Interventional robot slave apparatus and system thereof

Abstract

The present disclosure provides an interventional robot slave apparatus and a system thereof. The interventional robot slave apparatus comprises a linear rail set, a first port control module, a first holding and rotation mechanism, a support seat, a second port control module, and a second holding and rotation mechanism. The first port control module, the first holding and rotation mechanism, the second port control module, and the second holding and rotation mechanism are sequentially arranged from front to rear in the length direction of the linear rail set. The first port control module is fixedly or slidably arranged on the linear rail set. The linear rail set can drive the synchronous reciprocal movement of the first holding and rotation mechanism, the second port control module, and the support seat, and can drive the reciprocal movement of the second holding and rotation mechanism. Both the first holding and rotation mechanism and the second holding and rotation mechanism comprise a locking structure capable of locking or releasing an interventional consumable, a rotation mechanism capable of driving the rotation of the locked interventional consumable, an axial force-sensing element capable of detecting an axial force on the interventional consumable, and a torque-sensing element capable of detecting the torque on the intervention consumable in the axial rotation direction.

Description

An interventional robot slave device and system thereof Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an interventional robot slave device and a system thereof. 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. Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radioactive environment. The existing interventional robot slave end device needs to clamp slender medical devices such as catheters and guide wires and move them from their proximal end to the distal end. The coordinated movement of the device drives the catheter and guide wire forward and delivers them to the lesion in the patient's body (such as within the blood vessel), making it convenient 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.

[0004] 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; an interventional surgical robot slave end device with application number 202210326352.0, 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: (1) the structures of the catheter rotation mechanism and the guidewire rotation mechanism are relatively complex; (2) it is impossible to achieve the coordinated delivery of multiple catheter guidewires. Therefore, how to provide an interventional robot slave end device with a simple structure that can assist the guidewire catheter rotation delivery is a problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide an interventional robot slave device and a system thereof to solve the existing technical defects and unmet technical requirements.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an interventional robot slave device, comprising a linear rail group, a first port control module, a first clamping and rotating mechanism, a support seat, a second port control module and a second clamping and rotating mechanism. The first port control module, the first clamping and rotating mechanism, the second port control module and the second clamping and rotating mechanism are arranged in sequence from front to back along the length direction of the linear rail group. The first port control module is fixedly or slidably arranged on the linear rail group. The linear rail group can drive the first clamping and rotating mechanism, the second port control mechanism and the support seat to move back and forth synchronously. The linear rail group can drive the second clamping and rotating mechanism to reciprocate. The first clamping and rotating mechanism and the second clamping and rotating mechanism both include a locking structure that can lock or release the interventional consumable, a rotating mechanism that can drive the locked interventional consumable to rotate, an axial force sensing element that can detect the axial force exerted on the interventional consumable, and a torque force sensing element that can detect the torsional torque exerted on the interventional consumable in the direction around the axis. The delivery of the interventional consumable is achieved through the coordination of the reciprocating motion of the first port control module, the first clamping and rotating mechanism, the second port control mechanism and the second clamping and rotating mechanism.

[0007] Preferably, the second port control module is provided with a Y-type idling sealing tube, which includes an idling part and a forked part. The forked part of the Y-type idling sealing tube is fixedly arranged on the support seat, and the forked part of the Y-type idling sealing tube is provided with a forked joint for injecting liquid into the Y-type idling sealing tube; the Y-type idling sealing tube is provided with an idling sealing structure, which includes a sealing joint, a sealing ring and a connecting tube. The sealing joint is connected to the connecting tube, and the sealing ring is pressed at the connection between the sealing joint and the connecting tube, and is located inside the sealing joint or the connecting tube. The connecting tube and the sealing joint can rotate relative to each other, and the sealing ring at the connection can prevent liquid from leaking when passing through. The rear end of the connecting tube is provided with a hemostatic valve, and the second port control module is provided with a first port driving mechanism and a second port driving mechanism. The first port driving mechanism drives the sealing joint to rotate, and the second port driving mechanism is used to control the opening and closing of the hemostatic valve, thereby preventing blood or contrast agent from seeping out.

[0008] Preferably, the first port driving mechanism includes a first driving gear, the outer ring of the sealing joint is gear-shaped and meshes with the first driving gear, and the sealing joint is driven to rotate by the rotation of the first driving gear.

[0009] Preferably, the hemostatic valve includes a locking block and an elastomer, and the elastomer and the locking block are arranged on the connecting tube in front and behind, and the second port driving mechanism drives the locking block to move axially, and squeezes the elastomer to deform the elastomer, causing the elastomer to bulge inward or shrink inward, thereby driving the closing of the hemostatic valve; the second port driving mechanism includes a second driving gear, and the locking block can rotate around the axis of the connecting tube, and the locking block cooperates with the connecting tube through a threaded structure, and the outer ring of the locking block is gear-shaped, and the second driving gear is engaged with the outer ring of the locking block. The second driving gear drives the locking block to rotate, and the locking block moves axially under the guidance of the thread to squeeze the elastomer to deform the elastomer, causing the elastomer to bulge inward or shrink inward, thereby realizing the closure of the channel, and self-locking is achieved through the thread to keep the relative position of the locking block on the port control valve fixed.

[0010] Preferably, the locking structure has a self-locking structure, which can maintain the locked state after locking; the locking structure is arranged on the outside of the outer shell of the first clamping and rotating mechanism or the second clamping and rotating mechanism, and the locking structure is directly driven by hand or external tools to achieve locking or unlocking of the interventional consumables.

[0011] Preferably, the locking structure is a passive locking structure, and the passive locking structure includes a threaded transition head or a clamping transition head. The threaded transition head includes a threaded structure and a quick-connect structure. The threaded transition head can be connected to the Luer connector at the tail end of the interventional consumable through the threaded structure, and then the threaded transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a clamping claw clamping structure, and the quick-connect structure is an anti-rotation snap-on structure; the clamping transition head includes a clamping structure and a quick-connect structure. The clamping transition head can be clamped to the interventional consumable through the clamping structure, and then the clamping transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a clamping claw clamping structure, and the quick-connect structure is an anti-rotation snap-on structure.

[0012] Preferably, the anti-rotation snap structure includes a hook, which is openably arranged on the clamping transition head. There are two hooks, which are symmetrically arranged on both sides of the clamping transition head. The head of the hook is the clamping part, and the tail of the hook is the pressing part. Pressing the pressing part can make the clamping part open outward, and releasing the pressing part makes the clamping part close inward under its own elastic action. The part of the clamping transition head excluding the hook is in the shape of a thin rod, and the maximum radial diameter does not exceed 15 mm.

