Interventional consumable delivery mechanism with high-precision force sensing function and interventional surgical robot slave device

Abstract

Disclosed are an interventional consumable delivery mechanism with a high-precision force sensing function and an interventional surgical robot slave device. Said interventional consumable delivery mechanism comprises a locking structure capable of locking or releasing interventional consumables, a rotational delivery mechanism capable of driving rotation and / or delivery of the locked interventional consumables, and a force sensing assembly capable of measuring an axial force and torsional moment applied to the interventional consumables. The rotational delivery mechanism comprises a rotating shaft driving seat and a rotating shaft that is mounted in the rotating shaft driving seat and rotatable in a forward or reverse direction. The locking structure is disposed on a first connection portion of the rotating shaft or the rotating shaft driving seat. An axial force sensing element measures the axial force applied to the interventional consumables, and a torsional moment sensing element measures the torsional moment applied to the interventional consumables around the axis, the axial force sensing element and the torsional moment sensing element both being connected to the rotating shaft. The present invention provides strong support for the force feedback technology of a master end, has high sensitivity, and exhibits convenient measurement, thereby ensuring the smooth progress of the surgery.

Description

An interventional consumables delivery mechanism with high-precision force sensing function and an interventional surgical robot slave device Technical Field

[0001] The present invention relates to the technical field of interventional robots, and in particular to an interventional consumables delivery mechanism with a high-precision force sensing function and an interventional surgical robot slave device. Background Art

[0002] Minimally invasive interventional therapy is the primary treatment for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, it utilizes interventional devices to diagnose and treat diseases through physiological cavities. Compared to traditional surgical procedures, it offers significant advantages, including improved efficacy, increased safety, smaller incisions, and shorter postoperative recovery times.

[0003] Vascular interventional procedures primarily include femoral / radial artery puncture, coordinated advancement of a guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of a therapeutic guidewire and balloon catheter, and stent placement. The coordinated advancement of the guidewire, catheter, and balloon catheter is a time-consuming step in these procedures and requires X-ray image navigation. Currently, vascular interventional procedures are typically performed manually by physicians. During the procedure, DSA emits X-rays, requiring the physician to wear a heavy lead vest. This rapidly degrades the physician's stamina, concentration, and stability, leading to decreased precision and a high risk of life-threatening accidents such as intimal damage and vascular perforation and rupture caused by improper thrust. Furthermore, prolonged wear of the lead vest can damage the physician's spine. Furthermore, the cumulative damage from long-term ionizing radiation exposure significantly increases the physician's risk of leukemia, cancer, and acute cataracts. Therefore, to ensure physician health and surgical quality, research and development of interventional surgical robots is intensifying, and a growing number of robots are now being used in clinical practice.

[0004] Existing interventional surgical robots mainly use a master-slave end operating structure to isolate doctors from radioactive environments. Existing interventional robot slave end devices need to clamp slender medical devices such as catheters and guidewires and move them from their proximal end to the distal end. The coordinated movement of the devices drives the catheters and guidewires forward and delivers them to the lesions in the patient's body (such as within blood vessels), making it easier for doctors to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, dissolution of blood clots, and dilation of narrowed blood vessels. For example, the following patents applied for by Shenzhen Aibo Medical Robot Co., Ltd.: an interventional surgical robot slave end with application number 2022116787026; an interventional surgical robot slave end with application number 202211686818.4; an interventional surgical robot slave end guidewire catheter control device with application number 202210923132.6; and application number 202210326352. .0 is an interventional surgical robot slave device, etc.; it splits the power of controlling the catheter / guidewire, controls the delivery of the corresponding catheter through the catheter delivery mechanism, controls the rotation of the corresponding catheter through the catheter rotation mechanism, controls the delivery of the guidewire through the guidewire delivery mechanism, and controls the rotation of the guidewire through the guidewire rotation mechanism. Its shortcomings are as follows: (1) the structure of the catheter rotation mechanism and the guidewire rotation mechanism is relatively complex; (2) the balloon delivery mechanism applies friction power to the balloon catheter through the synchronous rotation of the active roller and the driven roller. Under the action of the friction power, the balloon is delivered forward. There is no force perception during the delivery process, so force feedback cannot be achieved and the safety of the operation cannot be guaranteed; (3) the coordinated delivery of multiple catheters and guidewires cannot be achieved. Therefore, how to provide an interventional surgical robot slave propulsion device that is convenient for controlling the movement and rotation of one or more sets of catheters and guidewires, and to perform force perception during the delivery process of multiple sets of catheters and guidewires, is a problem that technicians in this field urgently need to solve. Summary of the Invention

[0005] In order to solve the above-mentioned existing technical problems, defects and unattainable technical requirements, the purpose of the present invention is to provide an interventional consumables delivery mechanism and an interventional surgical robot slave device with high-precision force sensing function, which can realize the advancement and withdrawal of interventional consumables during vascular interventional surgery. It has high-precision force sensing function, can simultaneously measure the axial resistance and circumferential torque of the interventional consumables, and simultaneously rotate the interventional consumables, and can achieve continuous action through a reciprocating motion structure; simple operation and precise control; can meet the doctor's operation of interventional consumables during vascular interventional surgery, greatly reduce the risk of doctors being exposed to more X-rays, and protect the doctor's body.

[0006] The technical solution adopted by the present invention to achieve its invention object is:

[0007] -An interventional consumable delivery mechanism with a high-precision force sensing function, characterized in that it includes: a locking structure capable of locking or loosening the interventional consumable, a rotating delivery mechanism capable of driving the locked interventional consumable to rotate and / or deliver, and a force sensing component capable of detecting the axial force and torsional torque exerted on the interventional consumable; the rotating delivery mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat; the locking structure is arranged on the first connecting portion of the rotating shaft or the rotating shaft drive seat; the force sensing component includes an axial force sensing element and a torque force sensing element, the axial force sensing element measures the axial force exerted on the interventional consumable, and the torque force sensing element measures the torque exerted on the interventional consumable in the direction around the axis, and both the axial force sensing element and the torque force sensing element are connected to the rotating shaft.

[0008] Preferably, the first connecting portion is axially movable and circumferentially rotatable and is arranged on the rotating shaft driving seat or the rotating shaft; or, the first connecting portion is axially limited and circumferentially rotatable and is arranged on the axial force sensing element.

[0009] Preferably, when the first connecting part is axially movable and circumferentially rotatable and is arranged on the rotating shaft drive seat or the rotating shaft, a sleeve structure is provided between the first connecting part and the rotating shaft drive seat or the rotating shaft, and the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic suspension sleeve structure, an air sleeve structure, and a hydraulic sleeve structure; the torque force sensing element is a combination of a force sensor and a torque conversion structure, and the fixed end of the force sensor is fixedly connected to the rotating shaft or to the force measuring end of the axial force sensing element. The first connecting part is connected to the force measuring end of the force sensor through the torque conversion structure, and the torque received by the first connecting part is converted into a push-pull force acting on the force sensor. After the push-pull force is measured, the torque received by the interventional consumable can be converted into the torque received by the interventional consumable in combination with the force arm; or the torque force sensing element is a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft, and the first connecting part is transmission-connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part is amplified and acts on the torque sensor. After the torque is measured, the torque received by the interventional consumable can be converted into the torque received by the interventional consumable in combination with the torque amplification ratio; the axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the first connecting part is directly transmission-connected to the force measuring end of the axial force sensor through the axial force coupling structure; or the force measuring end of the axial force sensor is connected to the fixed end of the force sensor, and the first connecting part is transmission-connected to the force measuring end of the force sensor through the axial force coupling structure. At this time, the axial force coupling structure is also a torque conversion structure, which causes the axial force received by the first connecting part to act on the axial force sensor.

[0010] Preferably, when the first connecting part is axially limited and circumferentially rotatable on the axial force sensing element, a rotating sleeve is provided in the rotating shaft, and the rotating sleeve is arranged on the first connecting part. The first connecting part is axially limited and circumferentially rotatable on the rotating sleeve through a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure. The axial force sensing element is an axial force sensor. The rotating sleeve is fixedly connected to the force measuring end of the axial force sensor, and the fixed end of the axial force sensor is fixedly connected to the rotating shaft. The axial force exerted on the first connecting part is transmitted to the rotating sleeve through the bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor; the torque sensing element is a force sensor and a torque converter. The torque sensing element is a combination of a torque sensor and a torque amplification structure, the fixed end of the torque sensor is fixedly connected to the rotating shaft, the first connection part is transmission-connected to the force measuring end of the force sensor through a torque conversion structure, the torque received by the first connection part is converted into a push-pull force acting on the force sensor, and the push-pull force can be measured and converted into the torque received by the interventional consumables in combination with the force arm; or the torque sensing element is a combination of a torque sensor and a torque amplification structure, the fixed end of the torque sensor is fixedly connected to the rotating shaft, the first connection part is transmission-connected to the torque measuring end of the torque sensor through a torque amplification structure, the torque received by the first connection part is amplified and acts on the torque sensor, and the torque received by the interventional consumables can be converted into the torque received by the interventional consumables in combination with the torque amplification ratio after the torque is measured.

[0011] Preferably, the rotating shaft drive seat has an open cover structure, and a rotating drive assembly capable of driving the rotating shaft to rotate is installed inside or outside the rotating shaft drive seat, and the rotating shaft can be installed on the rotating shaft drive seat in the forward or reverse direction along its axial direction; the rotating shaft is a shell structure composed of outer shell A and outer shell B connected together in an openable and closable manner, which is convenient for disassembly and cleaning of the internal structure; or the rotating shaft cannot be opened and closed, and the interventional consumables need to be inserted into the rotating shaft from the through holes on both sides of the rotating shaft for installation; the rotating drive assembly drives the rotating shaft to rotate through the transmission assembly, and the transmission assembly realizes power transmission by meshing with the driven gear ring on the rotating shaft, or realizes power transmission through the friction force between the driven friction rings on the rotating shaft, and the transmission assembly is a driving gear or an active friction wheel or an active transmission belt or an active friction belt.

[0012] Preferably, the locking structure is one or a combination of a clamping structure, a snap locking structure or a threaded locking structure, and the clamping structure is a claw clamping structure or a side clamping structure or a rotary clamping structure; the locking structure has a self-locking structure and can maintain the locked state after locking.

[0013] Preferably, the locking structure includes an active locking structure and a passive locking structure. The active locking structure drives the clamping structure through a driving element to achieve locking and / or loosening of the interventional consumables; the passive locking structure drives one or a combination of the clamping structure, the snap locking structure, and the threaded locking structure through an external driving method to achieve locking or loosening of the interventional consumables, and the external driving method is manual driving; the passive locking structure is arranged on the outside of the rotating shaft or the rotating shaft drive seat.

[0014] Preferably, when the interventional consumable is a catheter with a Luer connector at the end, the passive locking structure includes a threaded transition head, which is screwed to the Luer connector at the end of the interventional consumable via a threaded structure, and is connected to the first connection portion via a snap structure, or is directly connected to the first connection portion. When the interventional consumable is a guidewire or a headless catheter, the passive locking structure includes a clamping transition head, which is clamped to the guidewire or headless catheter via a clamping structure, and is connected to the first connection portion via a snap structure, or is directly connected to the first connection portion; the first connection portion extends from the interior to the exterior of the rotating shaft or the rotating shaft drive seat.

