RU2801157C1 - Interventional automated operating system - Google Patents

Abstract

FIELD: medical equipment.

SUBSTANCE: invention relates to an interventional automated operating system. Interventional automated operating system includes a catheter chamber (1), which is an area of interventional surgery, which is equipped with a bed for the catheter (101); a control chamber (2) adjacent to the catheter chamber and provided with a viewing window (201) located between them; robots, including an interventional surgery robot (Q1), a control robot (Q2), a puncture robot (Q3) and a catheter and guide replacement robot (Q4), aligned with each other and located in the catheter chamber (1). The catheter bed (101) is equipped with a DSA (Digital Subtraction Angiography) device (3) and a contrast medium injection device (4). The monitoring device (5) is located in the control chamber (2) and is configured to communicate with the robots, the DSA device (3) and the contrast agent injection device (4). The monitoring device (5) is configured to display the information of each device and robot, real-time synchronous update, and monitor doctors. The controller (6) is located in the control chamber (2) and is configured to be used for human-machine interaction between the doctor and the robot.

EFFECT: prevention of harm from radiation for a long time during the DSA operation and reduction of the impact of the interventional operation on the doctor's health.

10 cl, 23 dwg

Description

FIELD OF TECHNOLOGY

[0001] The invention relates to the technical field of minimally invasive vascular surgery and, more specifically, to an interventional automated operating system.

BACKGROUND OF THE INVENTION

[0002] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages: small incision, short postoperative recovery time, etc. Interventional surgery for cardiovascular and cerebrovascular disease is a process in which a doctor manually inserts a catheter, a guide needle, a stent, and other instruments to complete the treatment.

[0003] Interventional surgery has the following disadvantages: First, during the operation, DSA (Digital Subtraction Angiography) emits X-rays, the doctor's physical strength is rapidly reduced, attention and stability are also reduced, the accuracy of the operation is reduced, and accidents such as epithelial trauma occur. , perforation, rupture of blood vessels, and the like, caused by improper pressing force, which puts the life of the patient at risk. Second, the cumulative damage from prolonged exposure to ionizing radiation can greatly increase the likelihood that physicians will develop leukemia, cancer, and cataracts. The phenomenon of ray accumulation in the process of interventional surgery becomes a problem that damages the professional life of doctors and limits the development of interventional surgery.

[0004] With robotic technology, the robot can complete the interventional operation process without manual involvement, and these problems are effectively solved. Obviously, the time of the robotic operation must be manually controlled during the operation. The whole process of interventional operation is completed by the mutual cooperation of various robots, and the creation of an interventional automated operating system is the future direction of development.

[0005] However, at present, interventional operations have the following problems: (1) In interventional operations, all procedures require the participation of a doctor, the doctor is under great pressure, and great tasks are assigned to him, from the process of puncture, intraoperative control of the catheter guide wire, transportation to the patient, the delivery of consumables, the introduction of a contrast agent, the replacement of surgical instruments, image analysis, and the like; (2) The doctor wears a lead coat for a long time and suffers serious damage to the skeleton and muscles of the body; (3) Doctors are harmed by DSA radiation for a long time, which has a serious impact on health; (4) The use of the catheter chamber is frequent and cleaning is often problematic; (5) Transportation to patients often requires more human resources; (6) The accuracy of manual control of the catheter guide wire is not high, the work efficiency is not high, etc.

[0006] Thus, the method of providing an interventional automated operating system is a problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

[0007] The disclosure addresses, at least to some extent, one of the aforementioned prior art problems.

[0008] To this end, the subject of the disclosure is to propose an interventional automated operating system that solves the aforementioned tasks 1-3 and 6.