[0013] Preferably, the first connecting part and the Y-shaped idle sealing tube are connected by an internal connecting tube, and the internal connecting tube is provided with a flexible hose section. When the first clamping and rotating mechanism rotates the interventional consumable, the second port control module drives the sealing joint of the Y-shaped idle sealing tube to rotate synchronously. When the rotation of the interventional consumable is not synchronized with that of the sealing joint, since the flexible hose section can be deformed and twisted relative to the axis, it will not interfere with the torque force sensing component in the first clamping and rotating mechanism.

[0014] Preferably, a support assembly for guiding the interventional consumable is installed between the first port control module and the first clamping and rotating mechanism and / or between the second port control module and the second clamping and rotating mechanism. The support assembly can be telescopic or axially translated to keep the axis of the interventional consumable in a straight line. The support element is supported by a rigid coaxial telescopic sleeve that is step-by-step sleeved; or supported by a plurality of closed or openable support ring assemblies that are arranged at intervals and slide along the axis of the interventional consumable, with each adjacent two support ring assemblies connected by an axial elastic element; or supported by a bellows; or supported by a slotted C-shaped tube.

[0015] An interventional robot slave end system also includes a first catheter, a second catheter and a first guidewire. The rear end of the first catheter is installed in the first port control module, the front end of the second catheter is inserted into the first catheter, and the second catheter is installed on the first clamping and rotating mechanism. The Y-shaped idling sealing tube includes an idling part and a forked part. The forked part of the Y-shaped idling sealing tube is fixedly arranged on a support seat, and a forked joint is provided on the forked part of the Y-shaped idling sealing tube. The rear end of the second catheter is connected to the idling part of the Y-shaped idling sealing tube, and the rear end joint of the Y-shaped idling sealing tube is connected to the second port control module; the first guidewire is inserted into the second catheter through the Y-shaped idling sealing tube, and the middle part of the first guidewire is installed on the second clamping and rotating mechanism. Beneficial effects

[0016] 1. The locking structure can quickly fix the interventional consumables on the clamping and rotating mechanism, effectively improving the work efficiency during the operation and increasing the speed of replacing interventional consumables; 2. The Y-type idling sealing tube adopts an idling sealing structure. The sealing joint at the front end of the Y-type idling sealing tube rotates with the interventional consumables under the action of the first port driving mechanism, while the forked part of the Y-type idling sealing tube is fixed. At the same time, the sealing ring at the connection can prevent the liquid from leaking when passing through, and the Y-type idling sealing tube is provided with a hemostatic valve, which is driven by the second port driving mechanism to rotate and control the opening and closing of the Y-type idling sealing tube; 3. The first clamping and rotating mechanism is connected to the Y-type idling sealing tube through an internal connecting tube. The internal connecting tube is provided with a flexible hose section. When the first clamping and rotating mechanism rotates the interventional consumables, the second port control module drives the sealing joint of the Y-type idling sealing tube to rotate synchronously. When the rotation of the interventional consumables and the sealing joint is not synchronized, since the flexible hose section can deform and twist relative to the axis, it will not interfere with the torque force sensing component in the first clamping and rotating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic structural diagram of Example 1;

[0018] FIG2 is a schematic structural diagram of Example 1;

[0019] FIG3 is a schematic structural diagram of a second port control module in accordance with Example 1;

[0020] FIG4 is a schematic diagram of a top view of the second port control module of Example 1;

[0021] FIG5 is a schematic diagram of the internal structure of the second port control module of Example 1;

[0022] FIG6 is a schematic structural diagram of the clamping button of Example 1;

[0023] FIG7 is a side sectional view of the hemostatic valve of Example 1;

[0024] FIG8 is a schematic structural diagram of the first clamping and rotating mechanism of Example 1;

[0025] FIG9 is a side sectional view of the first clamping and rotating mechanism of Example 1;

[0026] FIG10 is a diagram showing the internal structure of the first clamping and rotating mechanism of Example 1;

[0027] FIG11 is an exploded view of the first clamping and rotating mechanism of Example 1;

[0028] FIG12 is a side cross-sectional view of the first clamping and rotating mechanism of Example 1 without an interventional consumable installed;

[0029] FIG13 is a side sectional view of the second clamping and rotating mechanism of Example 1;

[0030] FIG14 is a schematic diagram of the S-type sensor structure of Example 1;

[0031] FIG15 is a schematic diagram of the offset of the first force sensor;

[0032] FIG16 shows the offset of the second force sensor of Example 1;

[0033] Figure 17 is a schematic structural diagram of Example 2;

[0034] FIG18 is a simplified structural diagram of Example 2. Modes for Carrying Out the Invention

[0035] 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.

[0036] The guidewires here include but are not limited to filamentous interventional medical devices such as guide wires, micro guidewires, angiographic guidewires and loach guidewires; catheters include but are not limited to tubular interventional medical devices such as guide catheters, micro catheters, angiographic catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters. Example 1

[0037] As shown in Figures 1 and 2, an interventional robot slave device and its system include a linear track group 10297, a first catheter 10279, a first port control module 10271, a second catheter 10280, a Y-shaped idle sealing tube 102101 (i.e., a Y valve or T valve commonly used in interventional surgery), a first clamping and rotating mechanism 10272, a second port control module 10273, a second clamping and rotating mechanism 10274 and a first guide wire 10281. The first port control module 10271, the first The clamping rotation mechanism 10272, the second port control module 10273 and the second clamping rotation mechanism 10274 are sequentially arranged along the length direction of the linear track group 10297 from front to back. The first port control module 10271 is fixed or slidably arranged on the linear track group 10297. When the first port control module 10271 is slidably arranged on the linear track group 10297, the linear track group 10297 can drive the first port control module 10271 to reciprocate, and the linear track group 10297 can The first clamping rotating mechanism 10272 and the second port control module 10273 can be driven to reciprocate synchronously, and the linear track group 10297 can drive the second clamping rotating mechanism 10274 to reciprocate. The rear end of the first conduit 10279 is installed in the first port control module 10271, and the front end of the second conduit 10280 penetrates the first conduit 10279. The rear end of the second conduit 10280 is directly connected to the front end of the Y-type idle sealing tube 102101 or indirectly connected through an internal connecting tube. The middle part or internal connecting tube of the sealing tube 102101 is installed on the first clamping and rotating mechanism 10272, the bifurcated joint of the Y-type idling sealing tube 102101 is located behind the first clamping and rotating mechanism 10272, the rear end joint of the Y-type idling sealing tube 102101 is connected to the second port control module 10273, the first guide wire 10281 passes through the Y-type idling sealing tube 102101 into the second catheter 10280, and the middle part of the first guide wire 10281 is installed on the second clamping and rotating mechanism 10274. The tail end of the second catheter 10280 is locked by the first clamping and rotating mechanism 10272, and an internal connecting tube is provided between the second catheter 10280 and the Y-type idling sealing tube 102101. The internal connecting tube is a hose. When the first clamping and rotating mechanism rotates the interventional consumables, the second port control module drives the sealing joint of the Y-type idling sealing tube to rotate synchronously. When the interventional consumables and the rotatable sealing joint at the front end of the Y-type idling sealing tube rotate asynchronously, since the hose can be deformed and twisted relative to the axis, it will not interfere with the force sensing component in the first clamping and rotating mechanism. The hose is preferably a silicone tube, a latex tube, a rubber tube or a PU tube.

