Vascular interventional procedure robot and interventional consumable handling device therefor

Abstract

The application discloses a vascular interventional surgery robot and an interventional consumable operation device used thereby. The operation device comprises a driving 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 driving unit is slidably mounted on the mounting base, so that the driving unit can freely slide relative to the mounting base in parallel to the interventional direction; and a pressure sensing unit, which is fixedly mounted on one of the driving unit and the mounting base and has a force measuring surface, the force measuring surface changes between a contact state and a disengagement state relative to the other of the driving unit and the mounting base, and when the long straight interventional consumable is subjected to a feeding resistance, the other contacts and presses the force measuring surface. The slidable mounting mode of the driving unit on the mounting base enables the feeding resistance suffered by the interventional consumable to be accurately transmitted to the pressure sensing unit, and the accuracy of force measurement is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to an interventional consumables operating device for a vascular interventional surgery robot and a vascular interventional surgery robot having the same. 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 an interventional consumables operating device and a vascular interventional surgical robot having the interventional consumables operating device, so as to at least partially overcome the shortcomings of the prior art.

[0007] According to one aspect of the present invention, an interventional consumables operating device for a vascular interventional surgery robot is provided, comprising:

[0008] 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;

[0009] 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

[0010] A pressure sensing unit is fixedly mounted on one of the drive unit and the mounting base and has a force measuring surface for measuring forces parallel to the intervention direction. As the drive unit slides relative to the mounting base, the force measuring surface changes between a contact state and a disengagement state relative to the other of the drive unit and the mounting base. When the long straight intervention consumable is subjected to feed resistance, the other contact and presses against the force measuring surface.

[0011] Advantageously, the interventional consumable operating device further includes a cam protection mechanism comprising a cam and a motor, the cam being rotatable between a first position and a second position under the drive of the motor, wherein when the cam is in the first position, it prevents the drive unit and the other of the mounting base from contacting the force measuring surface, while when the cam is in the second position, it allows the other to contact and press the force measuring surface.

[0012] Advantageously, the cam protection mechanism is configured to hold the cam in the first position when the motor is de-energized.

[0013] Advantageously, the cam protection mechanism further includes a limiting block disposed in the circumferential position of the cam to prevent rotation of the cam so as to keep it in the first position and / or the second position.

[0014] Advantageously, the pressure sensing unit includes a protective sleeve, an end cap, a spring, a spring top block, and a pressure sensor having the force measuring surface, wherein

[0015] The protective sleeve has a cylindrical structure with a top end and a bottom end, and the inner wall of the cylindrical structure forms a limiting part;

[0016] The end cap is connected to the tail end of the protective sleeve;

[0017] The spring top block and the spring are disposed inside the protective sleeve. One end of the spring abuts against the end cap, and the other end pushes the spring top block toward the limiting part.

[0018] The pressure sensor is fixed to the side of the spring top block opposite to the spring, and by the extension and retraction of the spring, the force measuring surface can move between a measuring position beyond the top of the protective sleeve and a protective position without exceeding the top.

[0019] When the long straight intervention consumable is subjected to feed resistance, the drive unit and the other in the mounting base contact and push the force measuring surface of the pressure sensing unit, and when the force measuring surface is in the protective position, the protective sleeve abuts against the other to prevent it from further pushing the force measuring surface.

[0020] Advantageously, when the spring top block abuts against the limiting portion, the extension length of the spring between the end cap and the spring top block causes the spring to apply a first predetermined pressure to the spring top block, the first predetermined pressure being less than the upper limit of the pressure sensor's measurement value.

[0021] Advantageously, when the force measuring surface is in the protected position, the extension length of the spring between the end cap and the spring top block causes the spring to apply a second predetermined pressure to the spring top block, the second predetermined pressure being less than or equal to the upper limit value of the measurement.

[0022] Advantageously, the end cap is connected to the protective sleeve by a threaded connection, and threadlocker is applied at the threaded connection to maintain the relative position of the end cap and the protective sleeve.

[0023] Advantageously, the end cap has a guide boss at its center, and one end of the spring is fitted onto the guide boss.

[0024] Advantageously, the pressure sensing unit is mounted on the mounting base, and the drive unit includes a striking block having a pressing surface parallel to the end face of the top of the protective sleeve, the pressing surface contacting and pressing the force measuring surface of the pressure sensing unit when the long straight intervention consumable is subjected to feed resistance.