[0015] Preferably, when the rotary delivery mechanism moves axially and drives the locked interventional consumable to be delivered axially, the axial force sensing element measures the axial force exerted on the interventional consumable via a force sensor or a multi-dimensional force sensor; when the rotary delivery mechanism rotates around the axis and drives the locked interventional consumable to rotate around the axis, the torque force sensing element measures the torque exerted on the interventional consumable in the direction around the axis via a torque sensor, or a combination of a torque sensor and a torque amplification structure, or a combination of a torque conversion structure and a force sensor. When the torque exerted on the interventional consumable in the direction around the axis is measured by the combination of the torque conversion structure and the force sensor, the force sensor is a unidimensional force sensor, one end of which is fixed to the rotating shaft, the other end of which is fixedly connected to or integrally formed with a sensor force transmission member, the first connecting portion at the front end of the rotating shaft being matched with the sensor force transmission member via a pin-slot structure, so that the first connecting portion at the front end of the rotating shaft converts the torsional torque into a push-pull force exerted on the sensor force transmission member during rotation, and the force sensor measures the push-pull force and then converts it into the torque exerted on the interventional consumable in combination with the force arm.

[0016] Preferably, when the torque exerted on the interventional consumable in the direction around the axis is measured by a combination of a torque sensor and a torque amplification structure, the combination of the torque sensor and the torque amplification structure is a hinged torque measuring bracket, which can lock the interventional consumable. When the interventional consumable is subjected to torque during delivery, the torque is applied to the torque sensor through the torque amplification structure through the hinge structure. After the torsional torque is measured, the torque exerted on the interventional consumable can be converted into the torque amplification ratio; the hinged torque measuring bracket includes a first hinged connection member and a torque transmitting member, the first hinged connection member is arranged inside the rotating shaft, and the first rotating frame is connected through The bearing structure c is rotatably arranged at one end of the first hinge connection member, and the first rotating frame and the torque transmission member are connected through a torque amplification structure. The torque amplification structure is a paddle mechanism, a pin mechanism, a connecting rod mechanism, or a gear mechanism, or a belt transmission mechanism or a combination thereof. One end of the torque sensor is fixed on the rotating shaft or the first hinge connection member, and the other end is fixedly connected to the torque transmission member or integrally formed. The first rotating frame can rotate freely around the axis of the bearing structure c, thereby forming a hinge structure. The axis of the hinge structure coincides with or is parallel to the axis of the interventional consumable, and the torque measuring axis of the torque sensor is parallel to the hinge axis.

[0017] Preferably, the axial force sensing element and the torque force sensing element adopt waterproof force sensors and / or torque sensors, and the waterproof force sensors and / or torque sensors are provided with soft rubber sealing parts to waterproof and isolate the electrical components inside.

[0018] An interventional surgical robot slave device that uses an interventional consumables delivery mechanism with high-precision force sensing function.

[0019] The slave device includes a linear track group: at least one linear track group is provided. When two linear track groups are provided, the two linear track groups are arranged in parallel. One of the linear track groups is provided with at least two module fixing seats along its length direction. The module fixing seat is equipped with a surgical function module. The surgical function module is a port support mechanism or a port control mechanism or a rotary delivery mechanism. A port support mechanism or a port control mechanism at the front end and a rotary delivery mechanism at the rear end form a delivery kit. The module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the corresponding linear track group. When the module fixing seat reciprocates, it can drive the corresponding port control mechanism and / or rotary delivery mechanism to reciprocate. When the interventional consumable is locked by the locking structure, the rotary delivery mechanism can drive the interventional consumable to perform a rotary delivery movement. The interventional consumable includes one or a combination of a port control valve, a catheter, and a guide wire. The port control valve is a bifurcated valve or a non-bifurcated control valve.

[0020] Preferably, a support element is provided between the port support mechanism and the rotation delivery mechanism, or between the port control mechanism and the rotation delivery mechanism. The support element is sleeved outside the interventional consumable to play a supporting role, so that the axis of the interventional consumable is in a straight state. The support element is supported by a rigid coaxial telescopic sleeve that is sleeved step by step.

[0021] When the first delivery kit and the second delivery kit are placed on the linear rail group one after the other, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotating delivery mechanism placed at the rear end, the first delivery kit is used to deliver the first interventional consumable, the second delivery kit includes a second port control mechanism placed at the front end and a second rotating delivery mechanism placed at the rear end, the second delivery kit is used to deliver the second interventional consumable, the first rotating delivery mechanism and the second port control mechanism are arranged on the linear guide rail group for synchronous movement, the second port control mechanism is installed with a first bifurcation valve, the first connecting part is arranged on the first rotating delivery mechanism, and also includes an internal connecting pipe, the internal connecting pipe passes through the first A connecting portion is provided, and the front end of the internal connecting tube is connected to the front end of the first connecting portion; or the first connecting portion is a hollow pipe structure, and the front end of the internal connecting tube is connected to the rear end of the first connecting portion, and the rear end of the internal connecting tube is fixedly connected to the front rotatable part of the first bifurcated valve, and a flexible portion is provided on the internal connecting tube. When the second port control mechanism controls the rotatable part of the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotation delivery mechanism, if the two rotational motions are not completely synchronized, the flexible portion of the internal connecting tube will undergo slight torsional deformation. However, since the flexible portion is soft enough, it will not affect the force perception of the torque force sensing element in the first rotation delivery mechanism on the torque exerted on the first interventional consumable. Beneficial effects

[0022] 1. The delivery mechanism of the present invention includes a locking structure capable of locking or loosening the interventional consumable, a rotating delivery mechanism capable of driving the locked interventional consumable to rotate and / or deliver, and a force sensing component capable of detecting the axial force and torsional torque exerted on the interventional consumable, providing strong support for the force feedback technology of the master end. 2. The passive locking structure of the present invention has a self-locking structure, which can always maintain the locked state after locking. The passive locking structure drives one or a combination of a clamping structure, a snap-on locking structure, and a threaded locking structure through an external drive method to lock or loosen the interventional consumable, and the external drive method is manual drive. The passive locking structure is arranged on the outside of the rotating shaft, which is also convenient for operation. It can quickly connect the interventional consumable to the rotating delivery mechanism and also facilitates the rapid replacement of the interventional consumable. 3. Rotational delivery is performed by forming a delivery kit with a port support mechanism or a port control mechanism and a rotational delivery mechanism. When the interventional consumable is subjected to torque around the axis during rotation, the torque applied to the interventional consumable in the direction of the axis is measured by a torque sensor, or a combination of a torque sensor and a torque amplification structure, or a combination of a torque conversion structure and a force sensor. This amplifies the torque signal and the force signal, and has high sensitivity and reliable detection, enabling the measurement of weak torque signals applied to the interventional consumable. 4. When the interventional consumable is subjected to axial force during axial delivery, the axial force applied to the interventional consumable is measured by a combination of an axial force sensor and an axial force coupling structure. This amplifies the force signal, and has high sensitivity and reliable detection, enabling the measurement of weak axial force signals applied to the interventional consumable. 5. Under the action of the support element, the interventional consumable can achieve stable delivery without warping. The internal connecting tube arrangement ensures that even if the rotational motions controlled by the first rotational delivery mechanism and the second port control mechanism are not completely synchronized, the torque sensing element in the first rotational delivery mechanism will not be affected in sensing the torque force. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic structural diagram of Example 1;

[0024] FIG2 is a schematic structural diagram of the second port control mechanism and the second rotation delivery mechanism of Example 1;

[0025] FIG3 is a schematic structural diagram of a second rotary delivery mechanism according to Example 1;

[0026] FIG4 is a schematic structural diagram of a force sensing component of Example 1;

[0027] FIG5 is a schematic structural diagram of the locking structure and the first connecting portion of Example 1;

[0028] FIG6 is a schematic diagram of the internal cross-sectional structure of the locking structure and the first connecting portion of Example 1;

[0029] FIG7 is a schematic structural diagram of a catheter without a Luer connector and a first bifurcated valve according to Example 1;

[0030] FIG8 is a schematic structural diagram of Example 2;

[0031] FIG9 is a schematic structural diagram of the telescopic sleeve of Example 2;

[0032] FIG10 is an internal cross-sectional view of Example 2;

[0033] FIG11 is a schematic structural diagram of the first connecting portion and the rotating shaft of Example 2;

[0034] FIG12 is a schematic structural diagram of Example 3;

[0035] FIG13 is a schematic structural diagram of a force sensing component according to Example 4;

[0036] FIG14 is a schematic structural diagram of an axial force sensing element according to Example 4;

[0037] FIG15 is a schematic structural diagram of a torque sensing element according to Example 4;

[0038] FIG16 is a schematic diagram of the structure of a torque sensing element according to Example 5;

[0039] FIG17 is a second structural diagram of the torque sensing element of Example 5;

[0040] Figure 18 is a schematic structural diagram of Example 6;

[0041] FIG19 is an internal cross-sectional view of Example 6;

[0042] FIG20 is a schematic internal cross-sectional view of the locking structure and the first connecting portion of Example 6;

[0043] FIG21 is a schematic diagram of the internal structure of Example 6;

[0044] FIG22 is a schematic structural diagram of an axial force sensing element and a torque force sensing element of Example 6;

[0045] FIG23 is a schematic structural diagram of a transmission sleeve in accordance with Example 6 in which a detent pin is fixedly connected to the transmission sleeve, and the detent pin and the force transmission plate are connected via a force transmission ball joint;

[0046] FIG24 is a schematic internal cross-sectional view of an embodiment 6 in which the axial force sensor and the load cell are separately arranged;

[0047] FIG25 is a schematic diagram showing a structure in which the axial force sensor and the load cell are separately arranged in accordance with Example 6;

[0048] FIG26 is a second schematic diagram of the structure in which the axial force sensor and the load cell are separately arranged in accordance with Example 6;

[0049] FIG27 is a schematic structural diagram of a transmission sleeve in Example 6 in which two detent pins are fixedly connected to the transmission sleeve and the detent pins adopt a ball head structure. Modes for Carrying Out the Invention

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connections, detachable connections, integrated connections, or even connections that allow relative movement; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] The guidewires here include but are not limited to guiding and supporting interventional medical devices such as guide wires, micro guidewires, angiographic guidewires and loach guidewires; catheters include but are not limited to guiding catheters, micro catheters, angiographic catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters and other therapeutic interventional medical devices. Example 1

[0053] An interventional surgical robot slave device adopts an interventional consumables delivery mechanism with a high-precision force sensing function, the slave device including a linear track group: at least one linear track group is provided, and when two linear track groups are provided, the two linear track groups are arranged in parallel, one of the linear track groups is provided with at least two module fixing seats along its length direction, and a surgical function module is installed on the module fixing seat, which is a port support mechanism or a port control mechanism or a rotary delivery mechanism. A port support mechanism or port control mechanism located at the front end and a rotary delivery mechanism located at the rear end constitute a delivery kit, the module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the corresponding linear track group, the module fixing seat can drive the corresponding port control mechanism and / or rotary delivery mechanism to reciprocate when reciprocating, and when the interventional consumable is locked by the locking structure, the rotary delivery mechanism can drive the interventional consumable to perform rotary delivery movement; the interventional consumable includes one or a combination of a port control valve, a catheter, and a guide wire, and the port control valve is a bifurcated valve or a non-bifurcated control valve.