[0038] As shown in Figure 1, it also includes a front support seat 102107, which is located in front of the first clamping and rotating mechanism 10272 and is fixedly connected to the first clamping and rotating mechanism 10272. The connection position of the Y-shaped idle sealing tube 102101 and the second conduit 10280 is located behind the front support seat 102107. A first support assembly for guiding the movement of the second conduit 10280 is installed between the first port control module and the front support seat 102107. The second conduit 10280 passes through the first support assembly. The first support assembly can be telescopic or axially translated to limit the second conduit 10280 to a fixed axial direction to prevent the second conduit 10280 from bending during delivery; the first support assembly includes at least one of a telescopic tube assembly 10267, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly.

[0039] When the first support assembly is a telescopic tube assembly 10267, the telescopic tube assembly 10267 includes a telescopic sleeve group, wherein the sleeves of the sleeve group are sleeved with each other and are placed on the second guide tube 10280. The sleeve at the front end of the sleeve group is connected to the first port control module, and the sleeve at the rear end of the sleeve group is connected to the front support seat 102107. When the first port control module is fixed and the front support seat 102107 moves forward, the sleeves in the sleeve group retract into each other; when the first port control module is fixed and the front support seat 102107 moves backward, the sleeves in the sleeve group stretch away from each other.

[0040] When the first support assembly is a guide ring assembly, the guide ring assembly includes a guide ring group, each guide ring of the guide ring group is sleeved on the second guide tube 10280, each guide ring is slidingly arranged on an external guide rail or guide groove, and each guide ring is connected by an elastic element. The guide ring at the front end of the guide ring group is connected to or abuts against the first port control module, and the guide ring at the rear end of the guide ring group is connected to or abuts against the front support seat 102107. When the first port control module is fixed and the front support seat 102107 moves forward, the guide rings of the guide ring group squeeze the elastic element and gather together; when the first port control module is fixed and the front support sleeve moves backward, the guide rings of the guide ring group are separated from each other under the action of the elastic element.

[0041] When the first support assembly is a bellows assembly, the bellows assembly includes a bellows, which is sheathed on the second conduit 10280. The front end of the bellows is connected to the first port control module, and the rear end of the bellows is connected to the front support seat 102107. When the first port control module is stationary and the front support seat 102107 moves forward, the bellows is squeezed and retracted; when the first port control module is stationary and the front support seat 102107 moves backward, the bellows is stretched.

[0042] When the first support assembly is a C-shaped tube assembly, the C-shaped tube assembly includes a C-shaped tube that can be flexibly deformed and a spreader seat, the front half of the C-shaped tube is sleeved on the outside of the second conduit 10280, the front end of the C-shaped tube is connected to the first port control module, the rear end of the C-shaped tube extends to the rear of the front support seat 102107 and is connected to the extension rod extending to the rear on the first port control module, and the spreader seat is installed on the front support seat 102107; or the rear half of the C-shaped tube is sleeved on the outside of the second conduit 10280, the rear end of the C-shaped tube is connected to the front support seat 102107, the front end of the C-shaped tube extends to the front of the first port control module and is connected to the extension rod extending to the front on the front support seat 102107, and the spreader seat is installed on the first port control module; the C-shaped tube is arranged along its A slot is provided in the length direction. In the initial state, the slot of the C-shaped tube is naturally contracted under the action of elasticity. The slot of the C-shaped tube can open a small opening under the action of the expansion seat so that the second conduit 10280 can enter the C-shaped tube, so that the C-shaped tube is sleeved on the second conduit 10280. When the first port control module is fixed and the front support seat 102107 moves forward, the C-shaped tube gradually separates from the second conduit 10280 under the expansion action of the expansion seat; when the first port control module is fixed and the front support seat 102107 moves backward, the C-shaped tube is gradually sleeved on the second conduit 10280 under the guiding action of the expansion seat and its own elastic action. Since the C-shaped tube has a certain strength, the second conduit 10280 can be restricted to a fixed axial direction.

[0043] Preferably, as shown in Figure 1, it also includes a rear support seat 102108, which is located behind the first clamping and rotating mechanism 10272 and fixedly connected to the first clamping and rotating mechanism 10272. The second rotary valve drive mechanism (equivalent to the second port drive mechanism) of the second port control mechanism 10273 is fixedly arranged on the rear side of the rear support seat 102108. A second support assembly for guiding the movement of the first guide wire 10281 is installed between the second port control mechanism 10273 and the second clamping and rotating mechanism 10274. The first guide wire 10281 passes into the second support assembly. The second support assembly can be telescopic or axially translated to limit the first guide wire 10281 to a fixed axial direction to avoid the first guide wire 10281 from bending during delivery; the second support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. It should be noted that the first port driving mechanism of the second port control mechanism 10273 in Figure 1 is not shown. The function of the first port driving mechanism is to drive the sealing joint of the Y-shaped idle sealing tube 102101 to rotate, so that the sealing joint and the second conduit 10280 rotate synchronously.

