Force measuring device, intervention consumable operating device and vascular intervention surgical robot

Abstract

The utility model discloses a force measuring device, an interventional consumable operating device and a vascular interventional surgical robot. The force measuring device comprises a sensor assembly which comprises a sensor mounting seat and a pressure sensor arranged on the sensor mounting seat; the collision block assembly is separated from the sensor assembly and arranged opposite to the sensor assembly in the force measuring direction, the collision block assembly comprises a collision block installation base and a flexible collision block arranged on the collision block installation base, and the collision block assembly moves and / or biases towards the sensor assembly under the action of the force to be measured; the distance between the first abutting part of the collision block mounting seat and the first limiting part of the sensor mounting seat is a first preset distance greater than zero; when the force to be measured is larger than a threshold value, the flexible collision block is compressed so that the first abutting part abuts against the first limiting part. The pressure sensor can be prevented from bearing overlarge force through the direct abutting of the sensor mounting seat and the collision block mounting seat, so that the pressure sensor is protected from being damaged.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a vascular interventional surgery robot and a force measuring device and interventional consumable operation device used therein. Background Technology

[0002] Interventional surgery is a minimally invasive procedure performed using modern high-tech methods. Guided by medical imaging equipment, specialized catheters, guidewires, and other precision instruments are introduced into the body via blood vessels to diagnose and treat diseased areas. Interventional surgery offers advantages such as minimal trauma, rapid recovery, and precise treatment, and represents a future trend in medicine.

[0003] Accurate sensing of the resistance encountered during catheter and guidewire delivery is crucial for the operation of vascular interventional surgical robots. It allows operators to understand the current resistance level of guidewire and catheter delivery in a timely and accurate manner, thereby enabling them to take effective operational strategies in a timely manner, avoid rupturing blood vessels, and better provide feedback on the blockage status within the blood vessels.

[0004] In existing vascular interventional surgical robots, catheters and guidewires are entirely driven by motors during intravascular delivery. Some vascular interventional surgical robots approximate the resistance experienced by the catheter or guidewire by measuring changes in the motor current. However, due to systemic resistance, such approximate calculations have very large deviations.

[0005] There is an urgent need to develop a force measuring device that is suitable for vascular interventional surgery, capable of precise measurement, and robust. Utility Model Content

[0006] The purpose of this invention is to provide a force measuring device, an interventional consumables operating device having the force measuring device, and a vascular interventional surgical robot, so as to at least partially overcome the shortcomings of the prior art.

[0007] According to one aspect of the present invention, a force measuring device for a vascular interventional surgical robot is provided, comprising:

[0008] A sensor assembly includes a sensor mount and a pressure sensor disposed on the sensor mount, the pressure sensor having a force measuring surface; and

[0009] A striker assembly, separate from the sensor assembly and arranged opposite to the sensor assembly in the force measuring direction, includes a striker mounting base and a flexible striker disposed on the striker mounting base, which moves and / or biases towards the sensor assembly under the action of the force to be measured.

[0010] The sensor mounting base has a first limiting portion, and the impact block mounting base has a first abutting portion; when the flexible impact block begins to contact the force measuring surface, the first abutting portion and the first limiting portion are separated by a first predetermined distance greater than zero; and when the force to be measured is greater than a threshold, the flexible impact block is compressed in the force measuring direction so that the first abutting portion abuts against the first limiting portion.

[0011] Advantageously, the flexible impact block includes a spring and a spring top block, at least a portion of the elastic pressure of the spring being applied to the pressure sensor via the spring top block.

[0012] Advantageously, the impact block mounting holds the spring in a compressed state, the spring biasing the spring top block against one end of the impact block mounting with a predetermined elastic pressure less than the threshold value.

[0013] Advantageously, the impact block mounting base includes a sleeve and an end cap, the sleeve having a limiting portion formed on its inner wall, and the end cap being connected to the end of the sleeve to thereby constrain the spring and the spring top block between the end cap and the limiting portion.