[0054] A support element is provided between the port support mechanism and the rotation delivery mechanism, or between the port control mechanism and the rotation delivery mechanism. The support element is sleeved outside the interventional consumable to play a supporting role, so that the axis of the interventional consumable is in a straight state. The support element adopts a rigid coaxial telescopic sleeve with step-by-step sleeves for support;

[0055] When the first delivery kit and the second delivery kit are placed on the linear rail group one after the other, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotating delivery mechanism placed at the rear end, the first delivery kit is used to deliver the first interventional consumable, the second delivery kit includes a second port control mechanism placed at the front end and a second rotating delivery mechanism placed at the rear end, the second delivery kit is used to deliver the second interventional consumable, the first rotating delivery mechanism and the second port control mechanism are arranged to move synchronously on the linear guide rail group, the second port control mechanism is installed with a first bifurcation valve, the first connecting part is arranged on the first rotating delivery mechanism, and also includes an internal connecting tube, the internal connecting tube is arranged through the first connecting part, the front end of the internal connecting tube It is connected to the front end of the first connecting part; or the first connecting part is a hollow pipe structure, the front end of the internal connecting pipe is connected to the rear end of the first connecting part, the rear end of the internal connecting pipe is fixedly connected to the front rotatable part of the first bifurcated valve, and a flexible part is provided on the internal connecting pipe. The flexible part is a flexible and elastic pipe such as a silicone tube, a latex tube, or a PU tube. When the second port control mechanism controls the rotatable part of the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotation delivery mechanism, if the two rotational motions are not completely synchronized, the flexible part of the internal connecting pipe will undergo slight torsional deformation. However, since the flexible part is soft enough, it will not affect the torque sensing element in the first rotation delivery mechanism to sense the torque exerted on the first interventional consumable.

[0056] All linear rail assemblies are arranged obliquely downward on the upper portion of an operating table (such as operating table 102206 in Figure 1). An injection module for injecting contrast agent or heparinized saline and a pressurized injection module for pressurizing the balloon are mounted on the side of the operating table or the side of the linear rail assembly. All linear rail assemblies are mounted on an adjustment arm. The front end of the second catheter is inserted into the first catheter, and the rear end of the second catheter is locked with the first connecting portion. The rear end of the second catheter is directly connected to the rotatable front end portion of the first bifurcated valve or connected via an internal connecting tube. The first rotary delivery mechanism can drive the second catheter to perform a rotary delivery motion via the first connecting portion.

[0057] It also includes a second linear track group, a third delivery kit and a convergence module. The first linear track group is arranged in parallel with the second linear track group. The third delivery kit includes a first port support mechanism placed at the front end and a third rotation delivery mechanism placed at the rear end. The convergence module is arranged at the rear of the second port control mechanism. The convergence module is connected to the first port support mechanism through the first track changing part. The third connection part of the third rotation delivery mechanism is locked with the second guide wire. The third rotation delivery mechanism can drive the second guide wire to perform rotational delivery movement. The front end of the second guide wire passes through the first port support mechanism, the first track changing part, the convergence module, the first bifurcation valve and the first connection part to penetrate the second catheter. The second connection part of the second rotation delivery mechanism is locked with the third interventional consumable, and the second rotation delivery mechanism drives the third interventional consumable to perform axial delivery movement or rotational delivery movement.

[0058] When the third interventional consumable is a third catheter, the second delivery kit includes a second port control mechanism at the front end and a second rotary delivery mechanism at the rear end. The rear end of the third catheter is connected to the external pressurized injection module via a pipeline. The second rotary delivery mechanism is locked to the tail end or tube body of the third catheter, or the second rotary delivery mechanism is locked to the pipeline connected to the rear end of the third catheter. The second rotary delivery mechanism drives the third catheter to perform axial delivery movement. The third catheter is a monorail balloon catheter with a guide port on its side. The third catheter is delivered over the first guidewire or the second guidewire.

[0059] When the third interventional consumable is the first guide wire, the second delivery kit includes a second port control mechanism placed at the front end and a second rotary delivery mechanism placed at the rear end. The front end of the first guide wire passes through the convergence module and the first bifurcation valve into the second catheter. The first guide wire is locked on the second rotary delivery mechanism, and the second rotary delivery mechanism drives the first guide wire to perform a rotary delivery movement.

[0060] As shown in Figures 1 to 7, the slave device includes a first port control mechanism 10271, a second port control mechanism 10273, a first rotation delivery mechanism 10272, a second rotation delivery mechanism 10274101, a third rotation delivery mechanism 10276, an injection module 102207 and a pressurized injection module 102208. The injection module 102207 is connected to the branch of the bifurcation valve in the second port control mechanism 10273, and is used to create contrast agent or heparin saline. The pressurized injection module 102208 is connected to the balloon locked by the second rotation delivery mechanism 10274101, and is used to pressurize the balloon.

[0061] The structures of the first rotating delivery mechanism 10272, the second rotating delivery mechanism 10274101 or the third rotating delivery mechanism 10276 are similar, all of which include a rotating shaft 10225, a rotating shaft driving seat, and a rotating cover 10227. The rotating shaft 10225 is rotatably mounted on the rotating shaft driving seat 10226. A rotating driving component capable of driving the rotating shaft to rotate is mounted inside or outside the rotating shaft driving seat 10226. The rotating driving component can adopt a structure coordinated with a motor and an active gear or an active friction wheel or an active friction belt. The rotating shaft driving seat includes a base 10226 and a rotating cover 10227. The rotating cover 10227 is rotatably set on the base 10226. The rotating cover 10227 is locked on the base 10226 by means of press buckles, magnetism, screw structures, locks, etc. The rotating cover 10227 can be opened to facilitate the loading and unloading of the rotating shaft 10225.

[0062] The rotating shaft 10225 includes a shell A10233 and a shell B10234. The shell A10233 and the shell B10234 are shell structures installed together in an openable and closable manner, which is convenient for disassembly and cleaning of the internal structure. A first connecting portion for locking the interventional consumables is provided in the rotating shaft 10225. The first connecting portion extends to the outside of the rotating shaft 10225 shell. The first connecting portion includes a first connecting pipe 1022501 and a second connecting pipe 10225011. The tail end of the first connecting pipe 1022501 is fixedly connected to the second connecting pipe 10225011, and the second connecting pipe 10225011 extends to the outside of the rotating shaft 10225 shell. Into the interior of the rotating shaft 10225, a rotating sleeve 10225012 is provided in the rotating shaft 10225, the rotating sleeve 10225012 is sleeved on the outside of the second connecting tube 10225011, and the second connecting tube 10225011 is rotatable but axially limitedly set in the rotating sleeve 10225012, and the rotation can be achieved by setting a bearing structure 1022501201, the bearing structure 1022501201 is one or a combination of a rolling bearing structure, a magnetic levitation bearing structure, and an air bearing structure, thereby reducing the rotational resistance, the rolling bearing structure is a ball bearing structure or a circumferentially arranged roller structure.

[0063] The first connecting tube 1022501 and the second connecting tube 10225011 can also be formed as one piece.

[0064] The front end of the first connecting tube 1022501 is equipped with a locking structure capable of locking or releasing the interventional consumable. The locking structure can be one or a combination of a clamping structure, a snap-on locking structure, or a threaded locking structure. The clamping structure can be a claw locking structure, a side locking structure, or a rotary locking structure. The claw locking structure achieves clamping by moving several jaws toward each other and releases by moving them away from each other. Specific methods include one or a combination of hinged jaws, sliding jaws, and elastic jaws.

[0065] A part of a driven gear ring or a driven friction ring is respectively provided at the outer shell A10233 and the outer shell B10234 of the rotating shaft 10225. When the outer shell A10233 and the outer shell B10234 are closed, a complete driven gear ring or a driven friction ring is formed. The power transmission is realized by the meshing of the driving gear and the driven gear ring, driving the rotating shaft 10225 to rotate around the axis, or the power transmission is realized by the friction force between the driving friction wheel or the driving friction belt and the driven friction ring.

[0066] Conductive portions are provided on the outer walls of the housing A10233 and housing B10234 of the rotating shaft 10225, as well as on the inner wall of the rotating shaft drive seat 10226. When the rotating shaft 10225 is mounted on the rotating shaft drive seat 10226, the conductive portions slide in contact with each other, maintaining electrical contact while the rotating shaft 10225 rotates relative to the axis of the rotating shaft drive seat 10226, thereby transmitting electrical signals. The conductive portion is one or a combination of a conductive contact, a conductive ring, or a conductive strip. Alternatively, a hollow electrical slip ring is provided on one side of one of the housings A10233 and B10234 of the rotating shaft 10225. The force sensor signal inside the rotating shaft is transmitted to the exterior of the rotating shaft 10225 via the hollow electrical slip ring, and the central through-hole of the hollow electrical slip ring is used to pass the interventional consumable and the internal connecting tube (the internal connecting tube is used to connect the first connecting portion to the front rotatable portion of the bifurcated valve).

[0067] In this embodiment, the interventional consumable is a headless catheter or guidewire, and the passive locking structure includes a clamping transition head, which is clamped on the guidewire or headless catheter through a clamping structure, and the clamping transition head is connected to the first connecting part through a snap structure, or the clamping transition head is directly connected to the first connecting part.

[0068] When the clamping transition head is directly connected to the first connecting part, the passive locking structure includes a clamping transition head, the clamping transition head includes a constraining sleeve 102231 and a first elastic clamping claw 102232, the tail of the first elastic clamping claw 102232 is inserted into the front of the first connecting tube 1022501, the first elastic clamping claw 102232 includes a plurality of claw petals 1022321, and the plurality of claw petals 1022321 are arranged in a ring-shaped interval. A first conical surface 10223211 is provided on the outer side surface of the head of each claw petal 1022321, and an elastomer is provided on the inner side surface of the head of each claw petal 1022321, or the head of the claw petal 1022321 itself is an elastomer, which can avoid damaging the interventional consumables. The constraining sleeve 102231 is screwed to the front end of the first connecting tube 1022501 The restraining sleeve 102231 is connected with a second conical surface inside that matches the first conical surface 10223211. The tail of the first elastic clamping claw 102232 is inserted into the first connecting tube 1022501, and then the restraining sleeve 102231 is put on the outside. When the restraining sleeve 102231 is screwed onto the first connecting tube 1022501, the second conical surface presses against the first conical surface 10223211, causing the multiple claw petals 1022321 to close, thereby clamping the interventional consumable. When the restraining sleeve 102231 is unscrewed from the first connecting tube 1022501, the first conical surface 1022321 loses the pressure of the second conical surface, causing the multiple claw petals 1022321 to recover their deformation under their own elastic action and then open, thereby loosening the interventional consumable. The locking part of this locking method is the middle or rear end of the interventional consumable, such as the tube body and rear end of a catheter, or the wire body of a guide wire.

[0069] When the first connecting part is axially limited and circumferentially rotatable on the axial force sensing element, a rotating sleeve is provided in the rotating shaft, and the rotating sleeve is outer-circumferentially arranged on the first connecting part. The first connecting part is axially limited and circumferentially rotatable on the rotating sleeve by a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic suspension bearing structure, and an air bearing structure. The axial force sensing element is an axial force sensor. The rotating sleeve is fixedly connected to the force measuring end of the axial force sensor, and the fixed end of the axial force sensor is fixedly connected to the rotating shaft. The axial force exerted on the first connecting part is transmitted to the rotating sleeve through the bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor.

