Driving device having force measurement function, and reaction force measurement method

Abstract

A driving device having a force measurement function, and a reaction force measurement method. The driving device is applied to a slave end of an interventional surgical robot, and comprises: a base (10); a delivery assembly (20), used for clamping or axially moving an elongated medical instrument (40), and slidably mounted onto the base (10) in the axial direction of the elongated medical instrument (40); and a force measurement portion, comprising at least two force measurement assemblies, wherein each force measurement assembly comprises a force sensor and an elastic component, the force sensor is fixedly mounted on the base (10), one end of the elastic component is connected to an acquisition end of the force sensor, the other end of the elastic component is connected to the delivery assembly (20), and the force sensor is used for acquiring the force of the elongated medical instrument (40) in the axial direction. A plurality of force measurement components are provided for respectively measuring forces in two opposite directions in the axial direction of the elongated medical instrument (40) when the delivery assembly (20) delivers the elongated medical instrument (40), then a resultant force in the two directions can be calculated, and finally, the reaction force of the elongated medical instrument (40) is calculated on the basis of system resistance and the resultant force. A doctor can accurately sense the resistance and change of the head of the elongated medical instrument (40), thereby reducing the surgical risk.

Description

Driving device with force detection function and reaction force detection method

[0001] This application claims priority to a Chinese patent application filed on June 30, 2023, with application number 202310785698.1 and invention name “Driving device with force detection function and reaction force detection method”. The entire contents of this Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the technical field of medical devices, and in particular to a driving device with a force detection function and a reaction force detection method. Background Art

[0003] In existing interventional surgeries, when a doctor delivers a slender medical device (catheter / guidewire) through the drive device at the slave end of the surgical robot, the head of the slender medical device is subject to intravascular resistance. The drive device and other equipment will detect the resistance in real time and feed it back to the master end for the doctor to perceive. However, there are many factors that interfere with force feedback detection in existing drive devices and other detection devices containing force feedback, such as motor vibration. The vibration of the entire drive device at the slave end will cause the force detection to produce a force amplitude of more than 0.5N, reducing the force detection accuracy. Furthermore, when the drive device delivers a slender medical device, due to the roundness processing error of the delivery roller, the degree of roller deformation is uneven when clamping the catheter / guidewire, causing the roller to rotate and vibrate. In addition, part of the clamping force of the clamping catheter / guidewire will act on the force sensor, resulting in inaccurate force detection.

[0004] Force feedback cannot accurately reflect the actual situation, making it difficult for doctors to accurately perceive the resistance and changes in the head of the slender medical device, which can easily lead to surgical risks of puncturing blood vessels.

[0005] Therefore, providing a driving device that can accurately feedback the resistance of a slender medical device is an urgent problem to be solved.

[0006] Summary of the Invention

[0007] The present application provides a driving device with a force detection function and a reaction force detection method, aiming to solve the technical problem in the prior art that the driving device cannot accurately feedback the catheter / guidewire resistance.

[0008] In order to achieve the above-mentioned invention objectives, the first aspect of the present application proposes a driving device with a force detection function, which is applied to the slave end of an interventional surgical robot, comprising:

[0009] base;

[0010] a delivery assembly for holding or axially moving an elongated medical device, mounted to the base so as to slide axially along the elongated medical device;

[0011] The force detection unit includes at least two force detection components, each of which includes a force sensor and an elastic member, wherein the force sensor is fixedly mounted on the base; one end of the elastic member is connected to the collection end of the force sensor, and the other end is connected to the delivery component;

[0012] Wherein, the force sensor is used to collect the axial force of the slender medical device.

[0013] A second aspect of the present application provides a reaction force detection method based on the above-mentioned driving device with force detection function, the method comprising:

[0014] Obtaining a system resistance of the drive device with a force detection function and a measured force collected by each of the force sensors; wherein the system resistance is a preset fixed force value; each of the force sensors is divided into two parts, the force sensor in the first part is used to collect a first measured force in a direction opposite to the forward direction of the slender medical device, and the force sensor in the second part is used to collect a second measured force in the same direction as the forward direction of the slender medical device;

[0015] calculating a resultant force of the first measurement force and the second measurement force;

[0016] The reaction force is calculated by the formula F=F′+2f0;

[0017] Wherein, F is the reaction force, F′ is the resultant force, and f0 is the system resistance;