[0025] According to another aspect of the present invention, a vascular interventional surgical robot is provided, comprising:

[0026] 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

[0027] The interventional consumable operating device described above is connected to the drive device for holding and operating the long, straight interventional consumable.

[0028] In the interventional consumables operating device according to the present invention, the slidable mounting method of the drive unit on the mounting base can minimize the resistance of the mounting base to the movement of the drive unit, so that the feed resistance of the interventional consumables can be accurately transmitted to the pressure sensing unit, which is beneficial to improving the accuracy of force measurement. Attached Figure Description

[0029] 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:

[0030] Figure 1 This is an exemplary perspective view of a vascular interventional surgical robot according to an embodiment of the present invention;

[0031] Figure 2 This is an exemplary perspective view of the interventional consumables operating device according to an embodiment of the present utility model;

[0032] Figure 3 for Figure 2 A perspective view of the drive unit of the intervention consumables operation device shown;

[0033] Figure 4 for Figure 2 A perspective view of the mounting base of the interventional consumables operating device, and the pressure sensing unit and cam protection mechanism mounted on it.

[0034] Figure 5 An example is shown Figure 2 A perspective view and a side view of the cam protection mechanism of the interventional consumables operation device shown;

[0035] Figure 6 for Figure 2 A partial cross-sectional view of the interventional consumables operating device shown, in which the cam of the cam protection mechanism is shown in the first position;

[0036] Figure 7 for Figure 2 A partial sectional view of the interventional consumables operating device shown, in which the cam of the cam protection mechanism is shown in the second position;

[0037] Figure 8 An illustrative perspective view of an example pressure sensing unit is shown;

[0038] Figure 9 for Figure 8 A cross-sectional view of the pressure sensing unit shown;

[0039] Figure 10 This is a schematic cross-sectional view showing the force measuring surface of the pressure sensing unit in the measuring position;

[0040] Figure 11 This is a schematic cross-sectional view showing the force measurement surface of the pressure sensing unit in the protected position. Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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 ISR includes a robot body R and an interventional consumables manipulation device A. The robot body R includes a main body R1 and a drive unit R2, which is mounted on the main body R1 and is movable relative to the main body R1. The interventional consumables manipulation device A is connected to the drive unit R2 and is used to hold and manipulate a long, straight interventional consumable L.

[0045] 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.

[0046] Interventional consumables operation device A is an interventional consumables operation device according to an embodiment of the present utility model. Figure 2 This is an exemplary perspective view of the interventional consumables operating device A according to an embodiment of the present invention. Figure 2 As shown, the interventional consumable operating device A includes a drive unit 1, a mounting base 2, and a pressure sensing unit 3. The drive unit 1 is used to hold the long, straight interventional consumable L and drive it to move along the interventional direction a. The drive unit 1 is slidably mounted on the mounting base 2, allowing it to slide freely relative to the mounting base 2 parallel to the interventional direction a.

[0047] Figure 3 Shown separately Figure 2 The drive unit 1 in the intervention consumable operation device A shown, Figure 4 The remaining parts of the interventional consumables operating device A are shown. According to an embodiment of the present invention, as... Figure 2 and Figure 4 As shown, the pressure sensing unit 3 can be fixedly mounted on the mounting base 2 and has a force measuring surface 3a (see Figure 3). Figure 4 The pressure sensor 3a is used to measure the force parallel to the intervention direction 'a'. As the drive unit 1 slides relative to the mounting base 2, the force measuring surface 3a can change between a contact state and a disengaged state relative to the drive unit 1. When the long straight interventional consumable L experiences feed resistance, the drive unit 1 contacts and presses the pressure measuring surface 3a, thereby transmitting the feed resistance of the consumable L to the force measuring surface 3a, thus achieving resistance measurement. In the accompanying drawings of this application, the pressure sensor 3 is shown mounted on the mounting base 2. However, it should be understood that this is merely exemplary and not limiting. In the interventional consumable operating device A according to an embodiment of the present invention, the pressure sensing unit 3 can also be mounted on the drive unit 1, and when the long straight interventional consumable L experiences feed resistance, the force measuring surface 3a is pressed by the mounting base 2 to achieve the measurement of the feed resistance of the long straight interventional consumable L.

[0048] The slidable mounting of the drive unit 1 on the mounting base 2 minimizes the resistance of the mounting base 2 to the movement of the drive unit 1. This ensures that when the long, straight interventional consumable L held and driven by the drive unit 1 experiences a feed resistance F in the interventional direction a, this resistance F can be accurately transmitted to the pressure sensing unit 3. This improves the measurement accuracy of the interventional consumable's feed resistance.

