An interventional surgical robot

Abstract

This invention relates to the field of medical robotics and provides an interventional surgical robot for driving medical devices on different axes. It includes a master controller and more than one slave driver, the number of which corresponds to the number of axes. The master controller is configured to send control commands to the slave drivers, and the slave drivers are configured to receive the control commands from the master controller and drive the medical devices on their respective axes. This interventional surgical robot, by modifying the layout and combination of the multiple slave drivers, allows the device to cover a wider range of indications and meet diverse surgical needs.

Description

Technical Field

[0001] This utility model belongs to the field of medical robots and is applied to vascular interventional surgery robots, particularly relating to an interventional surgery robot. Background Technology

[0002] Coaxial delivery technology for medical devices essentially achieves controlled positioning and release of medical devices (such as catheters, guidewires, and stents) within the human body's lumen through a multi-layered coaxial cannula structure. Delivering a single multi-layered coaxial medical device is commonly referred to as single-channel delivery, while delivering multiple multi-layered coaxial medical devices is known as multi-channel delivery. Most existing vascular interventional surgical robots can only achieve single-axis, i.e., single-channel delivery of medical devices, failing to meet diverse surgical needs. Some vascular interventional surgical robots have modified their overall layout to meet multi-axis, i.e., multi-channel delivery requirements by adding multiple delivery mechanisms to the gantry. However, this modification not only results in a bulky and inconvenient overall machine but also increases the cost of sterile consumables. Utility Model Content

[0003] The purpose of this invention is to provide an interventional surgical robot, which aims to solve the problem that most existing vascular interventional surgical robots can only achieve single-channel medical device delivery and cannot meet diverse surgical needs. Furthermore, some vascular interventional surgical robots that meet the needs have disadvantages such as large overall size, inconvenient operation, and high cost of sterile consumables.

[0004] This utility model is implemented as follows:

[0005] This invention provides an interventional surgical robot for driving medical devices on different axes, including a master controller and more than one slave driver, the number of slave drivers corresponding to the number of axes, the master controller being configured to send control commands to the slave drivers, and the slave drivers being configured to receive the control commands sent by the master controller and drive the medical devices on the corresponding axes.

[0006] Furthermore, the slave driver is provided with at least one drive mechanism, which is configured to clamp and drive the medical device, and the master controller is configured to control the independent movement and / or linkage of the drive mechanism on the slave driver.

[0007] Furthermore, the interventional surgical robot includes a first master controller, a second master controller, a first slave driver, and a second slave driver. The first master controller is configured to send the control command to the first slave driver, and the second master controller is configured to send the control command to the second slave driver.

[0008] Furthermore, the interventional surgical robot includes a first master controller, a first slave driver, and a second slave driver, wherein the first master controller is configured to send the control commands to the first slave driver and the second slave driver, respectively.

[0009] Furthermore, the medical devices on the different axes correspond to the same delivery path, and the more than one slave driver is configured to drive the medical device along the same delivery path.

[0010] Furthermore, the first slave driver includes a first drive mechanism, the first drive mechanism including a first power base, the second slave driver includes a second drive mechanism, the second drive mechanism including a second power base, and also includes a combined sterile cartridge, the combined sterile cartridge being mounted on the first power base and the second power base, the first power base and the second power base being configured to jointly drive the medical device mounted on the combined sterile cartridge.

[0011] Furthermore, it also includes a position detection mechanism configured to detect the relative position of the first power seat and the second power seat and perform position calibration.

[0012] Furthermore, the position detection mechanism includes a laser tracker, a visual sensor, or a contact sensor.

[0013] Furthermore, the first slave driver and the second slave driver are respectively provided with a docking structure, and the first slave driver and the second slave driver are fixedly connected through the docking structure.

[0014] Furthermore, the medical devices on different axes correspond to different delivery paths, and the more than one slave driver is configured to drive the medical device along the different delivery paths. It also includes a support member, the number of which corresponds to the number of slave drivers, and the slave drivers are mounted on a fixed object via the support member.

