Multi-module vascular interventional surgical robot with external power and body of multi-module vascular interventional surgical robot

Abstract

The utility model provides a multi-module vascular intervention surgical robot with external power and a body of the multi-module vascular intervention surgical robot. The multi-module vascular interventional surgical robot body with the external power comprises a body shell, an interventional consumable driving mechanism, a long rail driving mechanism and a connecting part. A notch is formed in the body shell; the intervention consumable driving mechanism comprises a driving module and an execution module in transmission connection with the driving module, the execution module is used for achieving actions of intervention consumables under driving of the driving module, and the driving module and the execution module are both located outside the body shell; the long rail driving mechanism is located in the body shell and used for driving the intervention consumable driving mechanism to slide along the notch; the connecting part is connected with the long rail driving mechanism and the driving module and used for driving the intervention consumable driving mechanism to slide along the notch under driving of the long rail driving mechanism, and at least part of the area of the connecting part is located at the notch. The interventional consumable driving mechanism has the effect that the interventional consumable driving mechanism can be conveniently replaced before an operation.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to an externally powered multi-module vascular interventional surgery robot and a main body thereof. Background Art

[0002] Vascular interventional surgery robots are important medical devices that replace human interventional surgery. Through the control of the master end, the catheter, guidewire, stent and other interventional consumables located at the slave end are introduced into the blood vessels in the body to perform minimally invasive diagnosis and treatment of diseases. Therefore, vascular interventional surgery has high requirements for the sterility of the surgical environment and surgical instruments, so the interventional consumables and the rotation delivery mechanism that drives the delivery and rotation of the interventional consumables are usually disposable devices.

[0003] In the related art, in order to facilitate the delivery and rotation of interventional consumables, a slot is usually opened on the robot body at the slave end of the vascular surgery robot. The interventional consumable driving mechanism is connected to the interior of the robot body through a connecting component arranged in the slot. The interventional consumable driving mechanism is used to realize the delivery or rotation of the interventional consumables, and the power component that provides power to the interventional consumable driving mechanism is usually arranged in the slot as a connecting component.

[0004] The above-mentioned related technologies have the following defects: during the operation, since the power component is set in the slot, it is easy to be contaminated, so that the power component also needs to be replaced as a disposable instrument. However, the power component is set in the slot, and one end is connected to the inside of the robot body, and the other end is connected to the interventional consumables drive mechanism. The power component is usually connected to the drive mechanism, which makes it inconvenient to replace the power component, thereby delaying the progress of the operation. Utility Model Content

[0005] The purpose of the present disclosure is to overcome at least one of the deficiencies of the above-mentioned related technologies and to provide a multi-module vascular interventional surgical robot with external power and a main body thereof.

[0006] Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0007] According to one aspect of the present disclosure, there is provided a multi-module vascular interventional surgery robot body with an external power source, comprising:

[0008] A main body shell, wherein the main body shell is provided with a notch, and the notch is arranged along the length direction of the main body shell;

[0009] An interventional consumable driving mechanism, comprising a driving module and an execution module drivingly connected to the driving module, wherein the execution module is used to realize the action of the interventional consumable under the driving of the driving module, and the driving module and the execution module are both located outside the main body shell;

[0010] A long rail driving mechanism is located inside the main body shell;

[0011] A connecting portion connects the long rail driving mechanism and the driving module, and is used to drive the interventional consumables driving mechanism to slide along the slot under the drive of the long rail driving mechanism, and at least a partial area of ​​the connecting portion is located at the slot.

[0012] In an exemplary embodiment of the present disclosure, the multi-module vascular interventional surgery robot body with external power further includes:

[0013] A mounting frame, disposed inside the main body shell, and having at least one end fixedly connected to the main body shell;

[0014] A long rail, fixed on the mounting frame, wherein the extension direction of the long rail is parallel to the extension direction of the slot;

[0015] The long rail driving mechanism is slidably connected to the long rail, and one end of the driving module away from the interventional consumables driving mechanism is connected to the long rail driving mechanism.

[0016] In an exemplary embodiment of the present disclosure, the slot is arranged toward the bottom of the main body shell, there is a height difference between the edges of the main body shell on both sides of the length direction of the slot, and the edge of the main body shell on one side of the slot close to the interventional consumables driving mechanism is lower than the edge on the other side.