[0009] An interventional automated operating system is provided, which includes a catheter chamber, the catheter chamber is an interventional surgery area having a catheter bed inside; a control chamber, the control chamber is located next to the catheter chamber, and a viewing window is located between the catheter chamber and the control chamber; a robot, the catheter chamber includes an interventional surgical robot, a main control robot, a puncture robot, a catheter and guide wire changing robot that cooperate with each other; the DSA device and the contrast agent injector are located on the catheter bed; the monitoring device is located in the control chamber and is connected with the robot, the DSA device and the contrast agent injector, and is used to display the information of each device and the robot, real-time synchronous update and monitor the doctor; and the controller is located in the control chamber and is used for human-machine interaction between the doctor and the robot.

[0010] According to the technical scheme, compared with the prior art, the invention discloses an interventional automated operating system, the catheter chamber and the control chamber are designed to be located close, a plurality of robots with different functions operating in a coordinated mode are located in the catheter chamber, the device The DSA and the contrast medium injector are located on the catheter bed and coordinated to perform the operation, the operation at least includes image diagnostics, puncture, catheter guidewire insertion, catheter guidewire replacement, catheter guidewire movement, angiography, and the like, the accuracy of the operation is improved, the monitoring device for monitoring various status information and the human-machine interaction controller between the doctor and the robot are located in the control chamber, so that the purpose of the interventional automated operation is achieved through the combination of robots, the problems of high pressure and hard work of the operator of the interventional operation, the doctor are solved no need to wear lead clothes in the control chamber for a long time, meanwhile, the harm from receiving DSA radiation for a long time is prevented, and the impact of the interventional operation on the doctor's health is reduced.

[0011] In addition, next to the catheter chamber, a patient rest room is provided.

[0012] In addition, the automatic transfer cart moves between the ward and the catheter chamber and is used to automatically transfer the patient. Problem 5 is solved and no more human resources are needed to transport the patient.

[0013] In addition, a station for charging a transfer cart, which is used to charge an automatic transfer cart, is fixed in the ward.

[0014] In addition, the robot further includes a consumable delivery robot that records surgical consumable information for delivering the surgical consumables to the catheter chamber that is communicatively coupled to the monitoring device and the controller.

[0015] In addition, the robot further includes a fast charging robot, the fast charging robot is communicatively connected to a plurality of robots for replacing dead batteries.

[0016] In addition, a discharged battery charging area is located on the outside of the catheter chamber, and a charging area is provided in the charging area for charging the fast charging robot.

[0017] The cleaning robot is in communication with the controller and is used to automatically clean the catheter chamber after the operation is completed. Problem 4 is solved, frequent cleaning of the catheter chamber by the labor force is not required, cleaning efficiency is improved.

[0018] In addition, the monitoring device includes a plurality of screens supported by supports.

[0019] In addition, the robots are made with the priority of authority, the main control robot has the most authority, being the manager in performing the operation and is used to diagnose images and instruct other robots to work in concert.

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the disclosure, and for those skilled in the art in the art, other drawings can be obtained according to the drawings provided without creative effort.

[0021] FIG. 1 shows a general view of an interventional automated operating system.

[0022] FIG. 2 shows a view of an interventional automated operating system inside a catheter chamber.

[0023] FIG. 3 shows a block diagram of an interventional automated operating system.

[0024] FIG. 4 is a schematic diagram of the main control robot.

[0025] FIG. 5 shows a schematic block diagram of the finger device of the main control robot.

[0026] FIG. 6 is an exploded view of the finger device of the master control robot.

[0027] FIG. 7 is a schematic diagram of a puncture robot.

[0028] FIG. 8 is a schematic diagram of the first finger device of the puncture robot.

[0029] FIG. 9 is a principle view of the second finger device of the puncture robot.

[0030] FIG. 10 is a schematic diagram of a catheter and guide wire changing robot.

[0031] FIG. 11 is a schematic block diagram of the arm and head link of the catheter and guide replacement robot.

[0032] FIG. 12 is a plan view of a robotic arm for changing the catheter and guide wire.

[0033] FIG. 13 is a schematic view of a catheter for changing the guidewire.

[0034] FIG. 14 is a schematic structural diagram of a fast charging robot.

[0035] FIG. 15 is a principal structural view of the clamping and pushing mechanism of the fast charging robot.