[0014] Advantageously, the spring top block has a force-applying surface for abutting against the pressure sensor; and when the first abutting portion is at a first predetermined distance from the first limiting portion, the force-applying surface is in a measuring position beyond the impact block mounting base; when the first abutting portion abuts against the first limiting portion, the force-applying surface is in a protective position without exceeding the impact block mounting base.

[0015] Advantageously, the force-applying surface is an arcuate surface that bulges toward the pressure sensor.

[0016] Advantageously, the end cap is connected to the sleeve by a threaded connection, and threadlocker is applied at the threaded connection to maintain the relative position of the end cap and the sleeve.

[0017] Advantageously, the sensor mounting base further includes a second limiting portion located on the opposite side of the first limiting portion relative to the impact block assembly, such that the impact block mounting base abuts against the second limiting portion when the first abutting portion is at a second predetermined distance greater than the first predetermined distance from the first limiting portion.

[0018] According to another aspect of the present invention, an interventional consumables operating device for a vascular interventional surgery robot is provided, comprising:

[0019] A drive unit is used to hold the long, straight interventional consumable and drive the long, straight interventional consumable to move along the interventional direction;

[0020] The driving unit is slidably mounted on the mounting base, allowing it to slide freely relative to the mounting base parallel to the intervention direction; and

[0021] In the force measuring device described above, the sensor assembly of the force measuring device is mounted on one of the drive unit and the mounting base, and the impact block assembly is mounted on the other of the drive unit and the mounting base, such that the force measuring direction is parallel to the intervention direction.

[0022] According to another aspect of the present invention, a vascular interventional surgical robot is provided, comprising:

[0023] A robot body comprising a main body and a drive mechanism, the drive mechanism being mounted on the main body and capable of movement relative to the main body; and

[0024] The interventional consumable operating device described above is connected to the drive device for holding and operating the long, straight interventional consumable.

[0025] According to the embodiments of this utility model, the force measuring device is constructed such that when the force to be measured exceeds a certain threshold, the pressure sensor is prevented from bearing excessive force by direct contact between the sensor mounting base and the impact block mounting base, thereby protecting it from damage. This allows the force measuring device to use a small-range, high-precision pressure sensor while providing good robustness. Attached Figure Description

[0026] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0027] Figure 1 This is an exemplary perspective view of a vascular interventional surgical robot according to an embodiment of the present invention;

[0028] Figure 2 This is a perspective view of an example of an interventional consumables operating device according to an embodiment of the present utility model;

[0029] Figure 3 for Figure 2 A perspective view of the mounting base and force measuring device in the interventional consumables operating device shown;

[0030] Figure 4 This is a perspective view of an example of a force measuring device for a vascular interventional surgical robot according to an embodiment of the present invention;

[0031] Figure 5 for Figure 4 A cross-sectional view of the force measuring device shown.

[0032] Figure 6 for Figure 4 A perspective view of the sensor assembly of the force measuring device shown;

[0033] Figure 7 for Figure 4 A perspective view of the impact block assembly of the force measuring device shown;

[0034] Figure 8 for Figure 7 A cross-sectional view of the impact block assembly shown;

[0035] Figure 9 for Figure 4 The cross-sectional view of the force measuring device shown illustrates the state in which the flexible impact block begins to contact the force measuring surface of the pressure sensor;

[0036] Figure 10 for Figure 4 The cross-sectional view of the force measuring device shown illustrates the state in which the first abutting portion of the impact block assembly abuts against the first limiting portion of the sensor mounting base;

