Delivery detection device and interventional surgical robot

Abstract

The utility model is applicable to the technical field of medical robots, and provides a delivery detection device, which is used for detecting the retreating position of a second consumable sleeved outside a first consumable and comprises a base plate, a delivery mechanism and a detection mechanism, the delivery mechanism and the detection mechanism are mounted on the base plate and are arranged side by side along the axial direction of the second consumable; the delivery mechanism is used for driving the second consumable to retreat in the direction away from the detection mechanism in the axial direction. The detection mechanism comprises a floating clamping unit and a displacement detection unit, the floating clamping unit is used for adjusting the clamping distance in a floating mode when the clamped object is converted into the first consumable from the second consumable in the process of retreating the second consumable, and the displacement detection unit is used for detecting the clamping distance. The utility model further provides an interventional surgical robot. Change of a clamped object in the detection mechanism is recognized through change of the clamping distance, the retreating position of the second consumable is judged, manual assistance is not needed in the whole process, the automation degree is high, and the operation efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical robots, is applied to master-slave surgical robots, and particularly relates to a delivery detection device and an interventional surgical robot. Background Art

[0002] The slave end of the existing interventional surgery robot mainly uses rollers to deliver consumables such as catheters and guidewires to achieve the forward and backward functions of the catheter and guidewire. During the process of catheter withdrawal, the roller drives the catheter to retreat along the guidewire. Since it is impossible to determine whether the catheter has been withdrawn from the patient's body, manual assistance is required in the catheter room to complete the catheter withdrawal operation, and the degree of automation is low. Utility Model Content

[0003] The utility model aims to provide a delivery detection device and an interventional surgery robot, aiming to solve the technical problem of the prior art that manual assistance is required in the catheter room to complete the catheter withdrawal operation and the automation level is low.

[0004] The utility model is achieved in this way:

[0005] A first aspect of the utility model provides a delivery detection device for detecting a retreat position of a second consumable sleeved outside a first consumable, the delivery detection device comprising a substrate and a delivery mechanism and a detection mechanism installed on the substrate, the delivery mechanism and the detection mechanism being arranged side by side along the axial direction of the second consumable; the delivery mechanism being used to drive the second consumable to retreat along the axial direction in a direction away from the detection mechanism; the detection mechanism comprising a floating clamping unit and a displacement detection unit, the floating clamping unit being used to float and adjust a clamping distance when the clamped object is changed from the second consumable to the first consumable during the process of retreating the second consumable, and the displacement detection unit being used to detect the clamping distance.

[0006] Furthermore, the floating clamping unit includes a first floating roller assembly and a clamping roller assembly which are symmetrically arranged along the radial direction of the second consumable, the first floating roller assembly is slidably connected to the substrate along the radial direction of the second consumable, and the clamping spacing is the relative distance between the consumable abutting surfaces of the first floating roller assembly and the clamping roller assembly.

[0007] Furthermore, the delivery mechanism includes a second floating roller assembly and a fixed roller assembly symmetrically arranged along the radial direction of the second consumable, the second floating roller assembly is slidably connected to the substrate along the radial direction of the second consumable, the first floating roller assembly is slidably connected to the second floating roller assembly along the radial direction of the second consumable, and also includes a roller driving mechanism, and the roller driving mechanism is used to drive the rollers of the fixed roller assembly and / or the second floating roller assembly to rotate.

[0008] Furthermore, a first guiding mechanism is provided between the first floating roller assembly and the second floating roller assembly, and the first guiding mechanism is used to guide the first floating roller assembly to slide on the second floating roller assembly along the radial direction of the second consumable.

[0009] Furthermore, the first floating roller assembly includes a bracket, a roller, an elastic member and a second guide mechanism, the roller is mounted on the bracket, the circumferential surface of the roller is the consumable abutment surface, the two ends of the elastic member are respectively abutted against the substrate and the bracket, the second guide mechanism is used to guide the bracket to slide radially along the second consumable under the action of external force, and the displacement detection unit is used to detect the moving distance of the bracket.