[0036] FIG. 16 is a block diagram of a consumable delivery robot.

[0037] FIG. 17 is a schematic structural view of a consumable delivery robot arm assembly.

[0038] FIG. 18 is a schematic view of a cleaning robot.

[0039] FIG. 19 is a basic block diagram of a cleaning robot basic device.

[0040] FIG. 20 is a schematic view showing the structure of an automatic transfer truck.

[0041] FIG. 21 is a schematic view showing the lower part of the structure of the automatic transfer truck.

[0042] FIG. 22 is a principal structural view of the automatic charging and fixing device of the automatic transfer cart.

[0043] FIG. 23 is a schematic view of a control device.

[0044] The main reference numbers are as follows:

[0045] catheter chamber 1, catheter bed 101, control chamber 2, viewing window 201, DSA device 3, contrast agent injector 4, monitoring device 5, screen 51, screen support 52, controller 6, room 7, automatic cart for transfer cart 8, transfer cart charging station 81, charging area 9, interventional surgery robot Q1, main control robot Q2, puncture robot Q3, catheter and guidewire replacement robot Q4, consumables delivery robot Q5, quick charging robot Q6, cleaning robot Q7.

DETAILED DESCRIPTION OF EMBODIMENTS

[0046] For a better understanding of the technical solutions of the disclosure, the disclosure is described in detail below with reference to the accompanying drawings and a detailed description. Embodiments of the disclosure will be described in more detail below with reference to the drawings and specific embodiments, but the disclosure is not limited to this.

[0047] Embodiments of the disclosure will now be discussed in detail, examples of which are shown in the accompanying drawings, where the same or similar reference numbers denote the same or similar elements, or elements having the same or similar function. The embodiments described below with reference to the drawings are illustrative and are intended to illustrate the invention and should not be construed as limiting the invention.

[0048] In the description of the disclosure, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "upper", "lower" , "internal", "external", etc., indicate position or positional relationships based on those shown in the drawings and are only for convenience of description and ease of description, but do not indicate or imply that said devices or the elements must have a specific position, be designed and operate in a specific position, and thus should not be construed as limiting the disclosure.

[0049] In addition, the terms "first", "second", and "first" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or indirectly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of these features. In the description of the disclosure, "multiple" means two or more, unless specifically defined otherwise.

[0050] In the disclosure, unless otherwise expressly stated or limited, the terms "installed", "connected", "fixed", etc. should be interpreted broadly, for example, as permanently connected, releasably connected or integral; may be mechanically or electrically connected; directly or indirectly through intermediate media, within or in any other connection. The specific meanings of the above terms in the disclosure may be understood according to specific situations by those skilled in the art.

[0051] Numerous problems for the existing interventional operation were indicated in the background of the disclosure. In embodiments of the invention, an interventional automated operating system system is provided, see, for example, FIG. 1-3. The system includes a catheter chamber 1, a control chamber 2, a monitoring device 5 and a controller 6. The catheter chamber 1 is an interventional surgery area and is equipped with a catheter bed 101 inside.

[0052] The control chamber 2 is located next to the catheter chamber 1, and a viewing window 201 is located between the catheter chamber 1 and the control chamber 2.

[0053] The interventional surgery robot Q1, the main control robot Q2, the puncture robot Q3, and the catheter and guide wire changing robot Q4, which are coordinated with each other, are located in the catheter chamber 1. The DSA device 3 and the contrast medium injector 4 are located on the catheter bed 101.

[0054] The monitoring device 5 is located in the control chamber 2 and is in communication with the robot. The DSA device 3 and the contrast agent injector 4 are used to display the information of each device and robot, and are used for synchronous update and real-time monitoring by clinicians.

[0055] The controller 6 is located in the control chamber 2 and is used for human-machine interaction between the doctor and the robot.