[0049] To enable the drive unit 1 to be slidably mounted on the mounting base 2, the drive unit 1 can be mounted on the mounting base 2, for example, via a guide rail support structure. Figures 2 to 4An exemplary guide rail support structure 4 is shown, which includes a guide rail 41 disposed on the drive unit 1 and a slider 42 disposed on the mounting base 2. In other examples, the guide rail 41 may also be disposed on the mounting base 2, and the slider 42 may be disposed on the drive unit 1. The extension direction of the guide rail 41 is parallel to the intervention direction a. It should be understood that the above-described guide rail support structure 4 is merely exemplary and not limiting. For example, in other examples, the guide rail support structure may include a guide rail and guide wheels that roll or slide along the guide rail. Moreover, to achieve slidable mounting of the drive unit 1 on the mounting base 2, the drive unit 1 may also be magnetically levitated and supported on the mounting base 2, for example.

[0050] The interventional consumable operating device A may also include a striker 5, with the pressure sensing unit 3 and the striker 5 each disposed on one of the drive unit 1 and the mounting base 2. (See accompanying drawings for example...) Figures 2 to 4 In the example shown, the pressure sensing unit 3 is mounted on the mounting base 2, and the drive unit 1 includes a striking block 5. For example, the striking block 5 can be as follows: Figure 3 As shown, it is connected to the drive unit 1 by fasteners. Alternatively, the impact block 5 can also be integrally formed with other parts of the drive unit 1. Figure 3 As shown, the impact block 5 has a pressing surface 5a (see...) Figure 3 The force measuring surface 5a of the pressure sensing unit 3 is used to contact and push against the force measuring surface 3a of the pressure sensing unit 3 when the long, straight interventional consumable is subjected to feed resistance. By providing the impact block 5, the resistance can be transmitted to the force measuring surface 3a of the pressure sensing unit 3 more smoothly and effectively. Preferably, the pushing surface 5a has a planar shape perpendicular to the intervention direction a.

[0051] According to a preferred embodiment of the present invention, the interventional consumable operation device A may further include a cam protection mechanism. Figure 2 and Figure 4 In the example shown, both the cam protection mechanism 6 and the pressure sensing unit 3 are mounted on the mounting base 2; however, this is not limiting. In other examples, the cam protection mechanism 6 and the pressure sensing unit 3 may be respectively mounted on either the drive unit 1 or the mounting base 2.

[0052] Figure 5 A perspective view and a side view of an example of the cam protection mechanism 6 are shown. Figure 5 As shown, the cam protection mechanism 6 includes a cam 61 and a motor 62. The cam 61 can rotate between a first position and a second position under the drive of the motor 62. For clarity, in... Figure 6 and Figure 7 The images show the states of the cam 61 of the cam protection mechanism 6 in the first position and the second position, respectively.

[0053] like Figure 6As shown, when cam 61 is in the first position, cam 61 prevents the drive unit 1 from contacting the force measuring surface 3a. For example, when the surgical robot ISR is not in operation, especially during transport or installation of the surgical robot ISR, the protrusion of cam 61 presses against the drive unit 1, creating a large gap between the drive unit 1 (e.g., its impact block 5) and the force measuring surface 3a. In this way, the drive unit 1 cannot contact the force measuring surface 3a when subjected to an unexpectedly large force and moving back and forth parallel to the intervention direction, protecting the latter from damage due to excessive force.

[0054] like Figure 7 As shown, when cam 61 is in the second position, cam 61 allows drive unit 1 (e.g., via bumper 5) to contact and press the force measurement surface 3a. When the surgical robot ISR is working, the surrounding environment and the state of the surgical robot ISR are relatively stable, and cam protection mechanism 6 can be unlocked to put cam 61 in the second position, allowing drive unit 1 / bumper 5 to contact the force measurement surface 3a, thereby measuring the feed resistance of interventional consumable L.

[0055] By adding a cam protection mechanism 6 to the interventional consumables operating device A, the pressure sensing unit 3 can be reliably and effectively protected from damage by excessive pressure, especially preventing sensor damage due to accidents during the transportation and installation of the surgical robot ISR. The interventional consumables operating device A according to this preferred 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, for example, 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 interventional consumables operating device A according to the above preferred embodiment protects the pressure sensor from damage by excessive pressure through the cam protection mechanism, thereby allowing the selection of a small-range pressure sensor according to the needs of vascular interventional surgery while providing good robustness.