[0010] Furthermore, the roller driving mechanism is also used to drive the rollers of the first floating roller assembly and / or the clamping roller assembly to rotate. When the elastic member pushes the bracket to move toward the direction close to the clamping roller assembly to a maximum stroke, a gap is formed between the rollers of the first floating roller assembly and / or the clamping roller assembly and the first consumable.

[0011] Furthermore, the roller driving mechanism also drives the rollers of the first floating roller assembly and / or the clamping roller assembly to rotate, the rollers include a main body and an end, the diameter of the end is larger than the diameter of the main body, and when the elastic member pushes the bracket to move toward the clamping roller assembly, the ends of the relative rollers abut against each other, and a gap formed between the main bodies is larger than the diameter of the first consumable and smaller than the diameter of the second consumable.

[0012] Furthermore, a first handle pressing plate is provided on the first floating roller assembly, the first handle pressing plate includes an extending end extending toward the second floating roller assembly, a second handle pressing plate is provided on the second floating roller assembly, and a plate surface of the extending end away from the second consumable side is arranged opposite to a plate surface of the second handle pressing plate close to the second consumable side.

[0013] A second aspect of the utility model provides an interventional surgical robot, comprising a frame and the above-mentioned delivery detection device installed on the frame.

[0014] Furthermore, it also includes a consumable tail end clamping device installed on the frame.

[0015] The beneficial effect of the utility model is that the delivery detection device of the utility model includes a delivery mechanism and a detection mechanism. The change of the clamping object in the detection mechanism is identified by changing the clamping distance, and it is judged that the distal end of the second consumable has retreated to the delivery mechanism, that is, the second consumable has been withdrawn from the body of the surgical patient. The whole process does not require manual assistance, has a high degree of automation, and improves the surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the delivery detection device provided by the embodiment of the utility model. Figure 1 ;

[0017] Figure 2 This is a schematic diagram of the structure of the delivery detection device provided by the embodiment of the utility model. Figure 2 ;

[0018] Figure 3 The utility model embodiment provides a first floating roller assembly and a second floating roller assembly. Figure 1 ;

[0019] Figure 4 The utility model embodiment provides a first floating roller assembly and a second floating roller assembly. Figure 2 ;

[0020] Figure 5 This is a diagram of the use status of the roller provided in the embodiment of the utility model.

[0021] 100-delivery detection device;

[0022] 10-detection mechanism, 11-floating clamping unit, 111-first floating roller assembly, 1111-bracket, 1112-elastic member, 1113-second guide mechanism, 1114-first handle pressure plate, 1115-detection member, 112-clamping roller assembly, 12-displacement detection unit;

[0023] 20-delivery mechanism, 21-second floating roller assembly, 211-second handle pressure plate, 22-fixed roller assembly;

[0024] 31-roller, 311-body, 312-end, 32-first guide mechanism, 33-base plate, 331-hollow part;

[0025] 40- roller drive mechanism;

[0026] 51-first consumable material, 52-second consumable material. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection, or even a connection that can move relatively; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0030] The direction "far" used in the present invention is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "up" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "forward" refers to the direction in which the guide wire or catheter is displaced into the body of the surgical patient. The term "backward" refers to the side of the interventional surgical robot facing away from the user from the end device, and "backward" refers to the direction in which the guide wire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the internal part of the feature. The term "outwardly" refers to the outside part of the feature. The term "rotation" includes "forward rotation" and "reverse rotation", wherein "forward rotation" refers to the direction in which the guide wire or catheter is rotated into the body of the surgical patient, and "reverse rotation" refers to the direction in which the guide wire or catheter is rotated out of the body of the surgical patient.

[0031] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, "multiple" or "plurality" means two or more.

[0032] The guidewires here include but are not limited to guide guidewires, micro guidewires, stents and other guiding and supporting interventional medical devices, and catheters include but are not limited to guide catheters, micro catheters, angiography catheters, multi-functional tubes (also called intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters and other therapeutic interventional medical devices.