[0070] The torque force sensing element is a combination of a force sensor and a torque conversion structure, the fixed end of the force sensor is fixedly connected to the rotating shaft, and the first connecting part is transmission-connected to the force measuring end of the force sensor through the torque conversion structure, so that the torque received by the first connecting part is converted into a push-pull force acting on the force sensor. After the push-pull force is measured, the torque received by the interventional consumable can be converted in combination with the force arm; or the torque force sensing element is a combination of a torque sensor and a torque amplification structure, the fixed end of the torque sensor is fixedly connected to the rotating shaft, and the first connecting part is transmission-connected to the torque measuring end of the torque sensor through the torque amplification structure, so that the torque received by the first connecting part is amplified and acts on the torque sensor. After the torque is measured, the torque received by the interventional consumable can be converted in combination with the torque amplification ratio.

[0071] In this embodiment, an axial force connecting plate 51311101 is fixedly connected to the rotating sleeve 10225012, and the axial force connecting plate 51311101 is connected to the force measuring end of the axial force sensor 513111. The axial force sensor 513111 is fixedly arranged inside the shell A10233. The force measuring direction of the axial force sensor 513111 coincides with or is parallel to the axial direction of the interventional consumable. After the locking structure locks the interventional consumable, when the interventional consumable is subjected to axial external force during the delivery process, the interventional consumable transmits the axial force to the first connecting tube 1022501 and the second connecting tube 10225011 through the locking structure, and then the second connecting tube 1022501 is connected to the axial force sensor 513111. The bearing structure 1022501201 between the connecting tube 10225011 and the rotating sleeve 10225012 transmits axial force to the rotating sleeve 10225012. Under the action of the bearing structure 1022501201, the second connecting tube 10225011 and the rotating sleeve 10225012 can achieve circumferential relative rotation. Therefore, the second connecting tube 10225011 can only transmit axial force to the rotating sleeve 10225012, but cannot transmit circumferential torque. This axial external force is transmitted to the axial force sensor 513111 via the axial force connecting plate 51311101 fixedly connected to the rotating sleeve 10225012. The first connecting tube 1022501 and the second connecting tube 10225011 can also be integrally formed.

[0072] After the locking structure locks the interventional consumable, when the interventional consumable is subjected to torque around the axis during the delivery process, the torque exerted on the interventional consumable in the axial direction is measured by a torque sensor, or a combination of a torque conversion structure and a force sensor, or a combination of a torque sensor and a torque amplification structure.

[0073] Among them, it is preferred that the torque exerted on the interventional consumable in the axial direction is measured by a combination of a torque conversion structure and a force sensor, the force sensor is a one-dimensional force sensor 102293, the torque conversion structure is a pin-groove structure, one end of the one-dimensional force sensor 102293 is fixed on the rotating shaft 10225, and the other end of the one-dimensional force sensor 102293 is fixedly connected or integrally formed with a sensor force transmission part 102210, and the second connecting tube 10225011 is matched with the sensor force transmission part 102210 through the pin-groove structure, so that the second connecting tube 10225011 will convert the torsional torque into a push-pull force applied to the sensor force transmission part 102210 when rotating. After the force sensor measures the push-pull force, the torque exerted on the interventional consumable can be converted into the torque exerted on the interventional consumable in combination with the force arm.

[0074] At this time, the fixed end of the unidimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 (housing A10233 or housing B10234) and is located on one side of the interventional consumables, wherein the above-mentioned fixed connection can be a direct or indirect connection, and the force measuring end of the unidimensional force sensor 102293 is fixedly connected to the sensor force transmission member 102210 or is integrally formed, including a jacket 1022111 and a pin 1022112, the jacket 1022111 is fixedly connected to the second connecting tube 10225011 (or integrally formed), the jacket 1022111 is provided with a slot 10221111 on one side of the second connecting tube 10225011 along the radial direction of the rotation center, and one end of the pin 1022112 is installed on the sensor On the force transmission member 102210, the other end of the pin 1022112 is placed in the slot 10221111, and the axial direction of the pin 1022112 is parallel to the axis of the interventional consumable and is at a certain distance (this distance is the force arm. In order to maximize the force on the unidimensional force sensor 102293 when the torque applied to the interventional consumable is fixed, if the interventional consumable is a guidewire, the distance should be less than 20mm, preferably 3-8mm; if the interventional consumable is a catheter, the distance should be less than 50mm, preferably 15-30mm; the range of the unidimensional force sensor 102293 should be less than 5N, preferably 0.5-2N). The pin 1022112 can slide along the slot 10221111. Of course, a pin can also be provided on the second connecting tube 10225011, and a slot can be provided on the corresponding sensor force transmission member 102210.

[0075] After the locking structure locks the interventional consumable, the interventional consumable, the first elastic clamp 102232, the constraint sleeve 102231, the second connecting tube 10225011 and the first connecting tube 1022501 form a whole. When the interventional consumable is subjected to torque, the torque is transmitted to the second connecting tube 10225011. The second connecting tube 10225011 rotates a certain angle relative to the rotation axis 10225, and the sleeve 1022111 rotates with the second connecting tube 102250111022501. As the pin 1022112 slides along the slot 10221111, it will be pushed by the slot 10221111 of the sensor force transmission part 102210, converting the torsional torque into a push-pull force applied to the sensor force transmission part 102210. The sensor force transmission part 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the one-dimensional force sensor 102293.

[0076] A telescopic sleeve 103302 is provided between the second rotating delivery mechanism 10274101 and the first bifurcated valve 102101 on the second port control mechanism. The interventional consumables are supported by the telescopic sleeve 103302 to prevent the interventional consumables from bending. The front end of the telescopic sleeve 103302 is arranged opposite to the tail end of the first bifurcated valve 102101. A support frame 103304 is fixedly connected to the base 10226, and the other end of the telescopic sleeve 103302 is fixed to the support frame 103304 by a quick-release structure (not shown in the figure).

[0077] The front end Luer connector (rotatable part) of the first bifurcated valve 102101 is connected to a sealing adapter 10330101, which is provided with a through hole for connecting a catheter, a gasket 10330102 is provided in the through hole, a sealing ring 10330104 is sandwiched between the two gaskets 10330102, a second elastic clamping claw 10330103 is inserted into the through hole and abuts against one of the gaskets 10330102, and a tightening head 10330104 is threadedly connected to the front end of the sealing adapter 10330101 5. When the tightening head 10330105 is screwed onto the sealing adapter 10330101, the tightening head 10330105 squeezes the second elastic jaw 10330103, causing the second elastic jaw 10330103 to deform inward and contract to clamp the catheter. At the same time, the second elastic jaw 10330103 squeezes the sealing ring 10330104 inward, causing the sealing ring 10330104 to deform and bulge inward, thereby achieving a sealed connection between the catheter without a Luer connector (i.e., a "headless catheter") and the sealing adapter 10330101.

[0078] Alternatively, a flexible tube portion is provided at the tail end of the catheter without a Luer connector, and the rear end of the catheter is connected to the rotatable portion of the first bifurcated valve, and the flexible tube portion has a certain bulge and bend, so that it has a certain floating amount in the axial direction, which can solve the interference problem of torque and axial force caused by the lack of synchronization between the first connecting portion and the first bifurcated valve during axial displacement and circumferential rotation. The flexible tube portion is elastic, and a pagoda head is provided on the joint of the rotatable portion at the front end of the first bifurcated valve. The pipe mouth of the flexible tube portion is aligned with the pagoda head and put on, and an automatic sealing connection is achieved through the elastic action of the flexible tube.

[0079] This allows a catheter without a Luer connector to be sealed with the Luer connector at the front end of the bifurcated valve, providing a path for contrast agent injection. Similarly, for balloon catheters that require connection to a pressure pump, a balloon catheter without a Luer connector can also be used, and then connected to the pressure pump via the sealing adapter 10330101.

[0080] The purpose of using the above-mentioned sealing adapter 10330101 is that it is difficult to pass the front end of a catheter with an elbow through the above-mentioned through hole, while the rear end of a catheter without a Luer connector (whether it is a guiding catheter, an angiographic catheter or a balloon catheter) is not bent, so it can be easily passed through the through hole of the second rotary delivery mechanism (including the first connecting tube 1022501 and the second connecting tube 10225011), thereby achieving quick assembly.

[0081] Furthermore, this embodiment can also be used for locking and delivering the guide wire (such as the third rotating delivery mechanism), by passing the unbent part of the rear end of the guide wire through the through hole of the third rotating delivery mechanism (including the first connecting tube 1022501 and the second connecting tube 10225011), and then using the locking structure at the front end of the first connecting tube 1022501 to lock the guide wire.

[0082] In the above embodiment, the gasket 10330102 can also be omitted, so that the tightening head 10330105 can directly compress the sealing ring 10330104 to achieve sealing. Furthermore, the sealing adapter 10330101 connected to the Luer connector at the front end of the first bifurcated valve 102101 can also be directly integrally formed with the rotatable portion at the front end of the first bifurcated valve 102101 (no longer connected via the Luer connector), thereby further simplifying the structure. Alternatively, the clamping transition piece in this embodiment can also be connected to the first connecting portion via a snap-fit ​​structure, thereby achieving quick assembly and disassembly.

[0083] The first, second, and third rotary delivery mechanisms 10272, 10274, and 10276 are each equipped with a locking structure capable of locking or releasing the interventional consumable. The first rotary delivery mechanism 10272 is equipped with a locking structure capable of locking or releasing the second catheter; the second rotary delivery mechanism 10274, 101 is equipped with a locking structure capable of locking or releasing the balloon catheter; and the third rotary delivery mechanism 10276 is equipped with a locking structure capable of locking or releasing the guidewire. Example 2

[0084] The structure of this embodiment is the same as that of embodiment 1 and will not be described in detail. The differences are as follows:

[0085] When the interventional consumable is a catheter with a Luer connector at the tail, the passive locking structure includes a threaded transition head, which is screwed to the Luer connector at the tail of the interventional consumable through a threaded structure, and the threaded transition head is connected to the first connection part through a snap-fit ​​structure, or the threaded transition head is directly connected to the first connection part.

[0086] As shown in Figures 8-11 , the second port control mechanism and the first rotary delivery mechanism are connected to the same module mounting base and move together, enabling axially synchronized movement of the second port control mechanism and the first rotary delivery mechanism. Alternatively, the second port control mechanism and the first rotary delivery mechanism can be connected to different module mounting bases, as long as the second port control mechanism and the first rotary delivery mechanism achieve axially synchronized movement.

[0087] Taking the interventional consumable as a second catheter as an example, the second catheter is a catheter with a Luer connector. The Luer connector at the tail end of the second catheter is threadedly connected to the transition head, and then the transition head is connected to the first connection part in the first rotation delivery mechanism through a quick-connect structure, or the transition head is directly connected to the first connection part, the first connection part is connected to the front part of an internal connecting tube, and the rear part of the internal connecting tube is connected to the first bifurcation valve behind the rotation delivery mechanism. The pipeline connection between the interventional consumable and the first bifurcation valve is realized through the internal connecting tube. The quick-connect structure is an anti-rotation buckle structure, and the anti-rotation buckle structure adopts a hook type or a pin type, and the transition head and the first connection part are sealed by a sealing rubber ring.