[0044] Specifically, as shown in Figures 3 to 6, the second port control module 10273 includes a first upper machine base 10220, and a fixed warehouse 10220110 is provided on the first upper machine base 10220. The Y-type idling sealing tube 102101 is placed in the fixed warehouse 10220110, and the clamping button 10219 can be used to control the clamping or loosening of the fixed warehouse 10220110 on the Y-type idling sealing tube 102101 body, which facilitates the rapid disassembly and assembly of the Y-type idling sealing tube 102101. The Y-shaped idler sealing tube 102101 comprises a sealing joint, a sealing ring, and a connecting tube. The sealing joint is connected to the connecting tube. The sealing ring is compressed at the joint between the sealing joint and the connecting tube and is located within the sealing joint or the connecting tube. The connecting tube and the sealing joint can rotate relative to each other. The sealing ring at the joint prevents leakage of liquid. A hemostatic valve is provided at the rear end of the connecting tube. The second port control module includes a first port drive mechanism and a second port drive mechanism. The first port drive mechanism drives the rotation of the sealing joint, and the second port drive mechanism controls the opening and closing of the hemostatic valve to prevent leakage of blood or contrast agent. The sealing joint is provided with a joint gear 10222, and the hemostatic valve is provided with a valve gear 10223. A first drive gear 10217 is rotatably mounted on the first upper base 10220 and meshes with the joint gear 10222. A second drive gear 10216 is rotatably mounted on the first upper base 10220 and meshes with the valve gear 10223. The first upper base 10220 is connected to the first lower base 10218 via a quick-connect mechanism. The first lower base 10218 is fixed to the upper module mounting base 102091. The quick-connect mechanism can be a threaded connection, a snap-fit ​​connection, or a lock connection, or a combination thereof. Two motors B 10215 are mounted within the first lower base 10218. A first transmission shaft 1021511 and a second transmission shaft 1021512 are rotatably mounted on the first lower base 10218. The output shafts of the two motors B 10215 respectively drive the first and second transmission shafts 1021511, 1021512, via bevel gear mechanisms.

[0045] The first upper machine base 10220 is rotatably provided with a first transmission docking shaft 1021513 and a second transmission docking shaft 1021514. The first transmission docking shaft 1021513 drives the first drive gear 10217 to rotate through a bevel gear structure, and the second transmission docking shaft 1021514 drives the second drive gear 10216 to rotate through a bevel gear structure. When the first upper machine base 10220 is connected to the first lower machine base 10218 through a quick-connect structure, the first transmission docking shaft 1021513 is docked with the first transmission shaft 1021511 to realize circumferential linkage, and the second transmission docking shaft 1021514 is docked with the second transmission shaft 1021512 to realize circumferential linkage. Rotating valve gear 10223 controls the opening and closing of the channel (the channel closing mechanism is conventional and can be achieved by compressing a flexible valve, as shown in FIG7 ). When port control mechanism 10210 is required to connect Y-shaped idle sealing tube 102101, clamping button 10219 is pulled to place Y-shaped idle sealing tube 102101 into fixed compartment 10220110. Simultaneously, first drive gear 10217 engages with connector gear 10222, and second drive gear 10216 engages with valve gear 10223. Once installation is complete, clamping button 10219 is released, and the elastic element 102191 compresses the side of Y-shaped idle sealing tube 102101. Motor B10215 controls the rotation of the second drive gear 10216 or the first drive gear 10217. The rotation of the first drive gear 10217 controls the joint gear 10222 to drive the sealing joint of the Y-type idling sealing tube 102101 to rotate, thereby driving the catheter or internal connecting tube connected to the sealing joint of the Y-type idling sealing tube 102101 to rotate. Due to the idling sealing structure set on the Y-type idling sealing tube 102101, the Y-type idling sealing tube 102101 does not need to rotate as a whole, but there will be no liquid leakage at the relative rotation point; the rotation of the second drive gear 10216 drives the valve gear 10223 to rotate, thereby controlling the opening and closing of the valve, thereby clamping the catheter or guide wire passing through the valve and preventing blood and contrast agent from seeping out.

[0046] As shown in FIG7 , the hemostatic valve includes a first elastic member 1020012 and a valve gear 10223, and the valve gear 10223 and the tail end of the connecting tube of the Y-type idling sealing tube 102101 are connected to the valve gear 10223 by a threaded connection, the valve gear 10223 is provided with a first clamping portion 10200131, and the first clamping portion 10200131 extends into the Y-type idling sealing tube 102101, the first elastic member 1020012 is provided in the Y-type idling sealing tube 102101, and is sleeved on the interventional wear In addition, the second driving gear 10216 drives the valve gear 10223 to rotate, controls the valve gear 10223 to move on the Y-shaped idle sealing tube 102101 during the rotation process, controls the first clamping part 10200131 to move forward, and presses the first elastic part 1020012, so that the first elastic part 1020012 is deformed and bulges inward, closing the channel of the Y-shaped idle sealing tube 102101, and the first elastic part 1020012 can also be used to clamp the interventional consumables to achieve auxiliary clamping.

[0047] As shown in Figures 8 to 12, the first clamping and rotating mechanism 10272 includes a rotating shaft driving seat 1027202 and a rotating shaft 1027201 rotatably mounted in the rotating shaft driving seat 1027202, and the rotating shaft driving seat 1027202 is internally or externally equipped with a rotating driving component capable of driving the rotating shaft 1027201 to rotate; the rotating driving component is a gear driving component, a friction wheel driving component, or a friction belt driving component; the rear end of the rotating shaft driving seat 1027202 is provided with a rear cover 102720201.

[0048] As shown in Figure 11, the rotating shaft drive seat 1027202 has an opening structure; the rotating shaft drive seat 1027202 includes a base 102720203 and a rotating cover 102720202, and the rotating cover 102720202 is movably arranged on the base. The rotating cover 102720202 is locked on the base 102720203 by one or more combinations of press buckles, magnetic attraction, screw structures, and locks. The rotating cover 102720202 can be opened to facilitate the loading and unloading of the rotating shaft 1027201. The rotating shaft 1027201 comprises a housing A1027201001 and a housing B1027201002, which are connected in an openable and closable manner to facilitate disassembly and cleaning of the internal structure. The internal components of the rotating shaft 1027201 are mounted within the housing A1027201001. The housings A027201001 and B1027201002 are each provided with a portion of a driven gear ring or a driven friction ring. When the housings A027201001 and B1027201002 are closed, a complete driven gear ring or driven friction ring is formed. To reduce the stroke length occupied by the rotating shaft 1027201 and ensure sufficient effective stroke length for interventional consumables inserted into the second catheter, the overall axial length of the rotating shaft 1027201 is less than 100 mm. A second bearing structure 102720104 is provided between the rotating shaft 1027201 and the rotating shaft driving seat 1027202, and a second sealing rubber ring 102720105 is provided between the rear cover 102720201 and the second bearing structure 102720104 to achieve sealing.

[0049] During the installation process of the first clamping and rotating mechanism 10272, first put the shell A027201001 and the shell B1027201002 together, and then put the second bearing structure 102720104 on the front and rear ends of the rotating shaft 1027201 respectively, and use the second bearing structure 102720104 to close and fix the shell A027201001 and the shell B1027201002 together, open the rotating cover 102720202 above the base, and then put the shell A027201001, the shell B1027201002 and the second bearing structure 102720104 into the base as a whole, and then close and lock the rotating cover 102720202 on the base, and finally install the back cover 102720201 on the rear end of the rotating shaft drive seat 1027202. The rotary drive assembly drives the rotary shaft 1027201 to rotate through the transmission assembly. The transmission assembly realizes power transmission by meshing with the driven gear ring or by the friction force between the driven friction rings. The transmission assembly is an active gear or an active friction wheel or an active friction belt.