[0033] As attached Figure 1 , 2 As shown, the delivery detection device 100 provided in the embodiment of the utility model is used to detect the retreat position of the second consumable 52 sleeved outside the first consumable 51. In this embodiment, preferably, the first consumable 51 is a guide wire, the second consumable 52 is a catheter, and the delivery detection device 100 is used to detect whether the catheter is withdrawn from the surgical patient's body along the guide wire.

[0034] The delivery detection device 100 includes a substrate 33 and a delivery mechanism 20 and a detection mechanism 10 mounted on the substrate 33. The delivery mechanism 20 and the detection mechanism 10 are arranged side by side along the axial direction of the second consumable 52. In order to make more reasonable use of space, the delivery mechanism 20 and the detection mechanism 10 are preferably arranged adjacent to each other in this embodiment. In the initial state, the second consumable 52 is sleeved outside the first consumable 51 and clamped in the delivery mechanism 20 and the detection mechanism 10.

[0035] The detection mechanism 10 includes a floating clamping unit 11 and a displacement detection unit 12. The floating clamping unit 11 is used to float and adjust the clamping distance when the clamped object is changed from the second consumable 52 to the first consumable 51 during the process of withdrawing the second consumable 52, and the displacement detection unit 12 is used to detect the clamping distance to determine whether the clamped object has changed. In the initial state of withdrawal, the floating clamping unit 11 clamps the second consumable 52, and the delivery mechanism 20 continues to drive the second consumable 52 to retreat. Due to the difference in diameter between the second consumable 52 and the first consumable 51, when the displacement detection unit 12 detects that the clamping distance of the floating clamping unit 11 becomes smaller, it is determined that the clamped object of the floating clamping unit 11 has been changed from the second consumable 52 to the first consumable 51, indicating that the second consumable 52 has been separated from the clamping of the floating clamping unit 11, that is, the distal end of the second consumable 52 has retreated to the vicinity of the delivery mechanism 20, and the second consumable 52 has withdrawn from the body of the surgical patient.

[0036] The preferred floating clamping unit 11 of this embodiment includes a first floating roller assembly 111 and a clamping roller assembly 112 symmetrically arranged along the radial direction of the second consumable 52 , and the second consumable 52 and the first consumable 51 are arranged between the first floating roller assembly 111 and the clamping roller assembly 112 .

[0037] The first floating roller assembly 111 is slidably connected to the base plate 33 along the radial direction of the second consumable material 52. Figure 2 and Figure 3 As shown, the preferred first floating roller assembly 111 of this embodiment includes a bracket 1111, a roller 31, an elastic member 1112 and a second guide mechanism 1113. The roller 31 is mounted on the bracket 1111, and the circumferential surface of the roller 31 is a consumable abutting surface, which is used to abut against the second consumable 52 in the initial state. The two ends of the elastic member 1112 abut against the base plate 33 and the bracket 1111 respectively, and the preferred elastic member 1112 of this embodiment is a spring. When the clamped object of the floating clamping unit 11 is replaced with the first consumable 51, the elastic force of the elastic member 1112 pushes the bracket 1111 to move in the direction close to the clamping roller assembly 112. The clamping roller assembly 112 also includes the roller 31, and the clamping spacing is the relative distance between the consumable abutting surfaces of the first floating roller assembly 111 and the clamping roller assembly 112, that is, the closest distance between the circumferential surfaces of the relative rollers 31.

[0038] In order to simplify the structure, the present embodiment adopts a single-side measurement method to detect the clamping distance. Preferably, the clamping roller assembly 112 is fixedly mounted on the substrate 33, and the displacement detection unit 12 is used to detect the moving distance of the bracket 1111. Specifically, the substrate 33 includes a hollow portion 331, and the bracket 1111 is provided with a detection member 1115 extending along the hollow portion. The displacement sensor of the displacement detection unit 12 is installed below the substrate 33 and is arranged corresponding to the detection member 1115. During the movement of the bracket 1111 along the hollow portion 331, the displacement sensor detects the real-time displacement of the first floating roller assembly 111 through the detection member 1115. Of course, in other embodiments, the clamping roller assembly 112 can also be slidably connected to the substrate 33 along the radial direction of the second consumable 52. The displacement detection unit 12 combines the real-time displacements of the first floating roller assembly 111 and the clamping roller assembly 112 to detect the clamping distance.