[0015] The beneficial effects of this invention are as follows: The interventional surgical robot of this invention includes a master controller and more than one slave driver. The number of slave drivers can be arranged according to the needs of the procedure to deliver medical devices along different axes, i.e., different channels. Compared with existing interventional surgical robots that can only complete single-axis delivery, the interventional surgical robot of this invention can be used for a wider range of indications and improves the ability to handle complex surgeries. Compared with existing interventional surgical robots that achieve multi-axis delivery, the combination of slave drivers in this invention is more flexible. Each slave driver operates independently, which not only reduces the size of the single unit and facilitates operation, but also effectively reduces the cost of using sterile consumables. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the interventional surgical robot provided in Embodiment 1 of this utility model;

[0017] Figure 2 yes Figure 1 Assembly diagram;

[0018] Figure 3 This is a schematic diagram of the interventional surgical robot provided in Embodiment 2 of this utility model;

[0019] Figure 4 This is a schematic diagram of the interventional surgical robot provided in Embodiment 3 of this utility model.

[0020] 100-Interventional Surgical Robot;

[0021] 1-First slave driver, 11-First housing;

[0022] 2-Second slave driver; 21-Second housing;

[0023] 3-Drive mechanism;

[0024] 31-First drive mechanism, 311-First power seat, 312-Other power seats; 313-Combined sterile box;

[0025] 314 - Independent aseptic box;

[0026] 32-Second drive mechanism; 321-Second power seat; 322-Ordinary power seat;

[0027] 4-Medical devices;

[0028] 5-Supporting components;

[0029] 6-Fixed objects;

[0030] 7-Puncture site;

[0031] 8-Patients. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral part, or even a connection that allows relative movement; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] In the description of this utility model, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] In this invention, the term "far" refers to the direction towards the patient, and "near" refers to the direction away from the patient. The terms "upper" and "upper part" refer to the general direction away from gravity, while 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; "advancing" refers to the direction in which the guidewire or catheter is displaced into the patient's body. The term "rear" refers to the side of the interventional surgical robot away from the user from the end device; "retreating" refers to the direction in which the guidewire or catheter is displaced out of the patient's body. The term "inward" refers to the internal part of the feature. The term "outward" refers to the external part of the feature.

[0036] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, "many" or "multiple" means two or more.

[0037] The guidewires mentioned here include, but are not limited to, guide wires, microguide wires and stents, and other guiding and supporting interventional medical devices. The catheters include, but are not limited to, guiding catheters, microcatheters, angiography catheters, multi-functional catheters (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters and balloon dilation stent catheters, and other therapeutic interventional medical devices.

[0038] This utility model provides an interventional surgical robot, as shown in the attached figure. Figure 1As shown, the interventional surgical robot 100 provided in Embodiment 1 of this utility model is used to drive medical devices 4 on different axes, enabling the interventional surgical robot 100 to be used in a wider range of indications, improving its ability to handle complex surgeries, and maximizing the value of the interventional surgical robot. The interventional surgical robot 100 includes a master controller and more than one slave driver. The number of slave drivers corresponds to the number of axes, that is, one slave driver is responsible for driving multiple coaxial medical devices 4 on one axis. Driving the medical devices 4 here includes controlling the medical devices 4 to move forward, backward, and rotate. The master controller is configured to send control commands to the slave drivers, and the slave drivers are configured to receive the control commands sent by the master controller and drive the medical devices 4 on the corresponding axes.

[0039] To better deliver the medical device 4, this embodiment preferably includes at least one drive mechanism 3 on the slave-end driver. The drive mechanism 3 is configured to clamp and drive the medical device 4. The number and specific structure of the drive mechanisms 3 can be adjusted to suit different types of multi-layered coaxial medical devices 4. The master-end controller is configured to control the independent movement and / or linkage of the drive mechanisms 3 on the slave-end driver 1. That is, the interventional surgical robot 100 of this embodiment can control the movement of any one drive mechanism 3 individually through the master-end controller to improve operational flexibility, and can also control the joint movement of multiple drive mechanisms 3 simultaneously to improve operational coordination.

[0040] For details, see attached. Figure 1 As shown, the interventional surgical robot 100 of this embodiment is used to deliver a multi-layered coaxial medical device 4 on two axes. Accordingly, the interventional surgical robot 100 is configured with a master controller and two slave drivers. This embodiment preferably includes at least one master controller (not shown), a first slave driver 1, and a second slave driver 2.