[0017] In an exemplary embodiment of the present disclosure, the connecting portion includes:

[0018] A first fixing member, fixedly connected to the long rail driving mechanism, wherein the first fixing member is located inside the main body shell;

[0019] a second fixing member, fixedly connected to the interventional consumable driving mechanism, and the second fixing member is located outside the main body shell;

[0020] A connecting member connects the first fixing member and the second fixing member, and the connecting member is a bending structure matching the shape of the notch.

[0021] In an exemplary embodiment of the present disclosure, a cavity is provided inside the connection portion for passing a transmission wire.

[0022] In an exemplary embodiment of the present disclosure, a width of the notch is less than or equal to 7 mm.

[0023] In an exemplary embodiment of the present disclosure, the multi-module vascular interventional surgery robot body with external power further includes:

[0024] The side baffles are arranged in the slot and are provided with two of them. The two side baffles are respectively located on both sides of the extending direction of the slot and are connected to the main body shell. The two side baffles are arranged along the extending direction of the slot.

[0025] In an exemplary embodiment of the present disclosure, at least one groove is provided on the connecting portion, and an edge of the notch close to one side of the interventional consumable driving mechanism is placed in the groove.

[0026] In an exemplary embodiment of the present disclosure, the interventional consumable driving mechanism is provided in a plurality of groups, and the plurality of groups of the interventional consumable driving mechanisms are arranged at intervals along the extending direction of the slot.

[0027] According to another aspect of the present disclosure, a vascular interventional surgery robot is also proposed, comprising a robotic arm and the above-mentioned externally powered multi-module vascular interventional surgery robot body, wherein the externally powered multi-module vascular interventional surgery robot body is disposed on the robotic arm.

[0028] The disclosed multi-module vascular interventional surgery robot with external power and its main body have the following features:

[0029] Beneficial effects:

[0030] The interventional consumables driving mechanism disclosed herein includes a driving module and an execution module that is transmission-connected to the driving module, the execution module is used to realize the delivery or rotation of the interventional consumables, the driving module is used to provide power to the execution module, the driving module and the execution module are both arranged outside the main body shell, and the long rail driving mechanism can drive the interventional consumables driving mechanism to slide along the slot through the connecting portion. The driving module is connected to the connecting portion and is arranged outside the main body shell, so that the driving module and the execution module can be replaced conveniently before surgery. In addition, since only the connecting portion between the driving module and the robot body needs to be arranged in the slot, the width of the slot can be reduced, thereby reducing the risk of liquid splashing into the inside of the main body shell through the slot.

[0031] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0033] Figure 1 This is a diagram of an application scenario of the externally powered multi-module vascular interventional surgical robot according to an embodiment of the present disclosure.

[0034] Figure 2 It is a structural stereoscopic diagram of the externally powered multi-module vascular interventional surgery robot body according to an embodiment of the present disclosure.

[0035] Figure 3 It is a schematic diagram of the internal structure of the multi-module vascular interventional surgery robot body with external power in the embodiment of the present disclosure.

[0036] Figure 4 It is a side sectional view of the multi-module vascular interventional surgery robot body with external power in an embodiment of the present disclosure.

[0037] Figure 5 yes Figure 4 Enlarged view of part A in the middle.

[0038] The main structural marks in the figure are explained as follows:

[0039] 1. A multi-module vascular interventional surgical robot body with external power; 11. A body shell; 111. A notch; 112. A side guard bar; 12. An interventional consumables driving mechanism; 121. A driving module; 122. An execution module; 13. A connecting part; 131. A first fixing part; 132. A second fixing part; 133. A connecting part; 14. A mounting frame; 15. A long rail; 16. A long rail driving mechanism; 2. A robotic arm; 3. An operating table. DETAILED DESCRIPTION

[0040] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0041] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0042] The terms "a", "an", "the", and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" are used merely as labels and are not intended to limit the quantity of their objects.

[0043] During vascular interventional surgery, the operator needs to control the master-end control device to introduce the guidewires, catheters, stents and other interventional consumables set on the slave end into the vascular lesions in the body for treatment. The vascular interventional surgery robot generally includes a master end located outside the operating room and a slave end located in the operating room. The master end used for control includes a master-end control device, and the slave end used for execution includes a connected robot body and a robotic arm. The robot body is connected to the operating table through a robotic arm, and can adjust its own posture through the robotic arm. In order to provide a safer and sterile surgical environment and prevent doctors from being exposed to radiation from medical devices, interventional surgery is usually performed in a doctor-patient isolation manner. Among them, the robotic arm supports the robot body and can drive the robot body to move and pitch to achieve preoperative posture adjustment of the robot body.

