other end of the mechanical arms (2) is connected to the positioning platform (3) through a distal actuator (5); the mechanical arms (2) are driven by a driving mechanism, and the driving mechanism is integrated in the base (1); the positioning assembly (4) comprises a first bracket (41) and a first ball head (42); the first bracket (41) is connected to the outer side of the positioning platform (3); the first bracket (41) is configured as a retractable structure; the first ball head (42) is rotatably mounted on the retractable end of the first bracket (41); a through hole (6) is provided on the first ball head (42); an interventional tool (7) passes through the through hole (6) and extends to the occlusion target.

2. The interventional robot device with precise positioning according to claim 1, characterized in that: A sliding groove (8) is provided on the outer circumferential surface of the positioning platform (3), and a sliding block (9) is provided at one end of the first bracket (41), and the sliding block (9) slides along the sliding groove (8).

3. The interventional robot device with precise positioning according to claim 2, characterized in that: The first bracket (41) is hingedly connected to the slider (9).

4. The interventional robotic device with precise positioning according to claim 1, characterized in that: An adjusting disk (10) is provided at the telescopic end of the first bracket (41), and the first ball head (42) is rotatably mounted at the center position of the adjusting disk (10).

5. The interventional robot device with precise positioning according to claim 1, characterized in that: The positioning assembly (4) further comprises a second bracket (43) and a second ball head (44); the second bracket (43) is arranged on the outside of the base (1); the second ball head (44) is rotatably mounted on the second bracket (43); a through hole (6) is arranged on the second ball head (44); the interventional tool (7) passes through the through holes (6) on the first ball head (42) and the second ball head (44) and extends to the occlusion target.

6. The interventional robot device with precise positioning according to claim 5, characterized in that: The second bracket (43) is arranged in an L shape, and comprises a cross bar (431) and a vertical bar (432), wherein the vertical bar (432) is arranged on the base (1), the cross bar (431) is connected to the vertical bar (432), the cross bar (431) is arranged as a telescopic structure, and the second ball head (44) is arranged at the telescopic end of the cross bar (431).

7. The interventional robot device with precise positioning according to claim 6, characterized in that: The vertical rod (432) is configured as a telescopic structure, and the horizontal rod (431) is disposed at the telescopic end of the vertical rod (432).

8. The interventional robot device with precise positioning according to claim 7, characterized in that: A slide rail (11) is provided on the base (1), and the vertical rod (432) slides along the slide rail (11).

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