[0088] The transition head is provided with openable hooks on both sides. By pinching the tail of the hook, the head of the hook can be opened and clamped on the slot of the first connecting part. A corresponding anti-rotation locking structure is provided between the first connecting part and the transition head. The anti-rotation locking structure is anti-rotation protrusions and anti-rotation grooves evenly arranged around the outer circumference of the first connecting part and the transition head.

[0089] The first connecting portion is connected to an internal connecting tube. During installation, the joint of the front rotatable portion of the first bifurcated valve on the second port control mechanism is sealed to the rear end of the internal connecting tube. The first connecting portion is disposed at the front end of the rotating shaft and is provided with an anti-fouling groove. The outer shell of the rotating shaft has a hole, the edge of which is embedded in the anti-fouling groove, preventing blood stains from seeping into the interior of the rotating shaft during surgery. The anti-fouling groove is an annular anti-fouling groove.

[0090] To ensure the cleanliness of the internal connecting tube, the internal connecting tube needs to be replaced every time. The internal connecting tube is provided with a flexible tube part. The flexible tube is a flexible and elastic pipe such as a silicone tube, a latex tube, or a PU tube. The rear end of the internal connecting tube is connected to the rotatable part of the first bifurcated valve, and the flexible tube part has a certain bulge and bending amount, so that it has a certain floating amount in the axial direction, which can solve the interference problem of torque and axial force caused by the lack of synchronization between the first connecting part and the first bifurcated valve during axial displacement and circumferential rotation.

[0091] Alternatively, the internal connecting pipe is a hard pipe, the rear end of which is connected to the rotatable part of the first bifurcated valve. The hard pipe is driven to rotate through the first connecting portion, and the rotatable part of the first bifurcated valve is directly driven to rotate.

[0092] The flexible tube portion of the internal connecting tube is elastic, and a pagoda head is provided on the joint of the rotatable part at the front end of the first bifurcation valve. The pipe mouth of the flexible tube portion of the internal connecting tube is aligned with the pagoda head and put on, and an automatic sealing connection is achieved through the elastic action of the flexible tube.

[0093] The first connecting portion is connected to the front portion of the internal connecting tube by bonding, or is quickly connected by means of an anti-rotation snap-on structure, a side screw locking structure, a coaxial thread tightening structure, or a taper self-locking structure.

[0094] A rotating sleeve is disposed within the rotating shaft, and the first connecting portion is rotatably but axially limitedly disposed within the rotating sleeve. The first connecting portion is rotatably disposed within the rotating sleeve via a bearing structure b. The bearing structure a is one or a combination of a rolling element bearing structure, a magnetic bearing structure, and an air bearing structure to reduce rotational resistance. The rolling element bearing structure is a ball bearing structure or a circumferentially arranged roller structure.

[0095] When the interventional consumable is subjected to axial force during the delivery process, the axial force exerted on the interventional consumable is measured by a combination of an axial force sensor and an axial force coupling structure; an axial force connecting plate is fixedly connected to the rotating sleeve, and the axial force connecting plate is connected to the force measuring end of the axial force sensor. The axial force sensor is fixedly arranged inside the rotating shaft, and the force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable.

[0096] When the interventional consumable is subjected to torque around the axis during the delivery process, the torque applied to the interventional consumable in the direction around the axis is measured by a torque sensor, or a combination of a torque sensor and a torque amplification structure, or a combination of a torque conversion structure and a force sensor; when the torque applied to the interventional consumable in the direction of the axis is measured by a combination of a torque conversion and a force sensor, the force sensor is a one-dimensional force sensor, one end of the one-dimensional force sensor is fixed on the rotating shaft, and the other end of the one-dimensional force sensor is fixedly connected to or integrally formed with a sensor force transmission part, and the first connecting part cooperates with the sensor force transmission part through the torque conversion structure, so that the first connecting part converts the torsional torque into a push-pull force applied to the sensor force transmission part when rotating. After the force sensor measures the push-pull force, it can convert the torque applied to the interventional consumable in combination with the force arm.

[0097] The torque conversion structure is one or a combination of a pin groove structure, a paddle structure, a connecting rod structure, a gear rack structure, and a transmission belt structure; in the case where the torque conversion structure is a pin groove structure, the fixed end of the one-dimensional force sensor is fixedly connected to the inside of the rotating shaft and is located on one side of the interventional consumable, and the force measuring end of the one-dimensional force sensor is fixedly connected or integrally formed with the sensor force transmission part. The pin groove structure includes a sleeve and a pin, and the sleeve is fixedly connected or integrally formed on the first connecting part. The sleeve is provided with a slot hole on one side of the first connecting part along the radial direction of the rotation center, one end of the pin is installed on the sensor force transmission part, and the other end of the pin is placed in the slot hole, and the axial direction of the pin is parallel to the axis of the interventional consumable and is a certain distance away, and the pin can slide along the slot hole.

[0098] An annular sealing groove is provided on the first connecting portion, and the outer shell of the rotating shaft is inserted into the annular sealing groove. The outer shell of the rotating shaft and the annular sealing groove together divide the outer shell of the rotating shaft into a first cavity and a second cavity. The force sensing element is installed in the first cavity. The second cavity is cylindrical and is connected to the outside world through the middle through hole of the electric slip ring, which facilitates the replacement of the internal connecting pipe.

[0099] A supporting element is respectively provided between the port support mechanism and the rotation delivery mechanism, or between the port control mechanism and the rotation delivery mechanism. The supporting element is arranged outside the interventional consumable to play a supporting role, so that the axis of the interventional consumable is in a straight line state. The supporting element adopts a rigid coaxial telescopic sleeve that is step-by-step connected for support; or adopts a plurality of closed or openable support ring assemblies that slide along the axis of the interventional consumable for support, with a certain distance between adjacent two support ring assemblies, and each adjacent two support ring assemblies are connected by an axial elastic element; or adopts a bellows for support; or adopts a slotted C-shaped tube for support.

[0100] When the supporting element is supported by a rigid coaxial telescopic sleeve that is sleeved in stages, and the telescopic sleeve is axially limited by a pull rod structure, the pull rod structure includes a guide block and a guide rod. The head end of each section of the telescopic sleeve is fixedly connected to a guide block, and a guide hole is provided on the guide block.

[0101] When the telescopic sleeve is limited by a second telescopic sleeve, the head end of each section of the telescopic sleeve is fixedly connected to a connecting block. The connecting block is provided with a guide hole parallel to the axis of the telescopic sleeve, through which a guide rod extends. One end of the guide rod is connected to or abuts the guide block on one section of the telescopic tube, and the other end of the guide rod passes through the guide hole of the guide block on the adjacent telescopic tube section. Adjacent guide rods are spaced apart in the circumferential direction of the telescopic sleeve, and all guide rods are arranged around the circumference of the telescopic sleeve. A limiting portion is fixedly provided at the distal end of the guide rod that passes through the guide hole. By sliding the guide rod back and forth in the guide hole of the guide block, the movement of different sections of the telescopic tube is limited, and the limiting portion prevents the different sections of the telescopic sleeve from completely detaching.

[0102] Alternatively, the guide block may be provided with a limit pin, and the guide rod may be provided with a limit slot. In this case, the guide block is not provided with a guide hole, but the limit pin slides in the limit slot to achieve positioning; or the pull rod may adopt other forms of limit structures for positioning.

[0103] The guide block at the head end of the telescopic tube can prevent the different sections of the telescopic tube from being completely retracted. There is a section in another set of limited telescopic sleeves. As the telescopic sleeves are gradually connected, the limited telescopic sleeves are also gradually connected. The limited telescopic sleeves are prevented from completely separating the different sections of the limited telescopic sleeves by the limiting structure, thereby preventing the different sections of the telescopic sleeves from completely separating.

[0104] When the telescopic sleeve adopts a pull rope structure or a bellows structure for limiting the position, a limit pull rope or a limit bellows is connected between the connecting parts of the two adjacent sections of the telescopic sleeve. As the two adjacent sections of the telescopic sleeve are gradually pulled apart, the limit pull rope is also gradually straightened, or the wrinkled part of the limit bellows is also gradually straightened. When the limit pull rope is completely straightened, or the wrinkled part of the limit bellows is completely straightened, the different sections in the telescopic sleeve can be prevented from completely separating.

[0105] In this embodiment, the second port control mechanism 10273 and the first rotation delivery mechanism 10272 are connected to the same module base and move together on the linear track set.

[0106] As shown in Figures 8 to 11, when a telescopic sleeve 103302 is used between the rear end of the first port control mechanism 10271 and the front end of the first rotation delivery mechanism 10272, the telescopic sleeve 103302 of this embodiment is different from the telescopic sleeve of Example 1 in that a guide block 103302001 is fixedly connected to the head end of each section of the telescopic sleeve 103302. The guide block 103302001 is provided with a guide hole, and a guide rod 1033020011 passes through the guide hole. One end of the guide rod is connected to or abuts against the guide block on a section of the telescopic sleeve 103302. The other end of the guide rod 1033020011 passes through the guide hole of the guide block 103302001 on the adjacent telescopic sleeve 103302. A stopper 1033020012 is fixed to the distal end of the guide rod 1033020011 that passes through the guide hole. By sliding the guide rod 1033020011 back and forth within the guide hole of the guide block 103302001, the movement of the different telescopic sleeves 103302 is limited. The stopper 1033020012 prevents the different telescopic sleeves 103302 from completely disengaging. Furthermore, the guide block 103302001 fixedly connected to the head end of each section can be used to prevent the different sections from being completely retracted. The different sections of the telescopic sleeve 103302 are positioned between completely disengaged and completely retracted.

[0107] The diameters of the telescopic sleeve 103302 of different sections decrease in sequence, the end with the smallest diameter is connected to the first rotating delivery mechanism 10272, and the end with the smallest diameter is fixedly connected to the second connecting block 10330202, and the second telescopic tube locking mechanism 10330204 is set on the movable plate 1033020013, and a boss 1033020014 is provided on the side of the first rotating delivery mechanism, and a movable groove is provided on the boss 1033020014. The movable plate 1033020013 can slide in the movable groove on the boss 1033020014, thereby adjusting the distance between the movable plate 1033020013 and the first rotating delivery mechanism to adapt to the tail Luer connectors of interventional consumables of different lengths. The boss 1033020014 is provided with a bolt 1033020015, and after adjusting the movable plate 1033020013 to a suitable position, the bolt 1033020015 is tightened to fix the movable plate 1033020013. The bolt 1033020015 can be replaced by other forms of locking structures, such as buckles.

[0108] The connector of the second catheter is connected to a transition head 1033020016, and openable hooks 1033020017 are provided on both sides of the transition head 1033020016. By pinching the tail of the hook 1033020017, the head of the hook 1033020017 can be opened, and then plugged into the installation joint 1033020018 (the installation joint 1033020018 is also part of the first connection part). Loosening the tail of the hook 1033020017 allows the hook 1033020017 to be stuck in the annular groove of the installation joint 1033020018 under the action of its own elastic force, and a slot structure is provided between the installation joint 1033020018 and the transition head 1033020016 to prevent relative rotation, and a sealing ring is also provided to prevent liquid overflow.