[0041] When multiple slave drivers are present, there are various control methods between the master controller and the slave drivers. For example, an independent control method can be used, where the number of master controllers corresponds to the number of slave drivers, including a first master controller and a second master controller. The first master controller is configured to send control commands to the first slave driver 1. The first slave driver 1 receives the control commands sent by the first master controller and drives the medical device 4 mounted on the first slave driver 1. Specifically, based on the received control commands, the first slave driver 1 drives the drive mechanism 3 mounted on the first slave driver 1, controlling the corresponding medical device 4 to perform operations such as forward, backward, and rotation. The second master controller is configured to send control commands to the second slave driver 2. The second slave driver 2 receives the control commands sent by the second master controller and drives the medical device 4 mounted on the second slave driver 2. Specifically, based on the received control commands, the second slave driver 2 drives the drive mechanism 3 mounted on the second slave driver 2, controlling the corresponding medical device 4 to perform operations such as forward, backward, and rotation.

[0042] Alternatively, a collaborative control approach can be adopted, where the number of master controllers is less than the number of slave drivers. This includes a first master controller, which is configured to send control commands to the first slave driver 1 and the second slave driver 2, respectively. One master controller controls the drive mechanism 3 on the two slave drivers to deliver the medical device 4.

[0043] In other embodiments employing a collaborative control approach, the number of master controllers corresponds to the number of slave drivers, including a first master controller, a second master controller, a first slave driver, and a second slave driver. The first master controller, in addition to sending control commands to the first slave driver 1, is also responsible for sending control commands to the second slave driver 2. Before surgery, the doctor establishes a data transmission link between the first and second master controllers. When a control command needs to be sent to the second slave driver 2, the first master controller sends the command to the second master controller. The second master controller receives the command and sends it to the second slave driver 2. The second slave driver 2 receives the command and drives the medical device 4 mounted on it. In other words, the first master controller sends control commands to the second slave driver 2 via the second master controller. This operation method can be applied to scenarios where independent control is used initially (the first master controller sends control commands to the first slave driver 1, and the second master controller sends control commands to the second slave driver 2), but collaborative control is required during surgery.

[0044] During interventional surgery, doctors need to establish a minimally invasive pathway to deliver medical devices 4 (such as catheters, guidewires, stents, etc.) to the lesion site inside the body, commonly known as establishing an access route. Depending on the needs of the procedure, multiple sets of multi-layered coaxial medical devices 4 may need to be delivered. Medical devices 4 on different axes may be delivered along the same minimally invasive pathway, that is, through the same puncture site 7 into the patient's body 8, or they may be delivered along different minimally invasive pathways, that is, through different puncture sites 7 into the patient's body 8.

[0045] The interventional surgical robot 100 of this embodiment is applied to a scenario where medical devices 4 on different axes are delivered along the same minimally invasive path. The medical devices 4 on different axes correspond to the same delivery path, i.e., single-path delivery. More than one slave driver is configured to drive the medical devices 4 along the same delivery path. Specifically, as shown in the attached... Figure 1 As shown, the preferred interventional surgical robot 100 in this embodiment is used in scenarios where medical devices 4 on two axes, i.e., two channels, are delivered along the same minimally invasive path. Accordingly, the first slave driver 1 is used to deliver a multi-layered coaxial medical device 4 on one axis into the patient 8 through the puncture port 7, and the second slave driver 2 is used to deliver a multi-layered coaxial medical device 4 on the other axis into the patient 8 through the same puncture port 7. The two slave drivers cooperate with each other to perform a comprehensive combined application of dual-channel surgical operations, and collaboratively control the medical device 4 to complete the delivery of dual-channel single-entry devices.

[0046] In terms of control method, a collaborative control approach is preferred. This involves the first master controller sending control commands to the first slave driver 1 and the second slave driver 2, respectively. The first master controller then controls the drive mechanisms 3 on the first and second slave drivers 1 and 2 to deliver the medical device 4 mounted on the interventional surgical robot 100 into the patient 8 through the same puncture port 7. It is understood that, depending on the surgical procedure, the first master controller can independently control the first slave driver 1, and the second master controller can independently control the second slave driver 2, collaboratively delivering the medical device 4 along both axes into the same puncture port 7.