[0044] The robot body includes an interventional consumables driving mechanism, which includes an execution module and a driving module. The execution module is used to deliver and rotate the interventional consumables, and the driving module is used to provide power for the execution module. Usually, a slot is provided on the robot body, and the driving module is arranged in the slot, and the execution module is connected to the robot body through the driving module.

[0045] In order to ensure the safety and sterility of the operation, interventional consumables and the driving mechanism that drives the interventional consumables for delivery are usually disposable instruments, and new interventional consumables and driving mechanisms need to be replaced before each operation. The power component is set in the slot and will also come into contact with the air outside the robot body, and it is easy to be contaminated during the operation. Therefore, the power component is also replaced before each operation as a disposable instrument. However, the power component is set in the slot and connected to the inside of the robot body, and the power component is connected to the driving mechanism, which makes it inconvenient to replace the power component, which will delay the progress of the operation.

[0046] In addition, since a power component needs to be arranged in the slot, the slot needs to be arranged with a larger width, which causes the liquid generated during the operation to easily splash into the robot body through the slot, and easily causes damage to the internal components of the robot body.

[0047] Based on this, Figure 1-Figure 5 As shown, the embodiment of the present disclosure provides a multi-module vascular interventional surgery robot with external power and its body. The multi-module vascular interventional surgery robot body 1 with external power includes a body shell 11, an intervention consumable drive mechanism 12, a long rail drive mechanism 16 and a connecting part 13. A slot 111 is provided on the main body shell 11, and the slot 111 is provided along the length direction of the main body shell 11; the interventional consumable driving mechanism 12 includes a driving module 121 and an execution module 122 which is transmission-connected to the driving module 121, and the execution module 122 is used to realize the movement of the interventional consumable under the drive of the driving module 121, and the driving module 121 and the execution module 122 are both located outside the main body shell 11; the long rail driving mechanism 16 is located inside the main body shell 11, and is used to drive the interventional consumable driving mechanism 12 to slide along the slot 111; the connecting part 13 connects the long rail driving mechanism 16 and the driving module 121, and is used to drive the interventional consumable driving mechanism 12 to slide along the slot 111 under the drive of the long rail driving mechanism 16, and at least a part of the connecting part 13 is located at the slot 111.

[0048] In the disclosed externally powered multi-module vascular interventional surgical robot, the long rail drive mechanism 16 drives the interventional consumables drive mechanism 12 to slide along the slot 111 through the connection portion 13, the execution module 122 is used to deliver and rotate the interventional consumables, the drive module 121 is used to provide power for the execution module 122, and the drive module 121 and the execution module 122 are both arranged outside the main body shell 11, so that the drive module 121 and the execution module 122 can be replaced conveniently before surgery. In addition, since only the connection portion 13 for connecting the drive module 121 and the main body shell 11 needs to be arranged in the slot 111, the width of the slot 111 can be reduced, thereby reducing the risk of liquid splashing from the slot 111 into the interior of the main body shell 11, thereby better protecting the components inside the main body shell 11.

[0049] The following will describe in detail the various parts of the multi-module vascular interventional surgery robot with external power provided by the embodiment of the present disclosure in conjunction with the accompanying drawings:

[0050] In one embodiment of the present disclosure, Figure 1 As shown, the externally powered multi-module vascular interventional surgery robot comprises a robotic arm 2 and an externally powered multi-module vascular interventional surgery robot body 1. The robotic arm 2 is mounted on an operating table 3, and the externally powered multi-module vascular interventional surgery robot body 1 is mounted on a free end of the robotic arm 2 away from the operating table 3. Before surgery, the position and posture of the externally powered multi-module vascular interventional surgery robot body 1 can be adjusted by the robotic arm 2.

[0051] Specifically, the robot arm 2 includes a support arm and a plurality of connecting arms connected in sequence. The support arm and the connecting arm, as well as two adjacent connecting arms, are connected through joint components, and each joint is equipped with an electric driver and a sensor, which can be precisely moved through the control system. The robot arm 2 can achieve various degrees of freedom such as rotation, lifting, and flexion. By controlling the rotation angle and direction of different joint components of the robot arm 2, the posture of the multi-module vascular interventional surgery robot body 1 with external power can be adjusted.