[0109] The installation connector 1033020018 is inserted into the first connecting tube 1022501 of the first connecting portion in the first rotating delivery mechanism 10272, and the tail of the installation connector 1033020018 is connected with the internal connecting tube 1033020019 (the installation connector 1033020018 and the internal connecting tube 1033020019 are directly bonded together, and the whole is a disposable sterilized product, which is inserted into the first connecting tube 1022501 and can separate the liquid medicine from the first connecting tube 1022501 to reduce the risk of surgical infection), or the internal connecting tube is sealed and connected to the rear end of the first connecting tube of the first connecting portion; before the operation, the internal connecting tube 1033020018 needs to be connected first. One end of 33020019 is connected to the joint of the front rotatable part of the first bifurcated valve 102101 on the second port control mechanism 10273, and then the other end of the internal connecting tube 1033020019 is inserted into the first connecting tube 1022501 of the first rotating delivery mechanism 10272, and then the installation joint 1033020018 is inserted from the front end of the first connecting tube 1022501. Since the installation joint 1033020018 and the first connecting tube 1022501 are respectively provided with a tapered surface and a tapered hole, and the angle between the tapered surface and the tapered hole and their own axis is less than 30 degrees, when the tapered surface and the tapered hole move toward each other and are pressed tightly, friction self-locking can be achieved.

[0110] Alternatively, the mounting connector 1033020018 and the first connecting tube 1022501 can be locked by means of snap fastening, side screw fastening, coaxial thread tightening, etc. The rear end of the first connecting tube 1022501 is sealedly connected to the joint of the rotatable front end of the first bifurcated valve 102101 on the second port control mechanism 10273, and can be achieved by means of hose sleeve connection, tapered elastic claw compression, thread tightening, tapered self-locking, etc.

[0111] When the rear end of the first connecting tube 1022501 is connected to the joint of the front end rotatable part of the first bifurcated valve 102101 through a hose, the joint of the front end rotatable part of the first bifurcated valve 102101 is a cone head structure or a pagoda head structure, and the rear end of the first connecting tube 1022501 adopts a soft rubber tube, which is inserted into the cone head or pagoda head, and the elastic contraction of the soft rubber tube is used to achieve a sealed connection.

[0112] A flexible tube portion is provided on the internal connecting tube 1033020019. The flexible tube is a flexible and elastic pipe such as a silicone tube, a latex tube, or a PU tube. When the second port control mechanism 10273 controls the rotatable part in front of the first bifurcated valve 102101 to rotate synchronously with the rotation of the first rotation delivery mechanism 10272, if the two rotational motions are not completely synchronized, the flexible tube portion has a certain amount of bulge and bending, so that it has a certain amount of floating in the axial direction, which can solve the interference problem of torque and axial force caused by the lack of synchronization between the first connecting part and the first bifurcated valve during axial displacement and circumferential rotation.

[0113] The difference between this embodiment and embodiment 1 is that a bearing structure 1022501201 is provided between the first connecting tube 1022501 and the rotating sleeve 10225012, the rotating sleeve 10225012 is connected to the axial force sensor through an axial force connecting plate, and the first connecting tube 1022501 transmits torque to the one-dimensional force sensor through the sleeve and the pin, thereby realizing force sensing.

[0114] The tail end of the first connecting pipe 1022501 is provided with a second connecting pipe 10225011. Both the first connecting pipe 1022501 and the second connecting pipe 10225011 are provided with an annular sealing groove 1033020020. The housing of the rotating shaft is inserted into the annular sealing groove 1033020020 (as shown in FIG. 11 , but the two do not contact each other to avoid interference with force perception). The portion of the housing of the rotating shaft inserted into the annular sealing groove 1033020020 divides the housing of the rotating shaft into a first cavity 103 32002001 and the second cavity 103302002002, the first cavity 10332002001 is equipped with electronic components such as force sensors, and the part of the outer shell that is inserted into the annular sealing groove 1033020020 can effectively prevent external liquid from flowing into the first cavity during the operation, thereby preventing short circuit. At the same time, the second cavity 103302002002 is connected to the outside world, which is convenient for the operator to install the internal connecting tube 1033020019 before the operation.

[0115] In this embodiment, the first, second, and third rotational delivery mechanisms 10272, 10274101, and 10276 are each equipped with a locking structure capable of locking or releasing the interventional consumable. The locking structure includes a transition piece that is threadedly connected to the end of the interventional consumable via a Luer connector and connected to the first connection portion of the rotating shaft via a snap-fit ​​structure. The first rotational delivery mechanism 10272 is equipped with a locking structure capable of locking or releasing the second catheter; the second rotational delivery mechanism 10274101 is equipped with a locking structure capable of locking or releasing the balloon catheter. Example 3

[0116] As shown in Figure 12, the parts of this embodiment that are the same as those in embodiment 2 are not repeated here. The difference is that when the interventional consumable is a guide wire or a headless catheter, the passive locking structure includes a clamping transition head, and the clamping transition head is clamped on the guide wire or the headless catheter through a clamping structure. The clamping transition head is connected to the first connecting part through a snap structure, or the clamping transition head is directly connected to the first connecting part.

[0117] This embodiment uses the second catheter as an example. The second catheter is a headless catheter (a headless catheter refers to a catheter without a Luer connector at the end). The tail end of the second catheter is connected to a clamping transition head via a clamping structure. The clamping transition head can be snapped onto the first connecting portion via a snap-fit ​​structure and is also equipped with an anti-rotation structure to prevent relative rotation between the two. When the clamping structure is an elastic clamping claw structure, the elastic clamping claw is a fifth elastic clamping claw that can be inserted into the clamping transition head. The front end of the clamping transition head is threadedly connected to a second tightening head. The interior of the second tightening head contacts the fifth elastic clamping claw via an inclined surface. When the second tightening head is rotated on the clamping transition head, the second tightening head squeezes the fifth elastic clamping claw, causing the fifth elastic clamping claw to deform inward and close, clamping the interventional consumable.

[0118] In this embodiment, the installation joint 1033020018 and the disposable sterilized internal connecting tube 1033020019 are no longer provided, and the clamping transition head 1033020016 is directly connected to the front end of the first connecting tube 1022501 of the rotating delivery mechanism, and the hooks 1033020017 on both sides of the clamping transition head 1033020016 are directly clamped on the first connecting tube 1022501, and a slot structure is provided between the first connecting tube 1022501 and the clamping transition head 1033020016 to prevent relative rotation.

[0119] A fifth elastic clamping jaw 1033020021 is provided inside the clamping transition head 1033020016, and the fifth elastic clamping jaw 1033020021 extends out from the front end of the clamping transition head 1033020016. A tightening cap 1033020022 is threadedly connected to the front end of the clamping transition head 1033020016. The interior of the tightening cap 1033020022 contacts the fifth elastic clamping jaw 1033020021 through an inclined surface. When the tightening cap 1033020022 is rotated and tightened on the clamping transition head 1033020016, the fifth elastic clamping jaw 1033020021 is driven by the inclined surface to lock the interventional consumables inside. If the locked interventional consumable is a catheter-type consumable (such as a guiding catheter, angiographic catheter, or balloon catheter), the rear portion of the first connecting tube 1022501 or the catheter-type consumable must be connected to a pipeline, which is then connected to a bifurcated valve or balloon pressurizing device. If the locked interventional consumable is a guidewire-type consumable (such as a guiding guidewire or angiographic guidewire), the rear portion of the first connecting tube 1022501 does not need to be connected to a pipeline.

[0120] In this embodiment, the locking structure includes a clamping transition head, which is clamped on the guide wire or headless catheter through the clamping structure, and the clamping transition head is connected to the first connecting part through a snap structure; the first rotating delivery mechanism 10272 is equipped with a locking structure that can lock or loosen the second catheter; the second rotating delivery mechanism 10274101 is equipped with a locking structure that can lock or loosen the balloon catheter; the third rotating delivery mechanism 10276 is equipped with a locking structure that can lock or loosen the guide wire. Example 4

[0121] The structure of this embodiment is the same as that of embodiment 1 and will not be described in detail. The differences are as follows:

[0122] The axial force sensing element measures the axial force exerted on the interventional consumable by a combination of an axial force sensor and an axial force coupling structure; the torque force sensing element measures the torque exerted on the interventional consumable in the direction around the axis by a torque sensor, or a combination of a torque sensor and a torque amplification structure, or a combination of a torque conversion structure and a force sensor;

[0123] When the torque force sensing element only uses a torque sensor, the interventional consumable is directly connected to the torque sensor through a locking mechanism. When the interventional consumable is clamped and subjected to torque during delivery, the torque sensor can detect the torque applied to the catheter-type interventional consumable. This situation can be used for catheter-type interventional consumables because the torque they are subjected to is larger and easier to detect accurately.

[0124] When the torque applied to the interventional consumable in the direction around the axis is measured by a combination of a torque sensor and a torque amplification structure, the combination of the torque sensor and the torque amplification structure is a hinged torque measuring bracket, which can lock the interventional consumable. When the interventional consumable is subjected to torque during delivery, the torque applied to the torque sensor is applied to the torque amplification structure through the hinge structure. After the torsional moment is measured, it can be combined with the torque amplification ratio to convert the torque applied to the interventional consumable.

[0125] The hinged torque measuring bracket includes a first hinged connecting member and a torque transmitting member. The first hinged connecting member is arranged inside the rotating shaft. The first rotating frame is rotatably arranged at one end of the first hinged connecting member through the bearing structure c. The first rotating frame and the torque transmitting member are connected through a torque amplification structure. The torque amplification structure is a paddle mechanism, a pin mechanism, a connecting rod mechanism, or a gear mechanism, or a belt transmission mechanism or a combination. One end of the torque sensor is fixed on the rotating shaft or the first hinged connecting member, and the other end is fixedly connected to the torque transmitting member or integrally formed. The first rotating frame can rotate freely around the axis of the bearing structure c, thereby forming a hinge structure. The axis of the hinge structure coincides with or is parallel to the axis of the interventional consumables, and the torque measuring axis of the torque sensor is parallel to the hinge axis.

[0126] When the torque amplification structure is a pin mechanism, the interventional consumable is coaxially arranged inside the first rotating frame, the fixed end of the torque sensor is fixedly connected to the rotating shaft or the first hinge connection and is located on one side of the interventional consumable, and the torque measuring end of the torque sensor is fixedly connected or integrally formed with the torque transmission member, a first pin is provided on the torque transmission member, and a first slot is provided on the first rotating frame to match it. The relative position of the torque transmission member and the first rotating frame is such that the first pin can be inserted into the first slot, and the axial direction of the first pin is parallel to the axis of the interventional consumable and is at a certain distance from it. The first rotating frame is provided with a locking mechanism that can clamp the interventional consumable. After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the first rotating frame will rotate, and the first slot on the first rotating frame will push the first pin on the torque transmission member. At this time, the torsional torque will be amplified and applied to the torque transmission member. At this time, the torque sensor will detect the torsional torque and convert the torque applied to the interventional consumable based on the torque amplification ratio. Or as an alternative, the torque transmission member is provided with a first slotted hole, and the first rotating frame is provided with a first pin that matches the first slotted hole.

[0127] Specifically: as shown in Figures 13 to 15, the torque applied to the interventional consumable in the axial direction is measured by the torque sensor 102251. The torque sensor 102251 is fixedly arranged on the rotating shaft and is located on one side of the interventional consumable. The first connecting part 102231 (equivalent to the above-mentioned first rotating frame) applies the torque to the torque sensor 102251 through the torque amplification structure. The torque amplification structure can amplify the torque applied to the interventional consumable and improve the sensitivity of the torque measurement.