[0056] Preferably, the cam protection mechanism 6 is configured to hold the cam 61 in a first position when the motor 62 is de-energized. This configuration can hold the cam 61 in the first position when the device is powered off, thereby protecting the pressure sensing unit 3.

[0057] In addition, such as Figure 5As shown, the cam protection mechanism 6 may include a limiting block 63, which is disposed in the circumferential position of the cam 61 to prevent rotation of the cam 61 and keep it in a first position and / or a second position. For example, as Figure 6 As shown, the limiting block 63 can prevent the cam 61 from rotating counterclockwise to keep it in the first position; as Figure 7 As shown, the limit block 63 can prevent the cam 61 from rotating clockwise so that it remains in the second position.

[0058] The following will refer to Figures 8 to 11 The preferred structure of the pressure sensing unit 3 is introduced.

[0059] Figure 8 An exemplary perspective view of the pressure sensing unit 3 is shown. Figure 9 for Figure 8 The pressure sensing unit 3 shown is a cross-sectional view. Figure 8 and Figure 9 As shown, the pressure sensing unit 3 includes a protective sleeve 31, an end cap 32, a spring 33, a spring top block 34, and a pressure sensor 35 with a force measuring surface 3a.

[0060] The protective sleeve 31 has a cylindrical structure with a top end 31a and a bottom end 31b, and a limiting portion 31c is formed on the inner wall of the cylindrical structure. An end cap 32 is connected to the bottom end 31b of the protective sleeve 31. For example, the end cap 32 can be threaded onto the protective sleeve 31. Advantageously, threadlocker can be applied at the threaded connection to maintain the relative position of the end cap 32 and the protective sleeve 31. Preferably, a guide boss 32a can be provided at the center of the end cap 32, and one end of the spring 33 is fitted onto the guide boss 32a.

[0061] Spring top block 34 and spring 33 are disposed inside protective sleeve 31. One end of spring 33 abuts against end cover 32, and the other end pushes spring top block 34 towards limiting part 31c. Figure 9 As shown more clearly in the diagram, the pressure sensor 35 is fixed to the side of the spring top block 34 opposite to the spring 33.

[0062] According to a preferred embodiment, the pressure sensing unit 3 is configured such that, through the extension and retraction of the spring 33, the force measuring surface 3a can be positioned beyond the top end 31a of the protective sleeve 31 (see...). Figure 10 ) and the protective position not exceeding the top 31a (see Figure 11The long straight insertion consumable L moves between the two. When the long straight insertion consumable L is subjected to feed resistance, the drive unit 1 or the mounting base 2 (drive unit 1 in the example shown in the figure) contacts and pushes the force measuring surface 3a of the pressure sensing unit 3, and when the force measuring surface 3a is in the protective position, the protective sleeve abuts against the drive unit 1 or the mounting base 2 (drive unit 1 in the example shown in the figure) to prevent it from further pushing the force measuring surface 3a.

[0063] For ease of understanding, Figure 10 and Figure 11 The force measuring surface 3a of the pressure sensing unit 3 is shown in schematic cross-sectional views in the measuring position and in the protective position.

[0064] like Figure 10 As shown, when the force measuring surface 3a is in the measuring position, the drive unit 1 / bump 5 can contact and push the force measuring surface 3a. At this time, the feed resistance F of the long straight insertion consumable L can be transmitted to the force measuring surface 3a in whole (or almost entirely) through the drive unit 1, thereby realizing the measurement of the feed resistance.

[0065] like Figure 11 As shown, when the force measuring surface 3a is in the protective position, the protective sleeve 31 abuts against the drive unit 1 to prevent the drive unit 1 from further pushing the force measuring surface 3a. That is to say, when the force measuring surface 3a is in the protective position, even if the feed resistance increases further, the pressure on the force measuring surface 3a will not increase, thereby protecting the pressure sensor 35 from damage by excessive pressure.

[0066] According to a preferred embodiment of the present invention, the measurement range of the pressure sensor 35 can be adapted by adjusting the elastic pressure of the spring 33 on the spring top block 34, which is beneficial to make full use of the range of the pressure sensor 35, while protecting the pressure sensor 35 from damage by excessive pressure.