[0052] In the embodiments of the present disclosure, Figure 1 , Figure 3 , Figure 4 , Figure 5 As shown, the multi-module vascular interventional surgery robot body 1 with external power includes a body shell 11, a mounting frame 14, a long rail 15, a long rail driving mechanism 16, a connecting portion 13, and an intervention consumables driving mechanism 12. Among them, a notch 111 is opened on one side of the body shell 11, and the length direction of the notch 111 is the same as the length direction of the body shell 11, and the notch 111 connects the inner and outer sides of the body shell 11. The main body shell 11 is used to install and wrap equipment such as the mounting frame 14 and the long rail 15 to ensure that the internal equipment is not contaminated; the mounting frame 14 is fixedly arranged inside the main body shell 11, and is used to support the main body shell 11 and fix the long rail 15 and other components; the long rail 15 is fixedly connected to the mounting frame 14, and the extension direction of the long rail 15 is parallel to the extension direction of the slot 111; the long rail driving mechanism 16 is slidably connected to the long rail 15 and can slide along the extension direction of the long rail 15; the interventional consumable driving mechanism 12 is slidably arranged on one side of the main body shell 11, and is used to realize the delivery and rotation of interventional consumables; at least a part of the area of ​​the connecting part 13 is located in the slot 111, one end of the connecting part 13 is connected to the long rail driving mechanism 16, and the other end is connected to the interventional consumable driving mechanism 12, and is used to drive the interventional consumable driving mechanism 12 to slide along the slot 111 under the drive of the long rail driving mechanism 16.

[0053] A notch 111 is provided on the main body shell 11 for connecting the interventional consumable drive mechanism 12 with the interior of the main body shell 11 and facilitating the interventional consumable drive mechanism 12 to slide along the length direction of the main body shell 11 .

[0054] The interventional consumable drive mechanism 12 is slidably disposed on one side of the main housing 11, and its sliding direction is parallel to the extension direction of the slot 111. The interventional consumable drive mechanism 12 includes a drive module 121 and an execution module 122. The drive module 121 is fixedly connected to the connection portion 13 and is in transmission connection with the execution module 122. The execution module 122 is used to realize the action of the interventional consumable, and the drive module 121 is used to provide a power source for the execution module 122. The action of the interventional consumable can be at least one of forward delivery, backward delivery and rotation.

[0055] The driving module 121 is disposed outside the main housing 11 . The connecting portion 13 connects the long rail driving mechanism 16 and the driving module 121 . The long rail driving mechanism 16 can drive the interventional consumable driving mechanism 12 to slide along the slot 111 through the connecting portion 13 .

[0056] The driving module 121 is arranged outside the main body shell 11, and only the connecting parts between the driving module 121 and the long rail driving mechanism 16 need to be arranged in the slot 111. Therefore, the width of the slot 111 can be appropriately reduced, thereby reducing the risk of liquid splashing into the robot body through the slot 111.

[0057] At least part of the connection part 13 is disposed in the notch 111, so that the shape of the connection part 13 at the notch 111 matches the edge shape of the main body shell 11 at the notch 111. Specifically, one end of the connection part 13 is fixedly connected to the long rail driving mechanism 16, and the other end is fixedly connected to the driving module 121. The connection part 13 can be adapted according to the shape and setting position of the notch 111. Under the condition of ensuring the supporting strength, those skilled in the art can select the specific structure of the connection part 13 according to their own needs, and the present disclosure does not make specific limitations on this.

[0058] In an exemplary embodiment of the present disclosure, Figure 4 , Figure 5As shown, the notch 111 is arranged toward the bottom of the main body shell 11, and there is a height difference between the edges of the main body shell 11 on both sides of the length direction of the notch 111, and the edge of the main body shell 11 on the side of the notch 111 close to the interventional consumables driving mechanism 12 is lower than the edge on the other side. During the operation, liquid is usually generated on one side of the multi-module vascular interventional surgical robot body 1 with external power, and the direction in which the liquid splashes is toward the inside of the main body shell 11. By making the notch 111 toward the bottom of the main body shell 11, it is not easy for the liquid to splash into the inside of the main body shell 11 through the notch 111. At the same time, the present disclosure sets the edge of the main body shell 11 located on the outside of the notch 111 to be lower than the inner edge. When the liquid splashes in the direction of the notch 111, the main body shell 11 can first block the splashed liquid to prevent the liquid from entering the inside of the main body shell 11. At the same time, the external line of sight cannot directly enter the main body shell 11, which improves the appearance of the interventional surgical robot body.