[0018] Said F′=F′1−F′2, F′1 is the first measuring force, and F′2 is the second measuring force. Beneficial effects:

[0019] The driving device and reaction force detection method with force detection function of the present application are characterized in that the delivery component is slidably mounted to the base along the axial direction of the slender medical device. When the delivery component encounters resistance while delivering the slender medical device, it can slide along the axial direction of the slender medical device relative to the base. The force detection part includes at least two force detection components, each of which includes a force sensor and an elastic member. The force sensor is fixedly mounted on the base; one end of the elastic member is connected to the collection end of the force sensor, and the other end is connected to the delivery component; wherein the force sensor is used to collect the axial force of the slender medical device. A plurality of force detection components are provided to respectively detect the forces of the delivery component in two opposite directions along the axial direction of the slender medical device when delivering the slender medical device. Then, the resultant force in the two directions can be calculated. Finally, the reaction force of the slender medical device is calculated based on the system resistance and the resultant force. The reaction force is calculated using the resultant force and system resistance. The forces generated by motor vibration and uneven roller group are all internal forces and will not affect the calculation results of the reaction force. This allows for accurate feedback force (reaction force) reflecting the resistance of the catheter / guidewire. Doctors can accurately perceive the resistance and changes at the head of slender medical devices (catheters / guidewires), reducing surgical risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a structural diagram of a driving device with a force detection function according to an embodiment of the present invention;

[0021] FIG2 is a structural diagram of a base and a force detection component according to an embodiment of the present invention;

[0022] FIG3 is a schematic diagram showing the force applied to a driving device with a force detection function according to an embodiment of the present invention;

[0023] FIG4 is a flow chart of a reaction force detection method according to an embodiment of the present invention.

[0024] 10-base; 20-delivery assembly; 21-mounting plate; 22-sterile box; 23-side panel; 24-motor; 25-delivery roller assembly; 40-slender medical device; 50-guide rail; 51-guide rail fixed end; 52-guide rail movable end; 61-first support plate; 62-second support plate; 71-first force sensor; 72-first spring; 73-second force sensor; 74-second spring; 75-second fixed plate; 76-first fixed plate.

[0025] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0027] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a", "an", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of features, integers, steps, operations, elements, modules, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, modules, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0028] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0029] 1 , an embodiment of the present application provides a driving device with a force detection function, which is applied to a slave end of an interventional surgical robot, including:

[0030] Base 10;

[0031] a delivery assembly 20 for clamping or axially moving an elongated medical device 40 and mounted to the base 10 so as to slide axially along the elongated medical device 40;

[0032] The force detection unit includes at least two force detection components, each of which includes a force sensor and an elastic member. The force sensor is fixedly mounted on the base 10; one end of the elastic member is connected to the collection end of the force sensor, and the other end is connected to the delivery component 20;

[0033] The force sensor is used to collect the axial force of the slender medical device 40 .

[0034] The base 10 can be any structure such as a bracket, a flat plate, etc., and its function is to support the delivery component 20.

[0035] The delivery assembly 20 is used to deliver the elongated medical device 40 and generally includes a mounting plate 21, a motor 24, a transmission assembly, a delivery roller assembly 25, and a sterile box 22. The motor 24, transmission assembly, delivery roller assembly 25, and sterile box 22 are all mounted on the mounting plate 21. The motor 24 drives the delivery roller assembly 25 through the transmission assembly, which in turn drives the elongated medical device 40 along its axial direction. The delivery roller assembly 25 is located within the sterile box 22.

[0036] The delivery assembly 20 is mounted to the base 10 so as to slide axially along the elongated medical device 40. When the delivery assembly 20 encounters resistance while delivering the elongated medical device 40, the delivery assembly 20 can slide axially along the elongated medical device 40 relative to the base 10. In this embodiment, the mounting plate 21 is slidably connected to the base 10.

[0037] The above-mentioned force detection part is a structure for detecting force, which includes multiple force detection components, which are used to respectively detect the forces in two opposite directions in the axial direction of the slender medical device 40 when the delivery component 20 delivers the slender medical device 40. The resultant force in the two directions can then be calculated, and finally the reaction force of the slender medical device 40 can be calculated based on the system resistance and the resultant force.