[0039] The second guide mechanism 1113 is used to guide the bracket 1111 to slide radially along the second consumable 52 under the action of an external force. The preferred second guide mechanism 1113 in this embodiment includes a connecting rod arranged radially along the second consumable 52, and both ends of the connecting rod are fixedly mounted on the base plate 33. A connecting ring for the connecting rod to pass through is provided on one side of the bracket 1111, and the bracket 1111 is limited to slide radially along the second consumable 52 through the cooperation of the connecting rod and the connecting ring.

[0040] During the delivery process of the second consumable 52, the delivery mechanism 20 drives the second consumable 52 to move along its axial direction to realize the advancement and retreat of the second consumable 52. In this embodiment, in the initial state of withdrawal, the delivery mechanism 20 clamps the second consumable 52, and the delivery mechanism 20 is used to drive the second consumable 52 to retreat in the direction away from the detection mechanism 10 along the axial direction.

[0041] The preferred delivery mechanism 20 of this embodiment includes a second floating roller assembly 21 and a fixed roller assembly 22 symmetrically arranged along the radial direction of the second consumable 52, and the second consumable 52 and the first consumable 51 are arranged between the second floating roller assembly 21 and the fixed roller assembly 22. The second floating roller assembly 21 is slidably connected to the base plate 33 along the radial direction of the second consumable 52. The preferred second floating roller assembly 21 of this embodiment has the same structure as the first floating roller assembly 111, and the fixed roller assembly 22 has the same structure as the clamping roller assembly 112.

[0042] As attached Figure 4 As shown, the preferred first floating roller assembly 111 of this embodiment is slidably connected to the second floating roller assembly 21 along the radial direction of the second consumable 52. Specifically, the first floating roller assembly 111 is provided with a receiving groove on the side opposite to the second floating roller assembly 21, and the second floating roller assembly 21 has a protrusion corresponding to the receiving groove, and the size of the receiving groove is larger than the size of the protrusion, that is, a gap is left when the first floating roller assembly 111 and the second floating roller assembly 21 are assembled, and under the action of external force, the first floating roller assembly 111 can move within a certain range relative to the second floating roller assembly 21.

[0043] In this embodiment, a first guide mechanism 32 is preferably provided between the first floating roller assembly 111 and the second floating roller assembly 21, and the first guide mechanism 32 is used to guide the first floating roller assembly 111 to slide radially along the second consumable 52 on the second floating roller assembly 21. Specifically, the first guide mechanism 32 includes a connecting rod provided along the receiving groove, and both ends of the connecting rod are fixedly mounted on the bracket 1111 of the first floating roller assembly 111, and the connecting rod is passed through the protruding portion of the second floating roller assembly 21. Of course, in other embodiments, the receiving groove can also be provided on the side of the second floating roller assembly 21 opposite to the first floating roller assembly 111, and correspondingly, the protruding portion can be provided on the first floating roller assembly 111.

[0044] To facilitate installation and removal of the second consumable 52, as shown in the attached Figure 2 , 3As shown, the first floating roller assembly 111 of this embodiment is preferably provided with a first handle pressing plate 1114, and the first handle pressing plate 1114 includes an extension end extending toward the second floating roller assembly 21. The second floating roller assembly 21 is provided with a second handle pressing plate 211, and the plate surface of the extension end away from the second consumable material 52 is arranged opposite to the plate surface of the second handle pressing plate 211 close to the second consumable material 52. The first handle pressing plate 1114 partially overlaps with the second handle pressing plate 211, and when the user moves the first handle pressing plate 1114 toward the elastic member 1112, the second handle pressing plate 211 can be driven to move, so that the first floating roller assembly 111 and the second floating roller assembly 21 can be simultaneously opened, and the operation is more convenient and efficient.