[0047] As attached Figure 1 , 2As shown, the first slave actuator 1 of the interventional surgical robot 100 in this embodiment includes a first housing 11 and a first drive mechanism 31 mounted on the first housing 11. The first drive mechanism 31 is used to drive a multi-layer coaxial medical device 4 mounted thereon. Depending on the delivery requirements of the medical device 4, the first drive mechanism 31 includes multiple corresponding drive units. Each drive unit includes a power seat and a sterile cartridge. The sterile cartridge is mounted on the power seat and is used to clamp and drive the medical device 4. The power seat provides driving power to the sterile cartridge. The first drive mechanism 31 includes a first power seat 311 and other power seats 312. Other power seats 312 refer to power seats other than the first power seat 311 mounted on the first drive mechanism 31. The first power seat 311 is positioned closer to the puncture site 7 than the other power seats 312. The first power seat 311 and other power seats 312 are mounted on the first housing 11 along the axis of the multi-layer coaxial medical device 4, and the first power seat 311 and other power seats 312 can slide relative to the first housing 11 along the axis of the medical device 4 as needed.

[0048] The second slave driver 2 includes a second housing 21 and a second drive mechanism 32 mounted on the second housing 21. The second drive mechanism 32 is used to drive a multi-layer coaxial medical device 4 mounted thereon. Depending on the delivery requirements of the medical device 4, the second drive mechanism 32 includes multiple corresponding drive units. Each drive unit includes a power seat and a sterile cartridge, the sterile cartridge being mounted on the power seat and used to clamp and drive the medical device 4, the power seat providing the driving power to the sterile cartridge. The second drive mechanism 32 includes a second power seat 321 and a general power seat 322. The general power seat 322 refers to any other power seat mounted on the second drive mechanism 32 besides the second power seat 321. The second power seat 321 is positioned closer to the puncture site 7 than the general power seat 322. The second power seat 321 and the general power seat 322 are mounted on the second housing 21 along the axis of the multi-layer coaxial medical device 4, and can slide relative to the second housing 21 along the axis of the medical device 4 as needed.

[0049] This embodiment addresses a scenario where medical devices 4 are delivered along the same minimally invasive path, meaning that both the medical device 4 delivered by the first slave driver 1 and the medical device 4 delivered by the second slave driver 2 enter the patient 8 through the puncture port 7. To facilitate the convergence of the medical devices 4 on the two axes at the same puncture port 7, this embodiment features a specially designed sterile box structure. In addition to independent sterile boxes 314 mounted on other power seats 312 and ordinary power seats 322, it also includes a combined sterile box 313. The combined sterile box 313 is positioned adjacent to the puncture port 7, and its internal structure guides the convergence of the medical devices 4 on the two axes and their entry into the patient 8 through the puncture port 7. The combined sterile box 313 is mounted on the first power seat 311 and the second power seat 321. The first power seat 311 and the second power seat 321 each have a detachable mounting structure corresponding to the combined sterile box 313. The combined sterile box 313 is mounted above the first power seat 311 and the second power seat 321 using snap-fit, magnetic, or other methods. The first power seat 311 and the second power seat 321 are configured to jointly drive the medical device 4 mounted on the combined sterile box 313. The upper surfaces of both the first power seat 311 and the second power seat 321 are provided with power output components that interface with the combined sterile box 313. When the combined sterile box 313 is mounted on the first power seat 311 and the second power seat 321, the power output components transmit power to the force transmission mechanism of the combined sterile box 313, which then drives the medical device 4 mounted on the combined sterile box 313.

[0050] To ensure precise force transmission between the first power seat 311 and the second power seat 321 and the combined sterile box 313, the combined sterile box 313, the first power seat 311, and the second power seat 321 should be accurately aligned before installation and remain relatively stationary during use. This embodiment preferably also includes a position detection mechanism, configured to detect the relative position of the first power seat 311 and the second power seat 321 and perform position calibration.