[0059] It is understandable that, since the notch 111 is arranged toward the bottom of the main body shell 11, the two edges of the main body shell 11 at the notch 111 are not on the same vertical plane. When liquid splashes onto the main body shell 11, the liquid slides down along the outer surface of the main body shell 11 under the factor of gravity, and the liquid slides to the edge of the main body shell 11 and falls to the ground, and will not fall into the inside of the main body shell 11.

[0060] In one embodiment of the present disclosure, the connecting portion 13 includes a first fixing member 131, a second fixing member 132 and a connecting member 133. Among them, the first fixing member 131 is located inside the main body shell 11 and is fixedly connected to the long rail driving mechanism 16; the second fixing member 132 is located outside the main body shell 11 and is connected to the driving module 121; the connecting member 133 passes through the notch 111 and is partially located in the notch 111. The connecting member 133 is a bending structure that matches the shape of the notch 111, and the first fixing member 131 and the second fixing member 132 can be connected by the connecting member 133. In order to facilitate the connection between the driving module 121 and the second fixing member 132, a slide groove can be set on the second fixing member 132, and a slide groove can be set on the driving module 121. Of course, the present disclosure does not specifically limit the specific connection method between the driving module 121 and the second fixing member 132.

[0061] In addition, since only the connector 133 is required to be provided in the slot 111, the width of the connector 133 can be reduced while ensuring the connection stability and connection strength of the connector 133, thereby reducing the width of the slot 111, and effectively reducing the risk of liquid entering the interior of the main body housing 11 from the slot 111, and the shape of the connector 133 can also be set according to the shape of the slot 111. The specific size, material and shape of the connector 133 can be selected by those skilled in the art according to actual conditions, and the present disclosure does not specifically limit this.

[0062] In one embodiment of the present disclosure, a cavity is provided inside the connection portion 13 for passing transmission wires. Since both the drive module 121 and the execution module 122 need to transmit signals with the host control device, and a motor is also used to achieve power output, the transmission wire can be passed through the cavity inside the connection portion 13 to achieve electrical connection between the execution module 122, the drive module 121 and the internal components of the main housing 11.

[0063] Exemplarily, the width of the slot 111 can be set to be less than or equal to 7 mm. The width of the slot 111 is one of the important factors for preventing liquid from splashing in. Since the driving module 121 is arranged outside the main body shell 11, the slot 111 only needs to be passed through by the connecting portion 13. Therefore, when the connecting portion 13 can stably connect the driving module 121 and the long rail driving mechanism 16, the width of the slot 111 can be appropriately reduced, thereby further improving the effect of preventing liquid from splashing into the interior of the main body shell 11. Of course, in actual application, those skilled in the art can set the width of the slot 111 according to actual needs, and the present disclosure does not make specific limitations on this.

[0064] In an exemplary embodiment of the present disclosure, the multi-module vascular interventional surgical robot body 1 with external power also includes a side bar 112. The side bar 112 is arranged in the notch 111 and is provided with two. The two side bars 112 are respectively located on both sides of the extension direction of the notch 111 and are connected to the main body shell. The two side bars 112 are arranged along the extension direction of the notch 111. The side bars 112 can also block the liquid splashing into the inside of the main body shell 11 through the notch 111, and can also block debris or dust from entering the inside of the main body shell 11, thereby protecting the components inside the main body shell 11 from damage. In addition, a slide groove compatible with the two side bars 112 can be provided on the connector 133, so that the connector 133 can slide along the side bars, which can improve the stability of the connector 133 and guide the sliding of the connector 133, which is conducive to the smooth sliding of the interventional consumables driving mechanism 12.

[0065] In an exemplary embodiment of the present disclosure, at least one groove is provided on the connecting portion 13, and the edge of the groove 111 close to the side of the interventional consumable drive mechanism 12 is placed in the groove. When the interventional consumable drive mechanism 12 slides along the extending direction of the groove 111, the edge of the main body shell 11 is always in the groove, and the liquid splashed on the main body shell 11 can flow down along the main body shell 11 and fall from the edge, and the liquid can fall to the ground or fall into the groove. When the liquid falls into the groove, the liquid will not enter the interior of the main body shell 11.