[0045] As attached Figure 1 As shown, the roller driving mechanism 40 is also included, and the roller driving mechanism 40 provides the power for the roller 31 on the delivery mechanism 20 to rotate. In this embodiment, the roller driving mechanism 40 is used to drive the roller 31 of the fixed roller assembly 22 or / and the second floating roller assembly 21 to rotate, and the rotating roller 31 can control the second consumable 52 to move forward and backward. In order to increase the delivery force acting on the second consumable 52, the roller driving mechanism 40 is also used to drive the roller 31 of the first floating roller assembly 111 or / and the clamping roller assembly 112 to rotate. When the displacement detection unit 12 detects that the clamping spacing of the floating clamping unit 11 becomes smaller, it means that the second consumable 52 has been separated from the clamping of the floating clamping unit 11 and the second consumable 52 has exited the body of the surgical patient. At this time, the roller driving mechanism 40 will immediately stop driving the roller 31. During the retreat of the second consumable 52, the first consumable 51 should always be kept in a stationary state.

[0046] Due to the delay in the control system, even if the roller drive mechanism 40 stops driving the roller 31, the roller 31 will still rotate a short distance, causing the first consumable 51 clamped by the floating clamping unit 11 to be displaced, posing a safety hazard. To address this problem, the size of the clamping spacing of the floating clamping unit 11 can be controlled to achieve that after the second consumable 52 is released from the clamping of the floating clamping unit 11, the floating clamping unit 11 floats to adjust the clamping spacing but cannot press the first consumable 51, so that even if the roller 31 continues to rotate, the first consumable 51 can be kept stationary. When the preferred elastic member 1112 of this embodiment pushes the bracket 1111 to move toward the clamping roller assembly 112 to the maximum stroke, there is a gap between the roller 31 of the first floating roller assembly 111 or / and the clamping roller assembly 112 and the first consumable 51.

[0047] The above problem can also be solved by improving the structure of the roller 31, as shown in the attached Figure 5As shown, the preferred roller 31 of this embodiment includes a body 311 and an end 312. The diameter of the end 312 is larger than the diameter of the body 311, and the whole is in a concave shape. The circumferential surface of the body 311 is a consumable abutment surface. When the elastic member 1112 pushes the bracket 1111 of the first floating roller assembly 111 to move in the direction close to the clamping roller assembly 112, the ends 312 of the rollers 31 on the first floating roller assembly 111 and the clamping roller assembly 112 that are opposite to each other abut, and the gap formed between the body 311 is larger than the diameter of the first consumable 51 and smaller than the diameter of the second consumable 52. With this structure, after the second consumable 52 is separated from the clamping of the floating clamping unit 11, when the floating clamping unit 11 floats and adjusts the clamping interval, the upper and lower ends 312 of the roller 31 abut, and the body 311 cannot press the second consumable 52, so that the second consumable 52 can be kept stationary even if the roller 31 continues to rotate. At the same time, this structure can also ensure the clamping of the second consumable material 52 and ensure the delivery of the second consumable material 52 .

[0048] The second aspect of the utility model provides an interventional surgical robot, comprising a frame and the above-mentioned delivery detection device 100 installed on the frame. The delivery detection device 100 is installed on the frame through a substrate 33. In order to prevent the first consumable 51 from being displaced during the retreat of the second consumable 52, the present embodiment preferably also includes a consumable tail end clamping device installed on the frame. The consumable tail end clamping device is arranged on the side of the delivery structure 20 away from the detection mechanism 10. During the retreat of the second consumable 52, as long as the second consumable 52 does not leave the roller 31 of the second floating roller assembly 21, the consumable tail end clamping device always clamps the tail of the first consumable 51. After the second consumable 52 is separated from the clamping of the floating clamping unit 11, even if the roller 31 of the first floating roller assembly 111 rotates, the roller 31 will slip on the surface of the first consumable 51 and cannot drive the first consumable 51 to move, thereby ensuring that the first consumable 51 is stationary.