[0038] The force detection component includes a force sensor and an elastic member. The force sensor is fixedly mounted to the base 10; one end of the elastic member is connected to the force sensor's acquisition end, and the other end is connected to the delivery assembly 20. The force sensor is used to detect the axial force of the elongated medical device 40. The force sensor can be a pressure sensor capable of detecting only pressure, a tension sensor capable of detecting only tension, or a tension-pressure sensor capable of detecting both pressure and tension. In this embodiment, each force sensor is divided into two parts. The force sensor in the first part is used to detect a first measurement force in a direction opposite to the direction of travel of the elongated medical device 40, and the force sensor in the second part is used to detect a second measurement force in the same direction as the direction of travel of the elongated medical device 40. The specific choice of force sensor, whether a pressure sensor, a tension sensor, or a tension-pressure sensor, can be determined based on the specific design. The elastic member is used to buffer the force between the delivery assembly 20 and the base 10 and transmit the force to its corresponding force sensor. It can be a spring, a shrapnel, or the like. In this embodiment, a spring is preferred.

[0039] The driving device with force detection function of the present application has a delivery assembly 20 mounted to the base 10 for sliding movement along the axial direction of the elongated medical device 40. When the delivery assembly 20 encounters resistance while delivering the elongated medical device 40, it can slide axially relative to the base 10 along the slender medical device 40. The force detection unit includes at least two force detection assemblies, each of which includes a force sensor and an elastic member. The force sensor is fixedly mounted to the base 10; one end of the elastic member is connected to the collection end of the force sensor and the other end is connected to the delivery assembly 20. The force sensor is used to collect the axial force of the elongated medical device 40. Multiple force detection components are provided to respectively detect the forces exerted in two opposite directions on the axial direction of the elongated medical device 40 by the delivery assembly 20 when delivering the elongated medical device 40. The resultant force in the two directions can then be calculated. Finally, the reaction force of the elongated medical device 40 is calculated based on the system resistance and the resultant force. The reaction force is calculated using the resultant force and the system resistance, and the forces generated by the vibration of the motor 24 and the unevenness of the roller group are all internal forces and will not affect the calculation results of the reaction force. Therefore, an accurate feedback force (reaction force) reflecting the resistance of the slender medical device 40 can be obtained, and the doctor can accurately perceive the resistance and changes of the head of the slender medical device (catheter / guidewire), thereby reducing surgical risks.

[0040] 1 to 3 , in one embodiment, the force detection components include two, namely a first force detection component and a second force detection component; the delivery component 20 includes a delivery roller group 25 , and the first force detection component and the second force detection component are respectively arranged on both sides of the delivery roller group 25 .

[0041] The delivery roller assembly 25 generally comprises two rows of opposing rollers, with the elongated medical device 40 being held between them. One row of rollers is a driving roller, while the other is a driven roller. The motor 24 drives the driving rollers through a transmission assembly, and the driven rollers rotate accordingly. The friction between the driving and driven rollers propels the elongated medical device 40 forward or backward, achieving delivery. The first and second force detection assemblies are positioned on either side of the delivery roller assembly 25, respectively. Each force sensor can more accurately detect the force generated by the elongated medical device 40 when it is fed back to the delivery assembly 20.

[0042] Furthermore, the collection end of the first force sensor 71 of the first force detection assembly is oriented in opposite directions to the collection end of the second force sensor 73 of the second force detection assembly. The elastic member is a spring, and the direction of the elastic force of the spring coincides with the direction of the collection force of the corresponding force sensor.

[0043] In this embodiment, the first force sensor 71 and the second force sensor 73 are of the same type. Specifically, both are pressure sensors. Referring to Figure 2 , the acquisition end of the first force sensor 71 and the acquisition end of the second force sensor 73 face opposite directions, respectively, for acquiring forces in opposite directions. The first spring 72 corresponding to the first force sensor 71 and the second spring 74 corresponding to the second force sensor 73 each provide a preload. Specifically, when the delivery assembly 20 is not performing work to deliver the elongated medical device 40, the first and second springs 72, 74 are both compressed, providing a corresponding preload. The presence of the preload ensures a more stable spring arrangement between the acquisition end of the force sensor and the delivery assembly 20. It should be noted that the first spring 72, the second spring 74, the acquisition end of the first force sensor 71, and the acquisition end of the second force sensor 73 are parallel to each other and generally arranged in the same plane. That is, the direction of the spring force coincides with the direction of the force acquired by the corresponding force sensor. This prevents the springs from bending and affecting the accurate acquisition of the corresponding force signals by the first and second force sensors 71, 73.