[0050] The first connecting portion 1022501 extends from the front end of the rotating shaft 1027201, and the front end of the first connecting portion 1022501 is tightened and fixed to the mounting head 102204 by a side top screw (or other locking methods are adopted). The Luer connector 102201 at the rear end of the second catheter is threadedly connected to the threaded transition head 102202. The threaded transition head 102202 includes a threaded structure and a quick-connect structure. The threaded transition head 102202 is connected to the interventional consumables through the threaded structure. The Luer connector 102201 at the tail end is tightened and connected, the thread structure is a Luer thread structure, the quick-connect structure is an anti-rotation buckle structure, the anti-rotation buckle structure adopts a hook type or a pin type, and the threaded transition head 102202 and the mounting head 102204 at the front end of the first connecting part 1022501 are sealed by a first sealing rubber ring 102205 to prevent leakage during subsequent contrast agent creation; or the threaded transition head 102202 is directly connected to the first connecting part 1022501.

[0051] The anti-rotation buckle structure includes a hook 1033020017, which is openably arranged on the threaded transition head 102202. The threaded transition head 102202 includes a clamping joint 1033020016. Two hooks 1033020017 are symmetrically arranged on both sides of the threaded transition head 102202. The head of the hook 1033020017 is a clamping portion, and the tail of the hook 1033020017 is a pressing portion. Pressing the pressing portion can open the clamping portion outward, and then the clamping joint 1033020016 (clamping joint) at the end of the threaded transition head 102202 can be opened. The head is a part of the threaded transition head 102202) and is inserted into the installation head 102204, and the tail of the hook 1033020017 is loosened, so that the hook 1033020017 closes inward under the action of its own elastic force and is clamped on the clamping ring of the installation head 102204; the anti-rotation buckle structure also includes an anti-rotation structure, which is an anti-rotation protrusion or anti-rotation groove arranged on the threaded transition head 102202, and the anti-rotation buckle structure also includes a tubular guide portion, which extends toward the rear end of the threaded transition head, and the anti-rotation protrusion or anti-rotation groove is arranged at the position where the guide portion is connected to the main body of the threaded transition head 102202.

[0052] It also includes an internal connecting tube 1027301, which is arranged through the first connecting part 1022501, and the front end of the internal connecting tube 1027301 is connected to the front end of the first connecting part 1022501; or the first connecting part 1022501 is a hollow pipe structure, and the front end of the internal connecting tube 1027301 is connected to the rear end of the first connecting part 1022501. The rear end of the internal connecting tube 1027301 is connected to the sealing joint at the front end of the Y-type idle sealing tube 102101. The internal connecting tube 1027301 is provided with a flexible hose section. When the first clamping rotating mechanism 10272 rotates the second conduit 10280, the second port control module drives the sealing joint of the Y-type idle sealing tube 102101 to rotate synchronously. When the rotation of the second conduit 10280 is not synchronized with the rotation of the sealing joint, since the flexible hose section can be deformed and twisted relative to the axis, it will not interfere with the torque sensing component in the first clamping rotating mechanism 10272.

[0053] As shown in Figure 12, before the operation, the first clamping and rotating mechanism 10272 only needs to install the internal connecting tube 1027301 and the mounting head 102204 on the first connecting part 1022501. During the operation, the operator manually clamps the card connector 1033020016 at the end of the threaded transition head 102202 to the mounting head 102204. The threaded transition head 102202 is tightened and connected to the Luer connector 102201 at the tail end of the interventional consumable through a threaded structure, so that different interventional consumables can be replaced and installed.

[0054] A first sliding disk 102720101 is provided at the rear end of the rotating shaft 1027201, and a second sliding disk 102720102 is fixedly connected to the rear cover 102720201. The second sliding disk 102720102 is provided with multiple concentrically arranged annular conductive rings or protruding conductors. The first sliding disk 102720101 is provided with a protruding conductor or multiple concentrically arranged annular conductive rings (or the positions of the conductive rings and the conductors are interchanged). The conductor or the conductive ring is connected to the circuit component 102720103 in the rotating shaft 1027201. When the rotating shaft 1027201 rotates, the first sliding disk 102720101 rotates coaxially relative to the second sliding disk 102720102. At this time, the conductor rotates on the conductive ring to transmit electrical signals between the circuit component 102720103 and the outside world. The use of a conductive sliding disk structure can make the entire rotating shaft 1027201 structure flatter (axial length is 20~100mm), reducing the stroke occupied by the rotating shaft 1027201, thereby increasing the effective working length of the interventional consumables.

[0055] Circuit assembly 102720103 includes an analog-to-digital conversion element for converting the analog signal from the force sensor into a digital signal. This avoids signal interference caused by direct transmission of the analog signal (particularly, the contact resistance of the conductive sliding disk varies with the rotation of rotating shaft 1027201, introducing signal noise). Circuit assembly 102720103 also includes a communication element for converting the digital signal into a communication signal and transmitting information using a serial communication protocol. Circuit assembly 102720103 is a PCB circuit board, and to reduce the axial length of rotating shaft 1027201, the PCB is arranged parallel to the end face of rotating shaft 1027201. The circuit component 102720103 is provided with an accelerometer or an IMU sensor, which can detect various acceleration values ​​of the rotating shaft 1027201, so that in the process of force perception, inertia force and inertia moment compensation are performed based on the various acceleration values ​​of the rotating shaft 1027201, so as to obtain the actual axial force exerted on the interventional consumable and the actual torque exerted on the interventional consumable in the direction around the axis; the acceleration values ​​include gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration.

[0056] Preferably, each of the force sensors corresponds to an accelerometer, so that the measuring axis of the force sensor is parallel to the measuring axis of the accelerometer or one of the measuring axes of the accelerometer. The measuring axis of the accelerometer is recorded as the axis to be measured. Based on Newton's second law F=ma, the offset of the force sensor caused by gravity and inertial force at this time can be calculated. :

[0057] in, is the offset of the force sensor; is the mass of the measured coupled structure; It is the acceleration measured by the accelerometer in the direction of the axis to be measured.

[0058] Preferably, the force values ​​measured by the first force sensor and the second force sensor at the current moment are subtracted from the offset corresponding to the current acceleration, thereby measuring the real force applied by the object to the first force sensor and the second force sensor respectively. The parameters stored in the memory chip in the measuring housing can be directly read out by the operation processor for calculating the offset when the measuring housing is driven by an external driving mechanism.