[0066] In one embodiment of the present disclosure, multiple groups of interventional consumables drive mechanisms 12 are provided, and the multiple groups of interventional consumables drive mechanisms 12 are arranged at intervals along the extension direction of the slot 111. Multiple groups of interventional consumables drive mechanisms 12 can all achieve the delivery and rotation of interventional consumables. Through the mutual cooperation of multiple groups of interventional consumables drive mechanisms 12, a variety of different interventional consumables can be delivered at the same time. When multiple groups of interventional consumables drive mechanisms 12 are provided, the drive modules 121 of each group of interventional consumables drive mechanisms 12 are arranged outside the main body shell 11, and each group of drive modules 121 is connected to the long rail drive mechanism 16 through a connecting portion 13, that is, only the connecting portion 13 needs to be arranged in the slot 111, which reduces the risk of liquid splashing into the inside of the main body shell 11 while improving the efficiency and safety of the interventional consumables delivery, and can also facilitate the replacement of the interventional consumables drive mechanism 12.

[0067] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The utility model is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A multi-module vascular interventional surgery robot body with external power, characterized in that: include: A main body shell, wherein the main body shell is provided with a notch, and the notch is arranged along the length direction of the main body shell; An interventional consumable driving mechanism, comprising a driving module and an execution module drivingly connected to the driving module, wherein the execution module is used to realize the action of the interventional consumable under the driving of the driving module, and the driving module and the execution module are both located outside the main body shell; A long rail driving mechanism is located inside the main body shell; A connecting portion connects the long rail driving mechanism and the driving module, and is used to drive the interventional consumable driving mechanism to slide along the slot under the drive of the long rail driving mechanism, and at least a partial area of ​​the connecting portion is located at the slot.

2. The multi-module vascular interventional surgery robot body with external power according to claim 1 is characterized in that: The multi-module vascular interventional surgery robot body with external power also includes: A mounting frame, disposed inside the main body shell, and having at least one end fixedly connected to the main body shell; A long rail, fixed on the mounting frame, wherein the extension direction of the long rail is parallel to the extension direction of the slot; The long rail driving mechanism is slidably connected to the long rail, and one end of the driving module away from the interventional consumables driving mechanism is connected to the long rail driving mechanism.

3. The multi-module vascular interventional surgery robot body with external power according to claim 1 is characterized in that: The notch is arranged toward the bottom of the main shell, and there is a height difference between the edges of the main shell on both sides of the length direction of the notch, and the edge of the main shell on one side of the notch close to the interventional consumables driving mechanism is lower than the edge on the other side.

4. The multi-module vascular interventional surgery robot body with external power according to claim 1, characterized in that: The connecting portion comprises: A first fixing member, fixedly connected to the long rail driving mechanism, wherein the first fixing member is located inside the main body shell; a second fixing member, fixedly connected to the interventional consumable driving mechanism, and the second fixing member is located outside the main body shell; A connecting member connects the first fixing member and the second fixing member, and the connecting member is a bending structure matching the shape of the notch.

5. The multi-module vascular interventional surgery robot body with external power according to claim 3 is characterized in that: The connection part is provided with a cavity inside for passing the transmission wire.

6. The multi-module vascular interventional surgery robot body with external power according to claim 3 is characterized in that: The width of the notch is less than or equal to 7 mm.

7. The multi-module vascular interventional surgery robot body with external power according to claim 6 is characterized in that: The multi-module vascular interventional surgery robot body with external power also includes: The side baffles are arranged in the slot and are provided with two of them. The two side baffles are respectively located on both sides of the extending direction of the slot and are connected to the main body shell. The two side baffles are arranged along the extending direction of the slot.

8. The multi-module vascular interventional surgery robot body with external power according to claim 4 is characterized in that: At least one groove is arranged on the connecting portion, and the edge of the notch close to one side of the interventional consumable driving mechanism is placed in the groove.

9. The multi-module vascular interventional surgery robot body with external power according to any one of claims 1 to 8, characterized in that: The interventional consumable material driving mechanisms are provided in a plurality of groups, and the plurality of groups of interventional consumable material driving mechanisms are arranged at intervals along the extending direction of the slot.

10. A vascular interventional surgery robot, characterized in that: It comprises a robotic arm and an externally powered multi-module vascular interventional surgery robot body as described in any one of claims 1 to 9, wherein the externally powered multi-module vascular interventional surgery robot body is arranged on the robotic arm.

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