[0051] When the interventional surgical robot 100 of this embodiment performs surgery, the machine first starts an initial self-test, then moves the first power seat 311 and the second power seat 321 to a specific position suitable for installing the combined sterile box 313. Then, the position detection mechanism detects the relative position of the first power seat 311 and the second power seat 321 to confirm whether the first power seat 311 and the second power seat 321 have been moved to the specific position. Finally, the installation of the combined sterile box 313 is completed. During the operation of the machine, the position detection mechanism continuously calibrates the spatial position of the first power seat 311 and the second power seat 321 to ensure the reliability of the installation of the combined sterile box 313, the first power seat 311 and the second power seat 321. The preferred position detection mechanism in this embodiment includes a laser tracker, a vision sensor, or a contact sensor. By using specific calibration tools or markers, markings are made in the workspace of the interventional surgical robot 100. The main controller controls the movement of the first power seat 311 and the second power seat 321. The position detection mechanism acquires the position information of these markings and compares and calibrates them to establish an accurate spatial mapping relationship between the first power seat 311 and the second power seat 321, ensuring that the first power seat 311 and the second power seat 321 move to a specific position and that the subsequent axial movement of the first power seat 311 and the second power seat 321 is consistent.

[0052] To ensure the reliability of the installation of the combined sterile box 313, the first power base 311, and the second power base 321, this embodiment preferably provides docking structures on the first slave driver 1 and the second slave driver 2, which are fixedly connected. The preferred docking structure in this embodiment is a mutually cooperating mechanical interface provided on the first slave driver 1 and the second slave driver 2, which mechanically fixes the first slave driver 1 and the second slave driver 2. For example, matching pins and holes are provided on the first housing 11 and the second housing 21, allowing the first slave driver 1 and the second slave driver 2 to be fixed into an integral structure by insertion. When assembling the first slave driver 1 and the second slave driver 2 before surgery, the user can place them together and fix them through the mechanical interface to prevent relative displacement of the first slave driver 1 and the second slave driver 2. The first slave driver 1 and the second slave driver 2 can be arranged in a corresponding spatial layout according to different surgical requirements. Accordingly, the first housing 11 and the second housing 21 are provided with multiple mechanical interfaces to meet the docking requirements in different directions. In this embodiment, the first slave driver 1 and the second slave driver 2 are preferably arranged side by side, and the mechanical interfaces are arranged on the opposite surfaces of the first housing 11 and the second housing 21.

[0053] The slave driver is mounted on the fixed object 6 via a support member 5. In this embodiment, the support member 5 is preferably a robotic arm, and the fixed object 6 is an operating table. In other embodiments, the support member 5 can be replaced with a suspension rope, and the fixed object can be replaced with a ceiling, etc. That is, the slave driver can be placed in a suitable surgical position through the cooperation of the support member 5 and the fixed object 6. In this embodiment, the first slave driver 1 and the second slave driver 2 are assembled together and mounted on the fixed object 6 via a support member 5. In other embodiments, two independent support members 5 can be configured, with the first slave driver 1 and the second slave driver 2 each fixed to the fixed object 6 via a support member 5, so that the first slave driver 1 and the second slave driver 2 are held in the combined position to facilitate the installation of the combined sterile box 313.

[0054] As attached Figure 3 As shown, this is an interventional surgical robot 100 provided in Embodiment 2 of the present invention. Embodiment 2 uses the same master-end controller and slave-end driver as Embodiment 1. The main difference between Embodiment 2 and Embodiment 1 lies in the application scenario. The interventional surgical robot 100 of Embodiment 1 is designed for scenarios where medical devices 4 on different axes are delivered along the same minimally invasive path, i.e., entering the patient 8 through the same puncture port 7, which is a single-path delivery. The interventional surgical robot 100 of Embodiment 2 is designed for scenarios where medical devices 4 on different axes are delivered along different minimally invasive paths, i.e., entering the patient 8 through different puncture ports 7, which is a multi-path delivery. In Embodiment 2, medical devices 4 on different axes correspond to different delivery paths, and more than one slave-end driver is configured to drive the medical devices 4 along different delivery paths. It also includes multiple support members 5, the number of which corresponds to the number of slave-end drivers. The slave-end drivers are mounted on the fixture 6 via the support members 5.

[0055] For details, see attached. Figure 3 As shown, the preferred interventional surgical robot 100 in this embodiment is used in scenarios where medical devices 4 on two axes are delivered along different minimally invasive paths, i.e., dual-channel, dual-access delivery. Accordingly, the first slave driver 1 is used to deliver a multi-layered coaxial medical device 4 on one axis into the patient 8 through a puncture port 7, and the second slave driver 2 is used to deliver a multi-layered coaxial medical device 4 on the other axis into the patient 8 through another puncture port 7. The two slave drivers independently control the delivery of the medical device 4 on each axis. The interventional surgical robot 100 of Embodiment Two supports the operator to operate simultaneously from two different vascular access routes, allowing for more flexible stent placement. For example, one access route is used to deliver the stent to the lesion site, and the other access route is used for precise positioning and adjustment during stent release, ensuring that the stent accurately covers the stenosis and adheres well to the vessel wall. The first slave driver 1 and the second slave driver 2 are located on both sides of the fixture 6 and are respectively mounted on the fixture 6 via supports 5.