[0037] Figure 11 and Figure 12 This is a cross-sectional view of another example of a force measuring device for a vascular interventional surgical robot according to an embodiment of the present invention, showing the states of the impact block assembly abutting against the first limiting portion and the second limiting portion of the sensor mounting base. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the scope of the utility model. For ease of description, only the parts relevant to the utility model are shown in the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0039] First, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can also refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, in the description of this application, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] Furthermore, it should be noted that in the description of this application, the terms "upper," "inner," "outer," etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for the convenience of description and does not indicate or imply that the structure must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0041] First refer to Figure 1 , Figure 1 This is an exemplary perspective view of a vascular interventional surgical robot according to an embodiment of the present invention. The vascular interventional surgical robot R according to an embodiment of the present invention includes a main end disposed outside the operating room and a slave end disposed inside the operating room. The main end and the slave end are signal-connected, allowing the surgeon to control the movement of the slave end through the main end, thereby controlling the movement of a long, straight interventional consumable disposed on the slave end. Specifically, as... Figure 1 As shown, the vascular interventional surgery robot R includes a robot body R1 and an interventional consumables manipulation device R2. The robot body R1 includes a main body R11 and a drive device R12, which is mounted on the main body R11 and is movable relative to the main body R11. The interventional consumables manipulation device R2 is connected to the drive device R12 and is used to hold and manipulate the long, straight interventional consumable L.

[0042] Here, the long straight interventional consumable L refers to consumables for human intervention such as catheters, guidewires, and stents. Such long straight interventional consumables are usually discarded after a single use.

[0043] The interventional consumables operation device R2 is an interventional consumables operation device according to an embodiment of the present utility model. Figure 2 A perspective view of an example of the interventional consumables operating device R2 is shown. Figure 3 Part of its structure is shown. For example... Figure 2 As shown, the interventional consumable operating device R2 includes a drive unit R21, a mounting base R22, and a force measuring device M. The drive unit R21 holds the long, straight interventional consumable L and drives it to move along the interventional direction a. The drive unit R21 is slidably mounted on the mounting base R22, allowing it to slide freely relative to the mounting base R22 parallel to the interventional direction. For example, the drive unit R21 can be mounted on the mounting base R22 using a slide rail support structure. This is merely an example and not a limitation. Figure 3 As shown, the mounting base R22 may be equipped with a slide rail R221 for connecting and supporting the drive unit R21.

[0044] The force measuring device M, according to an embodiment of the present invention, includes a sensor assembly 1 and a striking block assembly 2. The sensor assembly 1 is mounted on one of the driving unit R21 and the mounting base R22, and the striking block assembly 2 is mounted on the other of the driving unit R21 and the mounting base R22, such that the force measuring direction is parallel to the intervention direction a. Optionally, as the driving unit R21 slides relative to the mounting base R22, the flexible striking block and the force measuring surface can change between a contact state and a disengagement state. Figure 2 and Figure 3 In the example shown, the sensor assembly 1 of the force measuring device M is mounted on the mounting base R22, while the impact block assembly 2 is mounted on the drive unit R21. Figures 9 to 12 The impact block assembly 2 is shown as being mounted / connected to the drive unit R21. However, it should be understood that this is merely exemplary and not limiting.

[0045] According to an embodiment of the present invention, the sensor assembly 1 and the impact block assembly 2 are separate from each other and are arranged opposite to each other in the intervention direction a.

[0046] When the interventional consumables operating device R2 delivers the long straight interventional consumable L, the long straight interventional consumable L is subjected to feeding resistance. This resistance causes the drive unit R21 to slide relative to the mounting base R22 or to have a tendency to slide, thereby causing the impact block assembly 2 to push the sensor assembly 1 and transmit the resistance to the pressure sensor in the sensor assembly 1 (described below), thereby realizing the measurement of the feeding resistance of the long straight interventional consumable L.

[0047] The slidable mounting of the drive unit R21 on the mounting base R22 minimizes the resistance of the mounting base R22 to the movement of the drive unit R21. As a result, when the long straight intervention consumable L held and driven by the drive unit R21 is subjected to resistance F in the intervention direction a, the resistance F can be accurately transmitted to the force measuring device M.