[0128] The torque amplification structure is preferably a detent mechanism, including a second torsion arm 102252, a second pin 102253 and a torque transmission member 102254. The torque measuring end of the torque sensor 102251 is fixedly connected to the torque transmission member 102254 or integrally formed. The second torsion arm 102252 is fixedly connected to the first connecting portion 102231 (or integrally formed). The second torsion arm 102252 is provided with a second slot 1022521 on one side of the first connecting portion 102231 along the radial direction of the rotation center. One end of the second pin 102253 is mounted on the torque transmission member 102 254, the other end of the second pin 102253 is placed in the second slot 1022521, and the axis of the second pin 102253 is parallel to the axis of the interventional consumable and separated by a certain distance (this distance is the lever arm. In order to maximize the torque amplification when the torque applied to the interventional consumable is fixed, for a guidewire, this distance should be less than 20mm, preferably 3-8mm; for a catheter, this distance should be less than 40mm, preferably 15-30mm). The ratio of the two lever arms is 1:3 to 1:20, and the second pin 102253 can slide along the second slot 1022521. Of course, the second pin can also be provided on the second torsion arm 102252, and the corresponding second slot can be provided on the torque transmission member 102254.

[0129] After the clamping mechanism clamps the interventional consumable, when the interventional consumable is subjected to torque, the first connecting part 102231 rotates a certain angle relative to the rotating axis 10225, and the second torsion arm 102252 rotates following the first connecting part 102231. The second pin 102253 will be pushed by the second slot 1022521 of the torque transmitting member 102254, and the torsional torque will be amplified and applied to the torque transmitting member 102254. The torque transmitting member 102254 twists the torque sensor 102251, so that the torque sensor 102251 can detect the torsional torque. At this time, the actual rotational torque received by the interventional consumable can be measured by the torque sensor 102251. Example 5

[0130] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0131] When the torque exerted on the interventional consumable in the direction around the axis is measured by a combination of a torque conversion structure and a force sensor, the force sensor can also be a discrete force beam, and at least one discrete force beam is provided. When multiple discrete force beams are provided, the multiple discrete force beams are arranged in parallel between the sensor force transmission part and the hinge connection part. The multiple discrete force beams are bilaterally symmetrical structures, or are arranged at an angle. Each discrete force beam is provided with at least one group of thin-walled weak areas on the beam body, and strain gauges are bonded to the thin-walled weak areas; the neutral plane of the thin-walled weak areas of each discrete force beam passes through the axis of the interventional consumable; when the interventional consumable is subjected to torque during the delivery process, a large strain will be generated in the thin-walled weak areas of the discrete force beam, and the strain generated will be measured by the strain gauges on its surface, and the torque exerted on the interventional consumable is fed back through a combination of one or more strain gauges.

[0132] As shown in Figures 16 and 17, the force sensor is a discrete force beam 102291. There is at least one discrete force beam 102291. When multiple discrete force beams 102291 are provided, the multiple discrete force beams 102291 are arranged parallel to each other between the sensor force transmission member 102210 and the hinge connector 102375. The multiple discrete force beams 102291 are bilaterally symmetrical structures, or are arranged at an angle. Each discrete force beam 102291 is provided with a There is at least one group of thin-walled weak areas, and strain gauges 102294 are bonded to the thin-walled weak areas; the neutral plane of the thin-walled weak areas of each discrete force measuring beam 102291 passes through the axis of the interventional consumable; when the interventional consumable is subjected to torque during the delivery process, a large strain will be generated in the thin-walled weak areas of the discrete force measuring beam 102291, and the strain generated will be measured by the strain gauges 102294 on its surface, and the torque exerted on the interventional consumable will be fed back through a combination of one or more strain gauges 102294.

[0133] When the torque conversion structure is that the rotating frame 102374 and the sensor force transmission member 102210 are directly fixed or integrally formed, one or more mounting parts 1023741 are provided on the rotating frame 102374, and each mounting part 1023741 is fixedly connected or integrally formed or flexibly connected or hinged to one end of a sensor force transmission member 102210, and the other end of each sensor force transmission member 102210 is fixedly connected or integrally formed with the discrete force measuring beam 102291, and the rotating frame 102374 is provided with a first clamping mechanism 102219 that can clamp the interventional consumables, and the first clamping mechanism 102219 is a clamping claw clamping mechanism.

[0134] After the first clamping mechanism 102219 clamps the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the rotating frame 102374 directly converts the torsional torque into a push-pull force and applies it to the sensor force transmission part 102210. The discrete force beam 102291 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the discrete force beam 102291. Example 6

[0135] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0136] When the first connecting part is axially movable and circumferentially rotatable on the rotating shaft, a sleeve structure is provided between the first connecting part and the rotating shaft, and the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic levitation sleeve structure, an air sleeve structure, and a hydraulic sleeve structure; the sleeve structure in this embodiment adopts a ball sleeve structure.

[0137] The torque force sensing element is a combination of a force sensor and a torque conversion structure, the fixed end of the force sensor is fixedly connected to the rotating shaft or to the force measuring end of the axial force sensing element, the first connecting part is transmission-connected to the force measuring end of the force sensor through the torque conversion structure, the torque received by the first connecting part is converted into a push-pull force acting on the force sensor, after the push-pull force is measured, the torque received by the interventional consumable can be converted in combination with the force arm; or the torque force sensing element is a combination of a torque sensor and a torque amplification structure, the fixed end of the torque sensor is fixedly connected to the rotating shaft, the first connecting part is transmission-connected to the torque measuring end of the torque sensor through the torque amplification structure, the torque received by the first connecting part is amplified and acts on the torque sensor, after the torque is measured, the torque received by the interventional consumable can be converted in combination with the torque amplification ratio;

[0138] The axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the first connecting part is directly connected to the force measuring end of the axial force sensor through the axial force coupling structure; or the force measuring end of the axial force sensor is connected to the fixed end of the force sensor, and the first connecting part is connected to the force measuring end of the force sensor through the axial force coupling structure. At this time, the axial force coupling structure is also a torque conversion structure, which applies the axial force applied to the first connecting part to the axial force sensor.

[0139] Specifically, as shown in Figures 18 to 22, it includes a rotating shaft 10225 and a rotating shaft drive base, which includes a base 10226 and a rotating cover 10227. The rotating shaft 10225 is rotatably mounted on the rotating shaft drive base. A rotating drive assembly capable of driving the rotating shaft 10225 to rotate is installed inside or outside the rotating shaft drive base. The rotating drive assembly can be a structure that cooperates with a motor and an active gear, an active friction wheel, or an active friction belt. The rotating cover 10227 is rotatably mounted on the base 10226. The rotating cover 10227 is locked to the base 10226 by means of a press buckle, magnetism, screw structure, lock, etc. The rotating cover 10227 can be opened to facilitate the installation and removal of the rotating shaft 10225.

[0140] A first connecting portion 1022501 is provided inside the rotating shaft 10225, and the first connecting portion 1022501 extends all the way to the outside of the rotating shaft 10225 shell. The Luer connector at the tail end of the catheter 1022002 is fixed to the first connecting portion 1022501 through a locking structure 1022001. The locking structure 1022001 is one or a combination of a clamping structure, a snap locking structure or a threaded locking structure.

[0141] The locking structure 1022001 includes a threaded transition head 102200101, which is screwed together with the Luer connector at the tail end of the catheter 1022002 through a Luer thread structure. The front end of the first connecting part 1022501 is fixedly connected to a docking head 102200103, and openable hooks 102200102 are provided on both sides of the threaded transition head 102200101. Pinch the tail of the hook 102200102 to open the head of the hook 102200102, then insert the threaded transition head 102200101 into the front end of the docking joint 102200103, loosen the tail of the hook 1033020017, so that the hook 1033020017 is stuck in the groove formed by the docking joint 102200103 and the first connecting part 1022501 under the action of its own elastic force.

[0142] A sleeve structure 1022003 is provided between the first connecting part 1022501 and the rotating shaft 10225. The sleeve structure 1022003 enables the first connecting part 1022501 to rotate around the axial direction of the rotating shaft 10225 and move along its axial direction. The sleeve structure 1022003 adopts one or a combination of a ball sleeve structure, a magnetic levitation sleeve structure, an air sleeve structure, and a hydraulic sleeve structure to reduce friction resistance. The rear end of the first connecting part 1022501 is fixedly connected to a transmission sleeve 1022004, and one or more pins 10220010 are fixedly connected to the transmission sleeve 1022004. An axial force sensor 1022006 is provided in the rotating shaft 10225. The fixed end of the axial force sensor 1022006 is fixedly connected to the rotating shaft 10225. The force measuring direction of the axial force sensor 1022006 is parallel to the axial direction of the first connecting part 1022501. The transmission sleeve 1022004 is connected to the force sensor 1022008 through a torque conversion structure, converting the torque received by the transmission sleeve 1022004 and the first connecting part 1022501 into a push-pull force acting on the force sensor 1022008, or is connected to the torque sensor through a torque amplification structure, and the transmission sleeve 1022004 is connected to the axial force sensor 1022006 through an axial force coupling structure, so that the axial force received by the transmission sleeve 1022004 and the first connecting part 1022501 directly acts on the axial force sensor 1022006.

[0143] When only one detent pin 10220010 is fixedly connected to the transmission sleeve 1022004, the torque conversion structure is an axial force coupling structure, the force measuring end of the axial force sensor 1022006 is fixedly connected to the connecting plate 1022007, the connecting plate 1022007 is fixedly connected to the force sensor 1022008, the force measuring axis of the axial force sensor 1022006 is perpendicular to the force measuring axis of the force sensor 1022008, the force measuring end of the force sensor 1022008 is fixedly connected to the force transmission plate 1022009, the force transmission plate 1022009 is provided with a through hole, and the detent pin 10220010 passes through the through hole. Guided by sleeve structure 1022003, the torque applied to conduit 1022002 is converted into push-pull forces via detent pin 10220010 and transmitted to load cell 1022008 (load cell 1022008 is also a force sensor capable of measuring push-pull forces). The axial force applied to conduit 1022002 is transmitted to axial force sensor 1022006 via detent pin 10220010, force transmission plate 1022009, and load cell 1022008, thereby detecting the axial force. The positions of detent pin 10220010 and the through-hole are interchangeable, meaning that detent pin 10220010 can be provided on force transmission plate 1022009 and the through-hole can be provided on transmission sleeve 1022004.

[0144] As shown in Figure 23, a ball hinge hole is provided inside the through hole of the force transmission plate 1022009, and a force transmission ball hinge 102200901 is inserted into the ball hinge hole. The force transmission ball hinge 102200901 is adapted to the shape of the ball hinge hole and can rotate. The force transmission ball hinge 102200901 is provided with a circular hole for allowing the detent pin 10220010 to pass through, and the detent pin 10220010 can slide relatively in the circular hole of the force transmission ball hinge 102200901, which can avoid the detent pin 10220010 from getting stuck when the outer cylindrical surface is not parallel to the inner wall of the through hole of the force transmission plate 1022009.

[0145] As shown in Figures 24 to 26 , when two detent pins are fixedly connected to transmission sleeve 1022004, the first detent pin is in transmission connection with load cell 1022008 via a first pin slot structure, with the slot oriented parallel to the axial direction. The second detent pin 10220010 is in transmission connection with axial force sensor 1022008 via a second pin slot structure, with the slot oriented around the circumference of transmission sleeve 1022004. Guided by the first pin slot structure, the torque applied to conduit 1022002 is converted into push-pull forces and transmitted to load cell 1022008 (load cell 1022008 is also a force sensor capable of measuring push-pull forces). The axial forces applied to conduit 1022002 are directly transmitted to axial force sensor 1022006 via the second pin slot structure, thereby detecting the torque and axial forces. The fixed ends of both load cell 1022008 and axial force sensor 1022006 are fixedly connected to rotating shaft 10225. The positions of the detent pin 10220010 and the notch can be interchanged.