[0056] The invention discloses an interventional automated operating system in which the catheter chamber and the control chamber are designed to be adjacent to each other, and a plurality of robots with different functions operating in a coordinated mode are located in the catheter chamber, a DSA device and a contrast injection device. substances are located on the catheter bed, and the operation is performed in a coordinated manner. Operations at least include image diagnostics, puncture, catheter guidewire placement, catheter guidewire replacement, catheter guidewire movement, angiography, and the like. The accuracy of the operation is improved, the monitoring device for monitoring the information of various conditions and the human-machine interaction controller between the doctor and the robots are located in the control chamber, so that manual monitoring is realized, the purpose of the automated interventional operation is realized by the combination of robots. The problems of high pressure and hard work of the operator of the interventional operation are solved. The doctor does not need to wear lead clothing in the control chamber for a long time, thereby preventing injury associated with long-term exposure to DSA radiation, and reducing the impact of interventional surgery on the doctor's health.

[0057] In one embodiment of the invention, next to the catheter chamber 2, a patient rest room 7 is provided. Preferably, the chamber is located opposite the catheter chamber.

[0058] In one embodiment of the invention, between the ward 7 and the catheter chamber 1 moves an automatic cart 8 to automatically move the patient, which eliminates the need for significant labor costs for transporting the patient.

[0059] The advantage is that the charging station 81 is fixed in the ward 7 for charging the automatic trolley 8.

[0060] In one embodiment, the robot further includes a consumables delivery robot Q5. The Q5 consumables delivery robot writes the surgical consumables information for delivering the surgical consumables to the catheter chamber 1, which communicates with the monitoring device 5 and the controller 6.

[0061] In one embodiment of the invention, the robot further includes a fast charging robot Q6. The Q6 fast charging robot is in communication with many robots and is used to replace depleted batteries. Thus, the problem that the robot cannot fill the discharged battery in a timely manner is solved.

[0062] Preferably, the charging area 9 for charging a discharged battery is located outside the catheter chamber 1, and the fast charging robot Q6 is located in the charging area 9.

[0063] In other embodiments of the disclosure, the Q7 cleaning robot is communicatively coupled to the controller 6, and the Q7 cleaning robot is used to automatically clean the interior of the catheter chamber 1 upon completion of the operation. Thus, the catheter chamber does not need frequent cleaning by personnel, and the cleaning efficiency is improved.

[0064] Advantageously, the monitoring device 5 includes multiple screens 51, each supported by a support 52.

[0065] In the above embodiments, the robots are made with priority of authority, and the main control robot Q2 has the highest authority, being the control when performing an operation, and is used to diagnose the image and instruct other robots to work in concert.

[0066] In one embodiment of the disclosure, the layout of the interventional automated operating room may be divided into four spaces. The ward has an electric charging zone for an automatic transfer cart. A charger is provided in the charging zone. The catheter chamber includes an interventional surgery robot, a catheter bed, a DSA device, a cleaning robot, a main control robot, a puncture robot, a contrast agent injection device, a catheter replacement robot, and a guide wire. The control chamber includes a monitoring device and a controller. Several robots function in different zones. Each of them is an automatic cart that moves between the wards and catheter chambers. The fast charging robot moves between the charging area and the catheter chamber. The delivery robot moves between the catheter chamber and the control chamber.

[0067] With reference to FIG. 2, in the catheter chamber 1, the viewing window 201 is made of lead glass, which makes it easier for the control chamber to view the catheter chamber. The guide wire device 101 is installed in the center of the catheter chamber 1. The DSA device 3 is installed at the head of the guide wire 101, and the main control robot Q2 moves on the left side of the guide wire 101. After the autocart 8 enters the catheter chamber, the right side of the catheter bed 101 stops, and after the patient sits on the catheter bed 101, the autocart 8 exits the catheter chamber and waits at the doorway. The Q1 interventional surgery robot is mounted on a rail at the side of the catheter bed 101. The contrast agent 4 is placed on the catheter bed 101. The Q7 cleaning robot, the Q4 catheter and guide wire replacement robot, and the Q3 puncture robot are respectively located at the corners of the catheter chamber. If necessary, they can be put forward for work. The Q5 consumables delivery robot, after removing the consumables, is placed on the catheter bed 101, and then goes outside the catheter chamber to the standby mode.