[0049] Finally, it should be noted that, if there is no conflict, the embodiments of the utility model and the various features in the embodiments can be combined with each other, all within the scope of protection of the utility model. Of course, the utility model can also have many other embodiments, and those familiar with the art can make various corresponding changes and deformations according to the utility model without departing from the spirit and essence of the utility model, but these corresponding changes and deformations should all fall within the scope of protection of the claims of the utility model.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A delivery detection device for detecting the retreat position of a second consumable sleeved outside a first consumable, characterized in that: The delivery detection device comprises a substrate and a delivery mechanism and a detection mechanism mounted on the substrate, wherein the delivery mechanism and the detection mechanism are arranged side by side along the axial direction of the second consumable; The delivery mechanism is used to drive the second consumable to retreat in a direction away from the detection mechanism along the axial direction; The detection mechanism includes a floating clamping unit and a displacement detection unit. The floating clamping unit is used to float and adjust the clamping distance when the clamped object is changed from the second consumable to the first consumable during the process of retreating the second consumable, and the displacement detection unit is used to detect the clamping distance.

2. The delivery detection device according to claim 1, characterized in that: The floating clamping unit includes a first floating roller assembly and a clamping roller assembly symmetrically arranged along the radial direction of the second consumable, the first floating roller assembly is slidably connected to the substrate along the radial direction of the second consumable, and the clamping spacing is the relative distance between the consumable abutting surfaces of the first floating roller assembly and the clamping roller assembly.

3. The delivery detection device according to claim 2, characterized in that: The delivery mechanism includes a second floating roller assembly and a fixed roller assembly symmetrically arranged along the radial direction of the second consumable, the second floating roller assembly is slidably connected to the base plate along the radial direction of the second consumable, the first floating roller assembly is slidably connected to the second floating roller assembly along the radial direction of the second consumable, and also includes a roller driving mechanism, the roller driving mechanism is used to drive the rollers of the fixed roller assembly and / or the second floating roller assembly to rotate.

4. The delivery detection device according to claim 3, characterized in that: A first guiding mechanism is provided between the first floating roller assembly and the second floating roller assembly, and the first guiding mechanism is used to guide the first floating roller assembly to slide on the second floating roller assembly along the radial direction of the second consumable.

5. The delivery detection device according to claim 3, characterized in that: The first floating roller assembly includes a bracket, a roller, an elastic member and a second guide mechanism, the roller is installed on the bracket, the circumferential surface of the roller is the consumable abutment surface, the two ends of the elastic member are respectively abutted against the substrate and the bracket, the second guide mechanism is used to guide the bracket to slide radially along the second consumable under the action of external force, and the displacement detection unit is used to detect the moving distance of the bracket.

6. The delivery detection device according to claim 5, characterized in that: The roller driving mechanism is also used to drive the rollers of the first floating roller assembly and / or the clamping roller assembly to rotate. When the elastic member pushes the bracket to move toward the clamping roller assembly to a maximum stroke, a gap is formed between the rollers of the first floating roller assembly and / or the clamping roller assembly and the first consumable.

7. The delivery detection device according to claim 5, characterized in that: The roller driving mechanism also drives the rollers of the first floating roller assembly and / or the clamping roller assembly to rotate, the rollers include a main body and an end portion, the diameter of the end portion is larger than the diameter of the main body, when the elastic member pushes the bracket to move toward the clamping roller assembly, the ends of the relative rollers abut against each other, and a gap formed between the main bodies is larger than the diameter of the first consumable and smaller than the diameter of the second consumable.

8. The delivery detection device according to claim 3, characterized in that: A first handle pressing plate is provided on the first floating roller assembly, and the first handle pressing plate includes an extending end extending toward the second floating roller assembly; a second handle pressing plate is provided on the second floating roller assembly, and a plate surface of the extending end away from the second consumable material side is arranged opposite to a plate surface of the second handle pressing plate close to the second consumable material side.

9. An interventional surgery robot, characterized in that: The invention comprises a frame and a delivery detection device as claimed in any one of claims 1 to 8 installed on the frame.

10. The interventional surgery robot according to claim 9, characterized in that: It also includes a consumable tail end clamping device installed on the frame.

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