[0048] The following will combine Figures 4 to 12 The force measuring device M according to the embodiments of the present invention and its technical effects are described in more detail. The vascular interventional surgical robot R and the interventional consumable operation device R2 according to the embodiments of the present invention naturally also possess corresponding characteristics and effects due to the use of such a force measuring device M, which will not be elaborated further here.

[0049] Figure 4 and Figure 5 An example of a force measuring device M1 for use in a vascular interventional surgical robot is shown. Figure 4 and Figure 5 These are, respectively, a perspective view and a sectional view of the force measuring device M1. In addition, Figure 6 Shown separately Figure 4 The sensor assembly 1 of the force measuring device M1 shown; Figure 7 and Figure 8 The views are shown in both perspective and sectional views. Figure 4 The impact block assembly 2 of the force measuring device M1 shown.

[0050] exist Figure 4 and Figure 5 In the example shown, the sensor assembly 1 of the force measuring device M1 includes a sensor mounting base 11 and a pressure sensor 12 disposed on the sensor mounting base 11. The pressure sensor 12 has a force measuring surface 12a (see [reference]). Figure 6 ).

[0051] The impact block assembly 2 is separate from the sensor assembly 1 and is arranged opposite to the sensor assembly 1 in the force measuring direction. Figure 7 and Figure 8 As shown more clearly in the diagram, the impact block assembly 2 includes an impact block mounting base 21 and a flexible impact block 22 disposed on the impact block mounting base 21. The impact block assembly 2 is used in the test of the force F (see...). Figure 10 Under the action of ) it moves toward sensor assembly 1 and / or biases.

[0052] like Figure 4 , Figure 6 and Figure 7 As indicated by the dashed circle, the sensor mounting base 11 has a first limiting portion 11a, and the impact block mounting base 21 has a corresponding first abutting portion 21a. According to this embodiment of the invention, the force measuring device M1 is configured to protect the pressure sensor 12 from damage by excessive pressure through the first limiting portion 11a and the first abutting portion 21a when the force to be measured F exceeds a certain threshold. This threshold can, for example, be designed to correspond to an upper limit of the force that the pressure sensor 12 can withstand (if the force on the pressure sensor 12 exceeds this upper limit, it may cause damage to the pressure sensor 12).

[0053] For ease of understanding, Figure 9 and Figure 10 The two states of the force measuring device M1 are shown in sectional views. Figure 9 As shown, when the flexible impact block 22 of the impact block assembly 2 begins to contact the force measuring surface 12a of the pressure sensor 12, the first abutting portion 21a and the first limiting portion 11a are separated by a first predetermined distance greater than zero; at this time, the force to be measured is zero or negligible. Figure 10 As shown, when the force to be measured is greater than a threshold, the flexible impact block 22 is compressed in the force measuring direction, causing the first abutting portion 21a to abut against the first limiting portion 11a. Figure 10In the indicated state, the force generated between the flexible impact block 22 and the pressure sensor 12 due to the force to be measured F reaches its maximum value (corresponding to the aforementioned threshold). When the force to be measured F increases further, the first abutting portion 21a abuts against the first limiting portion 11a, preventing the flexible impact block 22 from being further compressed. Therefore, the force between the flexible impact block 22 and the pressure sensor 12 remains unchanged. In other words, the increased force is borne by the first abutting portion 21a and the first limiting portion 11a, thereby protecting the pressure sensor 12 from damage caused by excessive pressure. At the same time, it should be understood that when the force to be measured F is less than the aforementioned threshold, the degree of compression of the flexible impact block 22 does not cause the first abutting portion 21a to abut against the first limiting portion 11a. There is no interaction between the first abutting portion 21a and the first limiting portion 11a, and the force to be measured F acts entirely between the flexible impact block 22 and the pressure sensor 12, thereby allowing for accurate measurement of the magnitude of the force to be measured F.