[0056] As attached Figure 4 As shown, this is the interventional surgical robot 100 provided in Embodiment 3 of the present invention. Embodiment 3 uses the same interventional surgical robot unit as Embodiment 2. The main difference between Embodiment 3 and Embodiment 2 lies in the application scenario. Embodiment 2 is for a dual-channel, dual-access delivery scenario, while Embodiment 3 is for a single-channel, single-access delivery scenario. For simpler procedures, such as single-channel, single-access delivery scenarios for vascular interventions involving nerves, coronary arteries, or peripheral arteries, the delivery of instruments can also be accomplished using a slave driver of the interventional surgical robot 100.

[0057] The interventional surgical robot 100 provided by this utility model includes more than one slave driver. One or more slave drivers are reasonably adapted according to the surgical procedure. By changing the layout and combination of more than one slave driver, the value of the interventional surgical robot 100 is maximized. It can complete single-channel interventional surgery, reduce the size of the machine and waste of consumables, and make operation, installation and adjustment more flexible. It can also complete any combination of dual-channel, dual-path, or even more channels or more paths through the combination of multiple slave drivers, covering a wider range of indications and meeting diverse surgical needs.

[0058] Finally, it should be noted that, unless otherwise specified, the embodiments of this utility model and the various features thereof can be combined with each other, all of which are within the protection scope of this utility model. Of course, this utility model may have other various embodiments. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the claims of this utility model.

[0059] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An interventional surgical robot for driving a medical instrument on different axes, characterized in that: It includes a master controller and more than one slave driver, the number of slave drivers corresponding to the number of axes. The master controller is configured to send control commands to the slave drivers, and the slave drivers are configured to receive the control commands sent by the master controller and drive the medical devices on the corresponding axes.

2. The interventional surgical robot of claim 1, wherein: The slave driver is provided with at least one drive mechanism, which is configured to clamp and drive the medical device. The master controller is configured to control the independent movement and / or linkage of the drive mechanism on the slave driver.

3. The interventional surgical robot of claim 2, wherein: The interventional surgical robot includes a first master controller, a second master controller, a first slave driver, and a second slave driver. The first master controller is configured to send the control command to the first slave driver, and the second master controller is configured to send the control command to the second slave driver.

4. The interventional surgical robot of claim 2, wherein: The interventional surgical robot includes a first master controller, a first slave driver, and a second slave driver. The first master controller is configured to send the control commands to the first slave driver and the second slave driver, respectively.

5. An interventional robotic system as claimed in claim 3 or 4, characterized in that: The medical devices on different axes correspond to the same delivery path, and the more than one slave driver is configured to drive the medical device along the same delivery path.

6. The interventional surgical robot as described in claim 5, characterized in that: The first slave driver includes a first drive mechanism, the first drive mechanism including a first power base; the second slave driver includes a second drive mechanism, the second drive mechanism including a second power base; and a combined sterile cartridge is also included, the combined sterile cartridge being mounted on the first power base and the second power base, the first power base and the second power base being configured to jointly drive the medical device mounted on the combined sterile cartridge.

7. The interventional surgical robot as described in claim 6, characterized in that: It also includes a position detection mechanism configured to detect the relative position of the first power seat and the second power seat and perform position calibration.

8. The interventional surgical robot as described in claim 7, characterized in that: The position detection mechanism includes a laser tracker, a visual sensor, or a contact sensor.

9. The interventional surgical robot as described in claim 6, characterized in that: The first slave driver and the second slave driver are respectively provided with a docking structure, and the first slave driver and the second slave driver are fixedly connected through the docking structure.

10. The interventional surgical robot according to any one of claims 1-4, characterized in that: The medical devices on different axes correspond to different delivery paths, and the more than one slave driver is configured to drive the medical device along the different delivery paths. The system also includes supports, the number of which corresponds to the number of slave drivers, which are mounted on a fixed object via the supports.

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