[0059] Among them, the measurement coupling structure refers to the part located at the rear end of the force measuring element (such as the strain beam structure). When the force sensor is an S-type sensor, the actual range of the mass of the measurement coupling structure is not limited to the pin at the force measuring end of the force sensor, but also includes this part in the S-type sensor (specifically the boxed part in Figure 14), because this part is directly connected to the force measuring strain beam structure in the S-type sensor and is located at the rear end of the strain beam structure.

[0060] 1. Specifically: As shown in FIG15 , the offset of the first force sensor caused by gravity and inertia is calculated. :

[0061] in, is the offset of the first force sensor; is the mass of the torque coupling structure; is the acceleration measured by the first accelerometer on the measurement axis of the first sensor.

[0062] 2. Specifically: As shown in FIG16 , the offset of the second force sensor caused by gravity and inertia is calculated :

[0063] in, is the offset of the second force sensor; is the mass of the axial force coupling structure; is the acceleration measured by the second accelerometer about the measurement axis of the second sensor.

[0064] In the above embodiment, due to the potential delay in signal acquisition between the accelerometer and force sensor, real-time compensation may not be guaranteed. Consequently, the force sensor reading minus the offset calculated based on the accelerometer reading may result in a spike-like error. Filtering can be performed on the calculated result to mitigate the impact of this spike-like error. The filtering algorithm may include Kalman filtering, mean filtering, low-pass filtering, and the like.

[0065] The above embodiment only describes the case of force detection in a maximum of 2 dimensions. If it is to be expanded to 3 dimensions, it is only necessary to ensure that the measuring axis of the third force sensor is parallel to the measuring axis of the third accelerometer. They can be translated along the rotation axis of the measuring housing to achieve mutual overlap, and the position of the accelerometer can be translated along the rotation axis of the measuring housing to achieve mutual overlap with the position of the force sensor. The principles of calculating the offset and realizing force compensation are the same as those in the above embodiment and will not be repeated here.

[0066] A capillary tube 102720107 is fixedly connected to the rear end of the rotating shaft 1027201. The capillary tube 102720107 coaxially extends from the rear end of the rotating shaft 1027201, protruding from the rear end and engaging with a through-hole in the middle of the rear cover 102720201. A third sealing rubber ring 102720106 seals the capillary tube 102720107 with the through-hole in the middle of the rear cover 102720201. The second sealing ring 102720105 and the third sealing ring 102720106 prevent liquid from entering between the first sliding plate 102720101 and the second sliding plate 102720102, thereby preventing short circuits and protecting internal components from external influences.

[0067] The internal connecting tube 1027301 passes through the capillary tube 102720107, and the gap between the internal connecting tube 1027301 and the capillary tube 102720107 is less than 2 mm. The length of the capillary tube 102720107 is greater than 10 mm, thereby achieving a certain sealing effect between the internal connecting tube 1027301 and the capillary tube 102720107. The small gap and long length effectively prevent liquid from entering the rotating shaft 1027201 through the gap between the capillary tube 102720107 and the internal connecting tube 1027301 during surgery, thereby protecting the internal components from external factors. Alternatively, a closing portion may be provided on the capillary tube 102720107, which tightly fits the internal connecting tube 1027301 to improve the sealing effect. The axial force sensing element measures the axial force applied to the interventional consumable, and the torque sensing element measures the torque applied to the interventional consumable in the direction around the axis. Both the axial force sensing element and the torque sensing element are disposed within the rotating shaft 1027201, and the first connecting portion 1022501 extends from the interior of the housing of the rotating shaft 1027201 to the exterior of the housing of the rotating shaft 1027201. After the locking structure locks the interventional consumable, when the interventional consumable is subjected to axial force during delivery, the axial force applied to the interventional consumable is measured using an axial force sensor or a multi-dimensional force sensor. When the interventional consumable is subjected to torque applied to the axis during rotation, the torque applied to the interventional consumable in the direction around the axis is measured using a torque sensor, a combination of a torque sensor and a torque amplification mechanism, or a combination of a torque conversion structure and a force sensor. A rotating sleeve is provided inside the rotating shaft 1027201, and the first connecting part 1022501 is rotatable and axially limited in the rotating sleeve through the bearing structure a. The rotating sleeve is connected to the force measuring end of the axial force sensor, and the other end of the axial force sensor is fixedly provided inside the rotating shaft 1027201. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable.

[0068] 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 part 1022501 through the locking structure, and the first connecting part 1022501 transmits the axial force to the rotating sleeve, thereby transmitting the axial force to the axial force sensor fixedly connected to the rotating sleeve.

[0069] When the torque exerted on the interventional consumable in the direction around the axis is measured by the combination of a torque conversion structure and a force sensor, the force sensor is a one-dimensional force sensor, one end of which is fixed on the rotating shaft 1027201, and the other end of the one-dimensional force sensor is fixedly connected or integrally formed with a sensor force transmission part. The first connecting part 1022501 cooperates with the sensor force transmission part through the torque conversion structure, so that the first connecting part 1022501 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 exerted on the interventional consumable in combination with the force arm.

[0070] The torque conversion structure is one or a combination of a pin slot structure, a paddle structure, a connecting rod structure, a gear rack structure, and a transmission belt structure;

[0071] When the torque conversion structure is a pin-slot structure, the force sensor is a one-dimensional force sensor. The fixed end of the one-dimensional force sensor is fixedly connected to the inside of the rotating shaft 1027201 and is located on one side of the interventional consumables. The force measuring end of the one-dimensional force sensor is fixedly connected to the sensor force transmission member or is integrally formed. The sensor force transmission member is provided with a pin or a slot hole, and the first connecting part 1022501 is matched with a slot hole or a pin. The relative position of the sensor force transmission member and the first connecting part 1022501 enables the pin to be inserted into the slot. The locking structure locks the interventional consumable, and the axial direction of the pin is parallel to the axis of the interventional consumable and is at a certain distance from it. After the interventional consumable is subjected to torque, the first connecting part 1022501 rotates, and the slot or pin on the first connecting part 1022501 will push the pin or slot on the sensor force transmission part. At this time, the torsional moment will be converted into a push-pull force and applied to the sensor force transmission part. At this time, the unidirectional force sensor will detect the push-pull force and convert the torque applied to the interventional consumable based on the force arm.