[0054] The force measuring device M1 according to this embodiment is particularly advantageous for measuring the resistance of guidewires and catheters delivered within blood vessels in vascular interventional surgical robots. The resistance during guidewire and catheter delivery within blood vessels is very small, typically not exceeding a few Newtons. Therefore, if a large-range pressure sensor is selected, the measurement accuracy and sensitivity are poor, resulting in unsatisfactory performance. If a small-range pressure sensor is selected, although the measurement accuracy and sensitivity are better, such a pressure sensor is easily damaged by forces exceeding its range during processes such as equipment transportation and installation, affecting the normal use of the surgical robot. Even if such damage is not detected in time, it may lead to surgical risks. The force measuring device M1 according to this embodiment protects the pressure sensor 12 from damage by excessive pressure through the aforementioned first limiting portion 11a and first abutting portion 21a, thereby allowing the selection of a small-range pressure sensor to meet the needs of vascular interventional surgery, while providing good robustness.

[0055] Return to reference Figure 4 , Figure 5 and Figure 6Preferably, the sensor mounting base 11 may further include a second limiting portion 11b, which is located on the opposite side of the first limiting portion 11a relative to the impact block assembly 2. When, for example, the interventional consumable operating device R2 is driven to retract the long straight interventional consumable L, the force exerted by the long straight interventional consumable L on the driving unit R21 causes the driving unit R21 to move relative to the mounting base R22 along the interventional direction a; at this time, the second limiting portion 11b can maintain the position of the driving unit R21 relative to the mounting base R22. Specifically, the second limiting portion 11b can be configured to abut against the impact block mounting base 21 when the first abutting portion 21a is a second predetermined distance D2 from the first limiting portion 11a, thereby preventing the driving unit R21 from moving relative to the mounting base R22 along the interventional direction a. This second predetermined distance D2 can be greater than or equal to the first predetermined distance D1. Preferably, the second predetermined distance D2 is slightly greater than or equal to the first predetermined distance D1. For example, as... Figure 9 As shown, the second predetermined distance D2 can be equal to the first predetermined distance D1; this helps to reduce the idle distance between the delivery and retraction operations of the long straight intervention consumable L, thereby achieving more accurate and sensitive operation.

[0056] The flexible impact block 22 has a force-applying surface 22a for abutting against the pressure sensor 12 (see...). Figure 4 Preferably, such as Figure 9 As shown, when the first abutting part 21a and the first limiting part 11a are separated by a first predetermined distance D1, the force-applying surface 22a is in a measurement position that exceeds the impact block mounting base 21; when the first abutting part 21a abuts the first limiting part 11a, the force-applying surface 22a is in a protective position that does not exceed the impact block mounting base 21.

[0057] Return to the reference below. Figure 4 , Figure 5 , Figure 7 and Figure 8 The preferred structure of the impact block assembly is introduced.

[0058] like Figure 8 As shown more clearly in the diagram, the flexible impact block 22 of the impact block assembly 2 may include a spring 221 and a spring top block 222. At least a portion of the elastic pressure of the spring 221 is applied to the pressure sensor 12 via the spring top block 222.

[0059] like Figure 7 and Figure 8 As shown, the flexible bumper 22 / spring top block 222 has a force-applying surface 22a for abutting against the pressure sensor 12. Advantageously, the force-applying surface 22a is an arcuate surface that protrudes (outwardly protrudes) toward the pressure sensor 12. The arcuate shape helps ensure that the force-applying surface 22a contacts the pressure sensor 12 in a substantially central position, avoiding measurement errors caused by deviations in the force application position.

[0060] Preferably, the impact block mounting base 21 holds the spring 221 in a compressed state, and the spring 221 biases the spring top block 222 against one end of the impact block mounting base 21 with a predetermined elastic pressure less than the aforementioned threshold. More preferably, this predetermined elastic pressure corresponds to the upper limit of the measurement value of the pressure sensor 12; however, the present invention is not limited thereto. When the force to be measured F does not exceed this predetermined elastic pressure, the spring 221 will not be further compressed, thus preventing the flexible impact block 22 / spring top block 222 from retracting. This is beneficial for improving the sensitivity of the force measuring device M1.