[0146] Specifically, the axial force sensor 1022006 and the force sensor 1022008 are arranged separately, and an axial force detection groove 102250101 and a torque detection groove 102250102 are respectively provided on the side of the first connecting part 1022501. A first detent pin is provided on the force measuring end of the axial force sensor 1022006, and the first detent pin extends into the axial force detection groove 102250101. There is sufficient gap between the axial force detection groove 102250101 and the first detent pin in the circumferential direction of the first connecting part 1022501 to prevent the first connecting part 1022501 from being stuck when it is subjected to a slight rotation due to torque, thereby interfering with the torque detection. A second pin is provided on the force measuring end of the force sensor 1022008, and the second pin extends into the torque detection groove 102250102. There is sufficient gap between the second pin and the torque detection groove 102250102 in the axial direction of the first connecting part 1022501 to prevent the first connecting part 1022501 from being stuck when it is slightly displaced by the axial force, thereby interfering with the axial force detection.

[0147] Alternatively, as shown in Figure 27, the head end of the detent pin can be replaced with a ball head, which abuts against both side walls of the axial force detection groove 102250101 or the torque detection groove 102250102, thereby achieving point contact. The point contact can prevent the side of the detent pin from getting stuck when it is not parallel to the two side walls of the axial force detection groove 102250101 or the torque detection groove 102250102, and can also reduce frictional resistance to avoid interference with the detection of axial force.

[0148] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be regarded as illustrative and non-restrictive in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and all changes that come within the meaning and range of equivalents of the claims are intended to be included therein.

[0149] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An interventional consumable delivery mechanism with high-precision force sensing function, characterized by: It includes a locking structure that can lock or release the interventional consumable, a rotation delivery mechanism that can drive the locked interventional consumable to rotate and / or deliver, and a force sensing component that can detect the axial force and torsional torque exerted on the interventional consumable; the rotation delivery mechanism includes a rotating shaft drive seat and a rotating shaft rotatably installed in the rotating shaft drive seat; the locking structure is arranged on the first connecting part of the rotating shaft or the rotating shaft drive seat; the force sensing component includes an axial force sensing element and a torque force sensing element, the axial force sensing element measures the axial force exerted on the interventional consumable, and the torque force sensing element measures the torque exerted on the interventional consumable in the direction around the axis, and both the axial force sensing element and the torque force sensing element are connected to the rotating shaft.

2. The interventional consumable delivery mechanism with high-precision force sensing function according to claim 1, characterized in that: The first connecting portion is axially movable and circumferentially rotatable and is arranged on the rotating shaft driving seat or the rotating shaft; or the first connecting portion is axially limited and circumferentially rotatable and is arranged on the axial force sensing element.

3. The interventional consumable delivery mechanism with high-precision force sensing function according to claim 2, characterized in that: When the first connecting part is axially movable and circumferentially rotatable and is arranged on the rotating shaft drive seat or the rotating shaft, a sleeve structure is provided between the first connecting part and the rotating shaft drive seat or the rotating shaft, and the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic levitation sleeve structure, an air sleeve structure, and a hydraulic sleeve structure; the torque force sensing element is a combination of a force sensor and a torque conversion structure, and the fixed end of the force sensor is fixedly connected to the rotating shaft or to the force measuring end of the axial force sensing element. The first connecting part is connected to the force measuring end of the force sensor through the torque conversion structure, and the torque received by the first connecting part is converted into a push-pull force acting on the force sensor. After the push-pull force is measured, the torque received by the interventional consumable can be converted into the torque received by the interventional consumable in combination with the force arm; or the torque force sensing element is a combination of a torque sensor and a torque amplification structure. The fixed end of the sensor is fixedly connected to the rotating shaft, and the first connecting part is transmission-connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part is amplified and acts on the torque sensor. After the torque is measured, the torque received by the interventional consumable can be converted into the torque received by the interventional consumable in combination with the torque amplification ratio; the axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the first connecting part is directly transmission-connected to the force measuring end of the axial force sensor through the axial force coupling structure; or the force measuring end of the axial force sensor is connected to the fixed end of the force sensor, and the first connecting part is transmission-connected to the force measuring end of the force sensor through the axial force coupling structure. At this time, the axial force coupling structure is also a torque conversion structure, which causes the axial force received by the first connecting part to act on the axial force sensor.

4. The interventional consumable delivery mechanism with high-precision force sensing function according to claim 2, characterized in that: When the first connecting part is axially limited and circumferentially rotatable on the axial force sensing element, a rotating sleeve is provided in the rotating shaft, and the rotating sleeve is arranged on the first connecting part. The first connecting part is axially limited and circumferentially rotatable on the rotating sleeve through a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure. The axial force sensing element is an axial force sensor. The rotating sleeve is fixedly connected to the force measuring end of the axial force sensor, and the fixed end of the axial force sensor is fixedly connected to the rotating shaft. The axial force exerted on the first connecting part is transmitted to the rotating sleeve through the bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor. The torque sensing element is a force sensor and a torque converter. A combination of structures, wherein the fixed end of the force sensor is fixedly connected to the rotating shaft, and the first connecting part is transmission-connected to the force-measuring end of the force sensor through a torque conversion structure, so that the torque received by the first connecting part is converted into a push-pull force acting on the force sensor, and the push-pull force can be measured and converted into the torque received by the interventional consumable in combination with the force arm; or the torque sensing element is a combination of a torque sensor and a torque amplification structure, wherein the fixed end of the torque sensor is fixedly connected to the rotating shaft, and the first connecting part is transmission-connected to the torque-measuring end of the torque sensor through a torque amplification structure, so that the torque received by the first connecting part is amplified and acts on the torque sensor, and the torque received by the interventional consumable can be converted into the torque received by the interventional consumable in combination with the torque amplification ratio after the torque is measured.

5. The interventional consumable delivery mechanism with high-precision force sensing function according to claim 1, characterized in that: The rotating shaft drive seat has an open cover structure, and a rotating drive assembly capable of driving the rotating shaft to rotate is installed inside or outside the rotating shaft drive seat, and the rotating shaft can be installed on the rotating shaft drive seat in the forward or reverse direction along its axial direction; The rotating shaft is a shell structure connected together by outer shell A and outer shell B in an openable and closable manner, which facilitates disassembly and cleaning of the internal structure; the rotating drive assembly drives the rotating shaft to rotate through the transmission assembly, and the transmission assembly realizes power transmission by engaging with the driven gear ring on the rotating shaft, or realizes power transmission through the friction force between the driven friction rings on the rotating shaft. The transmission assembly is a driving gear or an active friction wheel or an active transmission belt or an active friction belt.

6. The interventional consumable delivery mechanism with high-precision force sensing function according to claim 1, characterized in that: The locking structure is one or a combination of a clamping structure, a snap locking structure or a threaded locking structure, and the clamping structure is a claw clamping structure or a side clamping structure or a rotary clamping structure; the locking structure has a self-locking structure and can maintain the locked state after locking.

7. The interventional consumable delivery mechanism with high-precision force sensing function according to claim 6, characterized in that: The locking structure includes an active locking structure and a passive locking structure. The active locking structure drives the clamping structure through a driving element to achieve locking and / or loosening of the interventional consumables; the passive locking structure drives one or a combination of the clamping structure, the snap locking structure, and the threaded locking structure through an external driving method to achieve locking or loosening of the interventional consumables. The external driving method is manual driving, and the passive locking structure is arranged on the outside of the rotating shaft or the rotating shaft driving seat.

8. The interventional consumable delivery mechanism with high-precision force sensing function according to claim 7, characterized in that: When the interventional consumable is a catheter with a Luer connector at the tail end, the passive locking structure includes a threaded transition head, which is screwed to the Luer connector at the tail end of the interventional consumable through a threaded structure, and the threaded transition head is connected to the first connection part through a snap structure, or the threaded transition head is directly connected to the first connection part; when the interventional consumable is a guide wire or a headless catheter, the passive locking structure includes a clamping transition head, which is clamped on the guide wire or headless catheter through a clamping structure, and the clamping transition head is connected to the first connection part through a snap structure, or the clamping transition head is directly connected to the first connection part; the first connection part extends from the inside of the rotating shaft or the rotating shaft drive seat to the outside.

9. An interventional surgical robot slave device using the interventional consumable delivery mechanism with high-precision force sensing function as described in any one of claims 1 to 8, characterized in that: The hand device includes a linear rail group, on which at least two module fixing seats are arranged along its length direction, and a surgical function module is installed on the module fixing seat, wherein the surgical function module is a port support mechanism or a port control mechanism or a rotary delivery mechanism, and a port support mechanism or a port control mechanism located at the front end and a rotary delivery mechanism located at the rear end constitute a delivery kit, and the module fixing seat is fixed on the linear rail group, or the module fixing seat can reciprocate on the corresponding linear rail group, and the module fixing seat can drive the corresponding port control mechanism and / or rotary delivery mechanism to reciprocate when reciprocating, and when the interventional consumable is locked by the locking structure, the rotary delivery mechanism can drive the interventional consumable to perform a rotary delivery movement.

10. The interventional surgical robot slave device with an interventional consumable delivery mechanism having a high-precision force sensing function according to claim 9, characterized in that: The interventional consumables include one or a combination of a port control valve, a catheter, and a guide wire. The port control valve is a bifurcated valve or a non-bifurcated control valve. A support element is provided between the port support mechanism and the rotary delivery mechanism, or between the port control mechanism and the rotary delivery mechanism. The support element is sleeved outside the interventional consumable to play a supporting role, so that the axis of the interventional consumable is in a straight line state. The support element is supported by a rigid coaxial telescopic sleeve that is sleeved in stages. When the first delivery kit and the second delivery kit are placed on the linear track group one after the other, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotary delivery mechanism placed at the rear end. The first delivery kit is used to deliver the first interventional consumable. The second delivery kit includes a second port control mechanism placed at the front end and a second rotary delivery mechanism placed at the rear end. The second delivery kit is used to deliver the second interventional consumable. The first rotary delivery mechanism and the second port control mechanism are placed at the front end. The mechanism is arranged to move synchronously on a linear guide rail group, a first bifurcated valve is installed on the second port control mechanism, the first connecting part is arranged on the first rotation delivery mechanism, and an internal connecting tube is also included, the internal connecting tube passes through the first connecting part, and the front end of the internal connecting tube is connected to the front end of the first connecting part; or the first connecting part is a hollow pipe structure, the front end of the internal connecting tube is connected to the rear end of the first connecting part, and the rear end of the internal connecting tube is fixedly connected to the front rotatable part of the first bifurcated valve, and a flexible part is provided on the internal connecting tube. When the second port control mechanism controls the rotatable part of the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotation delivery mechanism, if the two rotational motions are not completely synchronized, the flexible part of the internal connecting tube will undergo slight torsional deformation, but because the flexible part is soft enough, it will not affect the torque force sensing element in the first rotation delivery mechanism to sense the torque applied to the first interventional consumable.

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