[0044] In one embodiment, the driving device with force detection function further includes a guide rail 50 ; the base 10 and the delivery assembly 20 are slidably connected via the guide rail 50 .

[0045] The guide rail 50 includes a guide rail fixed end 51 and a guide rail movable end 52 that are slidably connected to each other. The guide rail fixed end 51 is fixedly mounted on the base 10, and the delivery assembly 20 is mounted on the guide rail movable end 52.

[0046] Furthermore, the guide rails 50 include at least two; the delivery assembly 20 includes a delivery roller group 25 , and the two guide rails 50 are respectively arranged on both sides of the delivery roller group 25 .

[0047] The provision of two guide rails 50 allows for smoother relative sliding between the base 10 and the delivery assembly 20. Because the force to be detected is the feedback force generated when the delivery assembly 20 delivers a slender medical device 40, the provision of two guide rails 50 on either side of the delivery roller assembly 25 further enhances the smoothness of the relative sliding between the base 10 and the delivery assembly 20.

[0048] 1 and 2 , in one embodiment, the delivery assembly 20 includes a mounting plate 21 and a sterile box 22 for clamping or axially moving the elongated medical device 40. The sterile box 22 is mounted on the mounting plate 21. The mounting plate 21 is slidably connected to the base 10 via the guide rail 50. The mounting plate 21 is provided with a support plate extending toward the base 10, and the elastic member is connected to the delivery assembly 20 via the support plate. The delivery assembly 20 also includes a side plate 23, one end of which is fixedly mounted to the mounting plate 21 and the other end is slidably connected to the guide rail 50.

[0049] The mounting plate 21 is a device for fixing and mounting structures such as the sterile box 22, the motor 24, and the transmission assembly. It can be a plate-shaped structure or other structure, as long as it can fix and mount structures such as the sterile box 22, the motor 24, and the transmission assembly. In this embodiment, a flat plate is preferred, as it is simple to produce and convenient for installing the sterile box 22, the motor 24, and the transmission assembly. A support plate extending toward the base 10 is provided on the mounting plate 21, and the elastic member is connected to the delivery assembly 20 via the support plate. The provision of the support plate facilitates the installation of the elastic member. The support plate can be integrally formed with the mounting plate 21, or it can be separately provided and fixed to the mounting plate 21 by screws or the like. In this embodiment, the support plate is an inverted L-shape, and the transverse portion of the inverted L-shape is provided with screw holes, which are fixed to the bottom surface of the mounting plate 21 facing the base 10 by screws. Two force detection components are provided in this application, so corresponding first support plates 61 and second support plates 62 are provided. The side panels 23 may be a plate-like structure or a bracket structure. The side panels 23 are provided to increase the distance between the mounting plate 21 and the base 10 , thereby providing more installation space for the force detection assembly.

[0050] In one embodiment, the base 10 is provided with a fixing plate extending toward the mounting plate 21, and the force sensor is fixedly mounted on the fixing plate. The provision of the fixing plate facilitates securing the force sensor, providing a more stable installation. The fixing plate can be integrally formed with the base 10, reducing installation steps and improving production efficiency. In this embodiment, two fixing plates are provided: a first fixing plate 76 corresponding to the first force sensor 71, and a second fixing plate 75 corresponding to the second force sensor 73.

[0051] Referring to FIG3 , taking the configuration of two force detection components as an example, the force analysis and reaction force calculation of the driving device with force detection function are as follows:

[0052] When the mounting plate 21 is used as the initial force research object, f0+F1+K1*ΔL=F+F2+K2*ΔL→F=f0+F1+K1*ΔL-F2-K2*ΔL (Formula 1)

[0053] In the initial force balance state, F1-F2=f0-----------(Formula 2)

[0054] From Formula 1 and Formula 2, it can be deduced that: F = f0 + f0 + (K1-K2) * ΔL-----------(Formula 3)

[0055] When the force sensor is used as the research object, F′1=F1+K1*ΔL-f0→K1*ΔL=(F′1-F1+f0)-------------(Formula 4) F′2=F2+K2*ΔL+f0→K2*ΔL=(F′2-F2-f0)--------------(Formula 5)