[0061] like Figure 8 As shown, the impact block mounting base 21 may include a sleeve 211 and an end cap 212. The sleeve 211 has a limiting portion 211a formed on its inner wall. The end cap 212 is connected to the end of the sleeve 211, thereby limiting the spring 221 and the spring top block 222 between the end cap 212 and the limiting portion 211a. In other words, one end of the spring 221 abuts against the end cap 212, and the other end is biased against the spring top block 222. The limiting portion 211a of the sleeve 211 limits the maximum distance of the spring top block 222 away from the end cap 212. In this structure, adjusting the position of the end cap 212 relative to the sleeve 211 can cause the spring 221 to generate a predetermined compression amount. By appropriately selecting this predetermined compression amount according to the spring constant, the desired predetermined elastic pressure can be obtained.

[0062] The end cap 212 can be connected to the sleeve 211 by a threaded connection, and threadlocker can be applied at the threaded connection to maintain the relative position of the end cap 212 and the sleeve 211.

[0063] Figure 11 and Figure 12 A cross-sectional view shows another example of the force measuring device M according to an embodiment of the present invention, namely, the force measuring device M2. Figure 11 The state of the impact block assembly 2 abutting against the first limiting portion 11a of the sensor mounting base 11 is shown; Figure 12 The state of the impact block assembly 2 abutting against the second limiting portion 11b of the sensor mounting base 11 is shown.

[0064] Figure 11 and Figure 12 The force measuring device M2 shown is combined with the one mentioned above. Figures 4 to 10The force measuring device M1 described herein has a substantially similar structure. Specifically, the force measuring device M2 includes a sensor assembly 1 and a striking block assembly 2, wherein: the sensor assembly 1 includes a sensor mounting base 11 and a pressure sensor 12 disposed on the sensor mounting base 11, the pressure sensor 12 having a force measuring surface 12a; the striking block assembly 2 is arranged opposite to the sensor assembly 1 in the force measuring direction and moves and / or biases towards the sensor assembly 1 under the action of the force to be measured F, and includes a striking block mounting base 21 and a flexible striking block 22 disposed on the striking block mounting base 21. The sensor mounting base 11 has a first limiting portion 11a, and the striking block mounting base 21 has a first abutting portion 21a. Although not shown in the figure, it is similar to... Figure 9 As shown, in the force measuring device M2, when the flexible impact block 22 begins to contact the force measuring surface 12a, the first contact portion 21a and the first limiting portion 11a are separated by a first predetermined distance D1 (not shown) greater than zero; as Figure 11 As shown, when the force to be measured F is greater than a threshold, the flexible impact block 22 is compressed in the force measuring direction, causing the first abutting part 21a to abut against the first limiting part 11a.

[0065] The sensor mounting base 11 of the force measuring device M2 also includes a second limiting portion 11b. The second limiting portion 11b is located on the opposite side of the first limiting portion 11a relative to the impact block assembly 2. Therefore, when the first abutting portion 21a is further separated from the first limiting portion 11a by a second predetermined distance D2 greater than a first predetermined distance D1 (not shown), the impact block mounting base 21 abuts against the second limiting portion 11b. Figure 12 As shown. Unlike force measuring device M1, force measuring device M2 is configured such that the second predetermined distance D2 is slightly larger than the first predetermined distance D1. Figure 12 As can be seen, at the second predetermined distance D2, the flexible impact block 22 and the pressure sensor 12 are only separated by a tiny gap. The allowance of this gap facilitates device assembly and helps reduce the risk of damage during assembly.

[0066] Furthermore, unlike the force measuring device M1, in the force measuring device M2, the flexible impact block 22 may consist only of a spring 221, the elastic pressure of which is applied to the pressure sensor 12. In this case, the impact block mounting base 21 may be composed of a sleeve in which the spring 221 is received.

