The invention relates to a general-purpose
robot for interventional
radiography and therapeutic
surgery, which solves the problem that the existing interventional
surgery robot cannot complete the two processes of interventional
surgery at the same time, and detects the axial
friction force of the guide wire, and solves the difficulty in installing the force detection device. , cannot meet the clinical needs, the structure of the
robot in the actual operation is relatively complicated, and the volume is too large to be suitable for the actual operation environment. It realizes the
general purpose of contrast surgery and therapeutic surgery, simple overall structure, good stability, adopts
modular structure design, easy disassembly and
assembly, small size, and is very suitable for the surgical environment. By measuring the push-
pull force of the micro-
force sensor at the main end, the force change of the axial
friction force of the guide wire can be judged, and the operation reminder can be given to the doctor in time to protect the safety of the patient. According to the feedback value from the high-precision weighing sensor at the end, the clamping degree of the guide wire can be adjusted at any time to prevent slippage and meet the needs of the guide wire for vascular interventional surgery.