[0056] Substituting Formula 4 and Formula 5 into Formula 3 yields: F = F′1-F1-f0-(F′2-F1-f0) = F′1-F′2+2f0----------(Formula 6)

[0057] Where: f0 is the system resistance, F1 is the preload force of the first spring 72, F is the reaction force of the elongated medical device 40, F2 is the preload force of the second spring 74, F′1 is the first measured force of the first force sensor 71, F′2 is the second measured force of the second force sensor 73, ΔL is the deformation of each spring within its elastic limit, K1 is the spring constant of the first spring 72, and K2 is the spring constant of the second spring 74. The system resistance, including the friction between the base 10 and the delivery assembly 20, is a preset value.

[0058] Because F′1 and F′2 are the measured values ​​of the sensor and can be read in real time; during the delivery process of the slender medical device 40, due to the extremely small deformation, F1 and F2 also take fixed values.

[0059] In one embodiment, the measured f0 can be adjusted to within 30 mN with small fluctuations, so 2f0 in the embodiment is approximately taken as the upper limit average value of 60 mN (f0 = -30 to +30 mN). Then the reaction force F of the guidewire is F' + 2f0 (mN).

[0060] Through the above force analysis and formula derivation, it can be seen that the driving device with force detection function in the embodiment of the present application can accurately measure the resistance exerted on the slender medical device 40 through the structure of at least two force detection components. At the same time, under the action of spring vibration reduction, it can filter out the vibration interference of the motor 24 and the system.

[0061] 4 , an embodiment of the present application further provides a reaction force detection method, based on the driving device with force detection function described in any of the above embodiments, the method comprising:

[0062] S1. Obtaining a system resistance of the drive device with a force detection function and a measured force collected by each of the force sensors; wherein the system resistance is a preset fixed force value; and each of the force sensors is divided into two parts, the force sensor of the first part being used to collect a first measured force in a direction opposite to the forward direction of the elongated medical device 40, and the force sensor of the second part being used to collect a second measured force in the same direction as the forward direction of the elongated medical device 40;

[0063] S2. Calculating the resultant force of the first measurement force and the second measurement force;

[0064] S3. Calculate the reaction force of the slender medical device 40 based on the system resistance and the resultant force.

[0065] The aforementioned system resistance refers to the friction between the base 10 and the delivery assembly 20, and is a preset value obtained through actual measurement. At least two force detection assemblies are provided, and the force sensors used by each force detection assembly are divided into two parts. The force sensors in the first part are used to detect a first measured force in a direction opposite to the direction of advance of the elongated medical device 40, and the force sensors in the second part are used to detect a second measured force in the same direction as the direction of advance of the elongated medical device 40. The difference between the first and second measured forces is then calculated to obtain a resultant force, and the reaction force of the elongated medical device 40 is then calculated based on the system resistance and the resultant force.

[0066] Specifically, the step of calculating the reaction force S3 of the elongated medical device 40 based on the system resistance and the resultant force includes:

[0067] The reaction force is calculated by the formula F=F′+2f0;

[0068] Wherein, F is the reaction force, F′ is the resultant force, and f0 is the system resistance;

[0069] Said F′=F′1−F′2, F′1 is the first measuring force, and F′2 is the second measuring force.

[0070] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A driving device with a force detection function, applied to the slave end of an interventional surgical robot, characterized in that: include: Base; a delivery assembly for holding or axially moving an elongated medical device, mounted to the base slidably along the axial direction of the elongated medical device; The force detection unit includes at least two force detection components, each of which includes a force sensor and an elastic member, and the force sensor is fixedly mounted on the base; one end of the elastic member is connected to the collection end of the force sensor, and the other end is connected to the delivery component; Wherein, the force sensor is used to collect the axial force of the slender medical device.

2. The driving device with force detection function according to claim 1, characterized in that: The at least two force detection components of the force detection portion are divided into two parts, which are used to respectively detect the forces in two opposite directions on the axial direction of the slender medical device when the delivery component delivers the slender medical device, so as to calculate the resultant forces in the two opposite directions, and calculate the reaction force of the slender medical device based on the system resistance and the resultant force.