[0067] Specifically, preferably, the pressure sensing unit 3 is configured such that when the spring top block 34 abuts against the limiting part 31c, the extension length of the spring 33 between the end cover 32 and the spring top block 34 causes the spring 33 to apply a first predetermined pressure to the spring top block 34, the first predetermined pressure being less than the upper limit of the measurement value of the pressure sensor 35.

[0068] Furthermore, preferably, when the force measuring surface 3a is in, for example Figure 11 In the protective position shown, the extension length of the spring 33 between the end cap 32 and the spring top block 34 causes the spring 33 to apply a second predetermined pressure to the spring top block 34, the second predetermined pressure being less than or equal to the upper limit value of the pressure sensor 35.

[0069] 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 device for operating interventional consumables in a vascular interventional surgery robot, characterized in that, include: 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; 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 A pressure sensing unit is fixedly mounted on one of the drive unit and the mounting base and has a force measuring surface for measuring forces parallel to the intervention direction. As the drive unit slides relative to the mounting base, the force measuring surface changes between a contact state and a disengagement state relative to the other of the drive unit and the mounting base. When the long straight intervention consumable is subjected to feed resistance, the other contact and presses against the force measuring surface.

2. The interventional consumables operating device as described in claim 1, characterized in that, The interventional consumable operation device further includes a cam protection mechanism, which includes a cam and a motor. The cam can rotate between a first position and a second position under the drive of the motor. When the cam is in the first position, it prevents the other of the drive unit and the mounting base from contacting the force measuring surface. When the cam is in the second position, it allows the other to contact and press the force measuring surface.

3. The interventional consumables operating device as described in claim 2, characterized in that, The cam protection mechanism is configured to hold the cam in the first position when the motor is in a power-off state.

4. The interventional consumables operating device as described in claim 2 or 3, characterized in that, The cam protection mechanism further includes a limiting block, which is disposed in the circumferential position of the cam to block the rotation of the cam so as to keep it in the first position and / or the second position.

5. The interventional consumables operating device as described in claim 1, characterized in that, The pressure sensing unit includes a protective sleeve, an end cap, a spring, a spring top block, and a pressure sensor having the force measuring surface, wherein... The protective sleeve has a cylindrical structure with a top end and a bottom end, and the inner wall of the cylindrical structure forms a limiting part; The end cap is connected to the tail end of the protective sleeve; The spring top block and the spring are disposed inside the protective sleeve. One end of the spring abuts against the end cap, and the other end pushes the spring top block toward the limiting part. The pressure sensor is fixed to the side of the spring top block opposite to the spring, and by the extension and retraction of the spring, the force measuring surface can move between a measuring position beyond the top of the protective sleeve and a protective position without exceeding the top. When the long straight intervention consumable is subjected to feed resistance, the drive unit and the other in the mounting base contact and push the force measuring surface of the pressure sensing unit, and when the force measuring surface is in the protective position, the protective sleeve abuts against the other to prevent it from further pushing the force measuring surface.

6. The interventional consumables operating device as described in claim 5, characterized in that, When the spring top block abuts against the limiting portion, the extension length of the spring between the end cap and the spring top block causes the spring to apply a first predetermined pressure to the spring top block, the first predetermined pressure being less than the upper limit value of the pressure sensor.

7. The interventional consumables operating device as described in claim 6, characterized in that, When the force measuring surface is in the protected position, the extension length of the spring between the end cap and the spring top block causes the spring to apply a second predetermined pressure to the spring top block, the second predetermined pressure being less than or equal to the upper limit value of the measurement.

8. The interventional consumables operating device as described in any one of claims 5-7, characterized in that, The end cap is connected to the protective sleeve by a threaded connection, and threadlocker is applied at the threaded connection position to maintain the relative position of the end cap and the protective sleeve.

9. The interventional consumables operating device as described in claim 8, characterized in that, The end cap has a guide protrusion at its center, and one end of the spring is sleeved on the guide protrusion.

10. The interventional consumables operating device as described in any one of claims 5-7, characterized in that, The pressure sensing unit is mounted on the mounting base, and the drive unit includes a striking block having a pressing surface parallel to the end face of the top of the protective sleeve. When the long straight intervention consumable is subjected to feed resistance, the pressing surface contacts and presses the force measuring surface of the pressure sensing unit.

11. A vascular interventional surgical robot, characterized in that, include A robot body, comprising a main body and a drive unit, the drive unit being mounted on the main body and capable of moving relative to the main body; and The interventional consumable operating device as described in any one of claims 1-10, is connected to the driving device for holding and operating the long straight interventional consumable.

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