[0067] Furthermore, the force-applying surface 22a of the flexible impact block 22 for abutting against the pressure sensor 12 can be provided at the end of the spring 221. Similarly, preferably, when the first abutting portion 21a is a first predetermined distance D1 from the first limiting portion 11a, the force-applying surface 22a is in a measuring position beyond the impact block mounting base 21; when the first abutting portion 21a abuts against the first limiting portion 11a, the force-applying surface 22a is in a protective position without exceeding the impact block mounting base 21.

[0068] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A force measuring device for a vascular interventional surgery robot, characterized by, The force measuring device comprises: a sensor assembly comprising a sensor mount and a pressure sensor disposed on the sensor mount, the pressure sensor having a force measuring surface; and a striker assembly separate from the sensor assembly and arranged opposite the sensor assembly in a force measuring direction, comprising a striker mount and a flexible striker disposed on the striker mount and movable and / or biased towards the sensor assembly under the action of a force to be measured, wherein the sensor mount has a first limiting portion, the striker mount has a first abutting portion; when the flexible striker starts to contact the force measuring surface, the first abutting portion is at a first predetermined distance greater than zero from the first limiting portion; and when the force to be measured is greater than a threshold value, the flexible striker is compressed in the force measuring direction so that the first abutting portion abuts the first limiting portion.

2. The force measuring device of claim 1, wherein, The flexible striker comprises a spring and a spring top block, at least a part of the elastic pressure of the spring is applied on the pressure sensor via the spring top block.

3. The force measuring device of claim 2, wherein, The striker mount holds the spring in a compressed state, the spring biases the spring top block at one end of the striker mount with a predetermined elastic pressure, the predetermined elastic pressure is less than the threshold value.

4. The force measuring device of claim 3, wherein, The striker mount comprises a sleeve and an end cover, the sleeve has a limiting portion formed on the inner wall thereof, and the end cover is connected to the end of the sleeve, so as to limit the spring and the spring top block between the end cover and the limiting portion.

5. The force measuring device of claim 4, wherein, The spring top block has a force applying surface for abutting against the pressure sensor; and When the first abutting portion is at the first predetermined distance from the first limiting portion, the force applying surface is in a measuring position beyond the striker mount; when the first abutting portion abuts the first limiting portion, the force applying surface is in a protection position not beyond the striker mount.

6. The force measuring device of claim 5, wherein, The force applying surface is a circular arc surface protruding towards the pressure sensor.

7. The force measuring device of claim 4, wherein, The end cover is connected to the sleeve by a threaded fit, and a thread glue is applied at the position of the threaded fit to maintain the relative position of the end cover and the sleeve.

8. Force measuring device according to any of claims 1-7, characterized in that The sensor mount further comprises a second limiting portion located on the side opposite to the first limiting portion with respect to the striker assembly, so that when the first abutting portion is at a second predetermined distance greater than or equal to the first predetermined distance from the first limiting portion, the striker mount abuts against the second limiting portion.

9. An interventional consumable handling device for a vascular interventional operating robot, characterized in that The force measuring device comprises: a drive unit for holding a long straight interventional consumable and driving the long straight interventional consumable to move along an interventional direction; a mounting base, the drive unit is slidably mounted on the mounting base so that the drive unit can freely slide relative to the mounting base parallel to the interventional direction; and the sensor assembly of the force measuring device of any one of claims 1-8 is mounted on one of the drive unit and the mounting base, and the striker assembly is mounted on the other one of the drive unit and the mounting base, so that the force measuring direction is parallel to the interventional direction.

10. A vascular interventional procedure robot, characterized by, The force measuring device comprises: a robot body comprising a main body and a drive device mounted on the main body and movable relative to the main body; and an interventional consumable handling device as claimed in claim 9 connected to the drive device for holding and operating the long straight interventional consumable.

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