[0072] As shown in Figure 13, when the clamping and rotating mechanism adopts a locking structure to lock the guide wire, specifically, a first connecting tube 1022501 is provided inside the clamping and rotating mechanism, and the front end is connected to a transition head 1033020016 through a snap structure. 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 the transition head 1033020016 and the first connecting tube 1022501 are inserted into each other, and the tail of the hook 1033020017 is released, so that the hook 1033020017 is stuck in the slot of the first connecting tube 1022501 under the action of its own elastic force. The front end of the transition head 1033020016 is provided with a locking tube 10276001, and an elastic clamping claw 1033020021 is provided in the locking tube 10276001, and the elastic clamping claw 1033020021 extends out of the front end of the locking tube 10276001, and the front end of the locking tube 10276001 is threadedly connected with a tightening cap 1033020022, and the interior of the tightening cap 1033020022 contacts the elastic clamping claw 1033020021 through an inclined surface or a conical surface. When the tightening cap 1033020022 is rotated and tightened on the transition head 1033020016, the elastic clamping claw 1033020021 is driven inward by the inclined surface or the conical surface to lock the internal interventional consumables (first guide wire).

[0073] Thus, to loosen the locking structure between the first guidewire 10281 and the second clamping and rotating mechanism 10274, one only needs to pinch the tail of the transition connector 1033020016, open the hook 1033020017 at the head of the transition connector 1033020016, and then pull the transition connector 1033020016 off the first connecting tube 1022501. This locking structure can be used to lock catheters or guidewires that do not have a Luer connector at the tail end. Example 2

[0074] As shown in Figures 17 and 18, an interventional robot slave device includes a linear track group 10297, a first catheter 10279, a first port control module 10271, a second catheter 10280, a Y-shaped idle sealing tube 102101, a support base 102113, a first clamping and rotating mechanism 10272, a second port control module 10273, a second clamping and rotating mechanism 10274 and a first guide wire 10281, the first port control module 10271, the first clamping and rotating mechanism 10272, the support base 10211 3. The second port control module 10273 and the second clamping and rotating mechanism 10274 are sequentially arranged from front to back along the length direction of the linear track group 10297. The first port control module 10271 is fixed or slidably arranged on the linear track group 10297. When the first port control module 10271 is slidably arranged on the linear track group 10297, the linear track group 10297 can drive the first port control module 10271 to reciprocate, and the linear track group 10297 can drive the first clamping and rotating mechanism 10272 and the support seat 102113 and the second port control module 10273 reciprocate synchronously, the linear track group 10297 can drive the second clamping rotation mechanism 10274 to reciprocate, the rear end of the first conduit 10279 is installed in the first port control module 10271, the front end of the second conduit 10280 penetrates the first conduit 10279, and the second conduit 10280 is installed on the first clamping rotation mechanism 10272. The Y-shaped idling sealing tube 102101 includes an idling part and a bifurcated part. The bifurcated part of the Y-shaped idling sealing tube 102101 It is fixedly arranged on the support seat 102113, and a forked joint is provided on the forked part of the Y-shaped idle sealing tube 102101. The rear end of the second conduit 10280 is indirectly or directly connected to the idle part of the Y-shaped idle sealing tube 102101 through an internal connecting tube (the difference from Example 1 is that in this embodiment, the rear end of the second conduit 10280 is arranged on the rear side of the second clamping and rotating mechanism 10274, that is, the second conduit 10280 needs to pass through the central through hole of the second clamping and rotating mechanism 10274 and penetrate into the first conduit 10279).

[0075] When connected indirectly via an internal connecting tube, the internal connecting tube is provided with a hose portion. When the first clamping and rotating mechanism rotates the interventional consumable, the second port control module drives the sealing joint of the Y-shaped idle sealing tube to rotate synchronously. When the second catheter and the rotatable sealing joint at the front end of the Y-shaped idle sealing tube rotate asynchronously, the hose can deform and twist relative to each other around the axis, thereby not interfering with the force sensing component within the first clamping and rotating mechanism. When connected directly, the locking mechanism of the first clamping and rotating mechanism 10272 is locked with the middle portion of the second catheter. When the second catheter and the rotatable sealing joint at the front end of the Y-shaped idle sealing tube rotate asynchronously, the section from the middle to the tail of the second catheter can deform and twist relative to each other around the axis, thereby not interfering with the force sensing component within the first clamping and rotating mechanism. The rear end connector of the Y-shaped idle sealing tube 102101 is connected to the second port control module 10273 , and the first guide wire 10281 passes through the Y-shaped idle sealing tube 102101 into the second catheter 10280 , and the middle part of the first guide wire 10281 is installed on the second clamping and rotating mechanism 10274 .

[0076] Preferably, the Y-shaped idling sealing tube 102101 is provided with an idling sealing structure, which includes a sealing joint 102110, a sealing ring 102111 and a connecting tube 102112. One end of the sealing joint 102110 is fixedly connected to the rear end of the second conduit 10280, and the other end of the sealing joint 102110 is connected to the connecting tube 102112. The sealing ring 102111 is pressed at the connection between the sealing joint 102110 and the connecting tube 102112, and is located inside the sealing joint 102110 or the connecting tube 102112. The connecting tube 102112 and the sealing joint 102110 can rotate relative to each other. At the same time, the sealing ring 102111 at the connection can prevent liquid from leaking when passing through. The rear end joint of the connecting tube 102112 is connected to the second port control module.

[0077] Preferably, a first support assembly for guiding the movement of the second catheter 10280 is installed between the first port control module and the first clamping rotation mechanism 10272. The second catheter 10280 passes through the first support assembly. The first support assembly can be telescopic or axially translated to limit the second catheter 10280 to a fixed axial direction to prevent the second catheter 10280 from bending during delivery; the first support assembly includes at least one of a telescopic tube assembly 10267, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly.

[0078] Preferably, the support seat 102113 is fixedly arranged on the rear side of the first clamping and rotating mechanism 10272, and the second port control module 10273 is fixedly arranged on the rear side of the support seat 102113. A second support assembly for guiding the movement of the first guide wire 10281 is installed between the second port control module 10273 and the second clamping and rotating mechanism 10274. The first guide wire 10281 passes into the second support assembly. The second support assembly can be telescopic or axially translated to limit the first guide wire 10281 to a fixed axial direction to prevent the first guide wire 10281 from bending during delivery; the second support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. A bifurcated joint is provided on the connecting tube of the Y-type idling sealing tube 102101 for injecting liquid into the Y-type idling sealing tube 102101.