3. The driving device with force detection function according to claim 1, characterized in that: The force detection assembly includes two, namely a first force detection assembly and a second force detection assembly; The delivery assembly includes a delivery roller group, and the first force detection assembly and the second force detection assembly are respectively arranged on both sides of the delivery roller group.

4. The driving device with force detection function according to claim 3, characterized in that: The collecting end of the first force sensor of the first force detection assembly is oriented in the opposite direction to the collecting end of the second force sensor of the second force detection assembly.

5. The driving device with force detection function according to claim 1, characterized in that: The elastic member is a spring, and the direction of the elastic force of the spring coincides with the direction of the corresponding collection force of the force sensor.

6. The driving device with force detection function according to claim 5, characterized in that: The initial state of the spring is a compressed state to provide a preload force.

7. The driving device with force detection function according to claim 1, characterized in that: Also includes rails; The base and the delivery assembly are slidably connected via the guide rail.

8. The driving device with force detection function according to claim 7, characterized in that: The guide rails include at least two; The delivery assembly comprises a delivery roller group, and the two guide rails are respectively arranged on both sides of the delivery roller group.

9. The driving device with force detection function according to claim 7, characterized in that: The delivery assembly includes a mounting plate and a sterile box for clamping or axially moving the elongated medical device, wherein the sterile box is mounted on the mounting plate; The mounting plate is slidably connected to the base via the guide rail; The mounting plate is provided with a support plate extending toward the base, and the elastic member is connected to the delivery assembly through the support plate.

10. The driving device with force detection function according to claim 9, characterized in that: The delivery assembly also includes a side plate, one end of which is fixedly mounted on the mounting plate, and the other end of which is slidably connected to the guide rail.

11. The driving device with force detection function according to claim 9, characterized in that: The base is provided with a fixing plate extending toward the mounting plate, and the force sensor is fixedly mounted on the fixing plate.

12. The driving device with force detection function according to claim 9, characterized in that: The delivery assembly further includes a delivery roller set, which is disposed inside the sterile box.

13. The driving device with force detection function according to claim 12, characterized in that: At least one force detection component is disposed on both sides of the delivery roller assembly, and the force detection components on different sides respectively detect forces in two opposite directions on the axial direction of the slender medical device when the delivery component delivers the slender medical device.

14. The driving device with force detection function according to claim 12, characterized in that: The delivery roller assembly includes two rows of rollers arranged opposite to each other, one row of rollers is driving rollers, and the other row is driven rollers. The elongated medical device is driven forward or backward based on the friction between the driving wheel and the driven wheel.

15. The driving device with force detection function according to claim 14, characterized in that: The delivery assembly further comprises a motor and a transmission assembly, wherein the motor is fixedly mounted on the mounting plate; The motor is connected to the driving wheel through the transmission assembly to drive the driving wheel to rotate, and the driven wheel rotates along with the driving wheel.

16. The driving device with force detection function according to claim 9, characterized in that: The support plate is in an inverted L shape, and a transverse portion of the inverted L shape is fixed on the bottom surface of the mounting plate facing the base.

17. The driving device with force detection function according to claim 9, characterized in that: The support plate and the mounting plate are integrally formed.

18. The driving device with force detection function according to claim 7, characterized in that: The guide rail comprises a guide rail fixed end and a guide rail movable end which are slidably connected to each other, the guide rail fixed end is fixedly mounted on the base, and the delivery assembly is mounted on the guide rail movable end.

19. The driving device with force detection function according to claim 1, characterized in that: The collecting ends of the elastic members and the force sensors are parallel to each other and are arranged in the same plane.

20. A reaction force detection method, characterized in that: Based on the driving device with force detection function according to any one of claims 1 to 19, the method comprises: Obtaining the system resistance of the driving device with force detection function and the measured force collected by each of the force sensors; wherein the system resistance is a preset fixed force value; each of the force sensors is divided into two parts, the force sensor of the first part is used to collect a first measured force in the opposite direction to the forward direction of the slender medical device, and the force sensor of the second part is used to collect a second measured force in the same direction as the forward direction of the slender medical device; calculating a resultant force of the first measurement force and the second measurement force; The reaction force is calculated by the formula F=F′+2f0; Wherein, F is the reaction force, F′ is the resultant force, and f0 is the system resistance; F′=F′1-F′2, F′1 is the first measuring force, and F′2 is the second measuring force.

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