[0079] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it should be understood that although this specification is described in terms of implementation methods, not each implementation method contains only an 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 robot slave device, characterized in that: It includes a linear track group, a first port control module, a first clamping rotation mechanism, a support seat, a second port control module and a second clamping rotation mechanism. The first port control module, the first clamping rotation mechanism, the second port control module and the second clamping rotation mechanism are arranged in sequence from front to back along the length direction of the linear track group. The first port control module is fixedly or slidably arranged on the linear track group. The linear track group can drive the first clamping rotation mechanism, the second port control mechanism and the support seat to reciprocate synchronously. The linear track group can drive the second clamping rotation mechanism to reciprocate. The first clamping rotation mechanism and the second clamping rotation mechanism both include a locking structure that can lock or release the interventional consumable, a rotation mechanism that can drive the locked interventional consumable to rotate, an axial force sensing element that can detect the axial force exerted on the interventional consumable, and a torque force sensing element that can detect the torsional torque exerted on the interventional consumable in the direction around the axis. The delivery of the interventional consumable is achieved through the coordination of the reciprocating motion of the first port control module, the first clamping rotation mechanism, the second port control mechanism and the second clamping rotation mechanism.

2. The interventional robot slave device according to claim 1, characterized in that: The second port control module is provided with a Y-type idling sealing tube, which includes an idling part and a forked part. The forked part of the Y-type idling sealing tube is fixedly arranged on the support seat, and the forked part of the Y-type idling sealing tube is provided with a forked joint for injecting liquid into the Y-type idling sealing tube; the Y-type idling sealing tube is provided with an idling sealing structure, which includes a sealing joint, a sealing ring and a connecting pipe. The sealing joint is connected to the connecting pipe, and the sealing ring is pressed at the connection between the sealing joint and the connecting pipe, and is located inside the sealing joint or the connecting pipe. The connecting pipe and the sealing joint can rotate relative to each other, and the sealing ring at the connection can prevent liquid from leaking when passing through. The rear end of the connecting pipe is provided with a hemostatic valve, and the second port control module is provided with a first port driving mechanism and a second port driving mechanism. The first port driving mechanism drives the sealing joint to rotate, and the second port driving mechanism is used to control the opening and closing of the hemostatic valve to prevent blood or contrast agent from seeping out.

3. The interventional robot slave device according to claim 2, characterized in that: The first port driving mechanism includes a first driving gear. The outer ring of the sealing joint is gear-shaped and meshes with the first driving gear. The sealing joint is driven to rotate by the rotation of the first driving gear.

4. The interventional robot slave device according to claim 2, characterized in that: The hemostatic valve includes a locking block and an elastomer, and the elastomer and the locking block are arranged on the connecting pipe one after the other, and the second port driving mechanism drives the locking block to move axially, and squeezes the elastomer to deform the elastomer, so that the elastomer bulges inward or shrinks inward, driving the closing of the hemostatic valve; the second port driving mechanism includes a second driving gear, the locking block can rotate around the axis of the connecting pipe, and the locking block cooperates with the connecting pipe through a threaded structure, and the outer ring of the locking block is gear-shaped, the second driving gear is engaged with the outer ring of the locking block, and the second driving gear drives the locking block to rotate, and the locking block moves axially under the guidance of the thread to squeeze the elastomer to deform the elastomer, so that the elastomer bulges inward or shrinks inward, realizing the closure of the channel, and self-locking is achieved through the thread to keep the relative position of the locking block on the port control valve fixed.

5. The interventional robot slave device according to claim 1, characterized in that: The locking structure has a self-locking structure and can maintain the locked state after locking; the locking structure is arranged on the outside of the shell of the first clamping and rotating mechanism or the second clamping and rotating mechanism, and the locking structure is directly driven by hand or external tools to achieve locking or unlocking of the interventional consumables.

6. The interventional robot slave device according to claim 5, characterized in that: The locking structure is a passive locking structure, and the passive locking structure includes a threaded transition head or a clamping transition head. The threaded transition head includes a threaded structure and a quick-connect structure. The threaded transition head can be connected to the Luer connector at the tail end of the interventional consumable through the threaded structure, and then the threaded transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a clamping claw clamping structure, and the quick-connect structure is an anti-rotation snap-on structure; the clamping transition head includes a clamping structure and a quick-connect structure. The clamping transition head can be clamped to the interventional consumable through the clamping structure, and then the clamping transition head is connected to the first connection part in the first clamping and rotating mechanism through the quick-connect structure. The clamping structure is a clamping claw clamping structure, and the quick-connect structure is an anti-rotation snap-on structure.

7. The interventional robot slave device according to claim 6, characterized in that: The anti-rotation snap structure includes a hook, which is openably arranged on the clamping transition head. There are two hooks, which are symmetrically arranged on both sides of the clamping transition head. The head of the hook is a clamping part, and the tail of the hook is a pressing part. Pressing the pressing part can make the clamping part open outward, and releasing the pressing part will cause the clamping part to close inward under its own elastic action. The part of the clamping transition head excluding the hook is in the shape of a thin rod, and the maximum radial diameter does not exceed 15 mm.

8. The interventional robot slave device according to claim 6, characterized in that: The first connecting part and the Y-shaped idle sealing tube are connected through an internal connecting tube, and the internal connecting tube is provided with a flexible hose section. When the first clamping and rotating mechanism rotates the interventional consumable, the second port control module drives the sealing joint of the Y-shaped idle sealing tube to rotate synchronously. When the rotation of the interventional consumable is not synchronized with the rotation of the sealing joint, since the flexible hose section can be deformed and twisted relative to the axis, it will not interfere with the torque force sensing component in the first clamping and rotating mechanism.

9. The interventional robot slave device according to claim 1, characterized in that: A support assembly for guiding the interventional consumable is installed between the first port control module and the first clamping and rotating mechanism and / or between the second port control module and the second clamping and rotating mechanism. The support assembly can be telescopic or axially translated to keep the axis of the interventional consumable in a straight line. The support element is supported by a rigid coaxial telescopic sleeve that is step-by-step sleeved; or supported by a plurality of closed or openable support ring assemblies that are arranged at intervals and slide along the axis of the interventional consumable, with each adjacent two support ring assemblies connected by an axial elastic element; or supported by a bellows; or supported by a slotted C-shaped tube.

10. An interventional robot slave system, characterized by: The interventional robot slave device includes the method according to any one of claims 1 to 9, and further includes a first catheter, a second catheter and a first guidewire, the rear end of the first catheter is installed in the first port control module, the front end of the second catheter is inserted into the first catheter, the second catheter is installed on the first clamping and rotating mechanism, the Y-type idling sealing tube includes an idling part and a forked part, the forked part of the Y-type idling sealing tube is fixedly arranged on the support seat, the forked part of the Y-type idling sealing tube is provided with a forked joint, the rear end of the second catheter is connected to the idling part of the Y-type idling sealing tube, the rear end joint of the Y-type idling sealing tube is connected to the second port control module, the first guidewire is inserted into the second catheter through the Y-type idling sealing tube, and the middle part of the first guidewire is installed on the second clamping and rotating mechanism.

Images