[0068] The complete procedure for the entire interventional operation is approximately as follows: first, the patient waits in the ward, and after receiving a message that the operation can be performed, the automatic transfer cart moves freely. The patient lies down on the automatic transfer cart, and the automatic transfer cart automatically takes the patient to the catheter chamber according to a predetermined route according to GPS navigation and stops at the catheter bed. Then, after the patient moves from the transfer cart to the catheter bed, the transfer cart automatically exits the catheter chamber, remains outside the catheter chamber, waiting for the end of the operation. After the patient lies down, the main control robot commands the puncture robot to start operations, the puncture robot can move to the side surface of the catheter bed, and the operations of disinfection, local anesthesia, puncture, outer sheath implantation, etc. begin. patient step by step. After the completion of each action, the message is transmitted to the main control robot. The main control robot starts instructing the DSA device and the interventional surgery robot to start the operation. Under the guidance of the main control robot, the intervention robot is matched with the image of the DSA device to sequentially complete the placement of the contrast guide wire and the contrast catheter in the correct position of the patient's blood vessel, the main control robot indicates the contrast agent injection device to inject the contrast agent, and the image of the blood vessel can be displayed on the DSA device. The angle of the DSA is adjusted and various positions are visualized so that a more complete morphology of the blood vessel can be observed. After obtaining various blood vessel images, the main control robot can analyze the disease state according to the blood vessel images, and the diagnosis result is obtained after the main control robot compares and analyzes the big data blood vessel images. If the operation needs to be continued, the DSA and the interventional robot work together to place the guiding catheter. At this time, the main control robot instructs the catheter and guide wire replacement robot to help complete the replacement of the guide wire and catheter. At the same time, the main control robot can select the required operation consumable, send the consumable and deliver to the robot, or send an instruction through the controller, and the consumable to deliver to the robot will be searched, and after finding the target consumable, the consumable will be delivered to the robot and can be placed on catheter bed, and the main control robot can help complete and install the consumable when the robot intervenes in the operation. The pushing of the surgical consumables (eg, stent) is then performed in stages based on the DSA images, during which multiple use of the contrast injection device is required. The main control robot can complete the DSA lever control during the operation, and after one-step operation, the operation treatment is completed smoothly.

[0069] Then, with the help of the main control robot, all catheters with a guide wire are removed from the body. The main control robot helps the patient to complete the dressing. A message is sent to the automatic patient transfer cart to enter the catheter chamber and stop at the catheter bed, the patient returns from the catheter bed to the cart, and the cart returns to the patient room and stops in place.

[0070] During the operation, the status and data of all devices are on the monitoring device in the control chamber, so that the doctor can monitor the progress of the operation throughout its duration. If any deviations are found, the operation can be suspended and corrected at any time via the controller. After elimination of deviations, the operation can be continued. The doctor can also use the controller to control the robot. After one operation is completed, the main control robot instructs the cleaning robot to clean the catheter chamber, or the controller sends a command to the cleaning robot to prepare for the next operation.

[0071] Each robot has all received powered lithium batteries, if a certain robot is found to be low, the fast charging robot receives a signal to bring a charged lithium battery and remove and replace from the robot near the robot to pick up the low battery back and charge on the electric pile.

[0072] The robot and device used in the above flow of operations may be a robot capable of realizing the corresponding functions, and the following robot may be taken as an individual robot, and the functions of the robot are only described by an individual example.

[0073] The interventional surgical robot Q1 may be the general interventional radiographic and therapeutic operating robot disclosed in CN112353491A and connected to a catheter chamber. The main control robot Q2 can move in the catheter chamber, adopting the structure of the vehicle body. The robot controls all parts including DSA, catheter bed, other robots, etc. during operation, can manage the workflow through machine learning, send instructions to direct all equipment to perform appropriate actions, and send various data to the real-time monitoring system. After the operation is completed, the robot can move to the corner by itself, and other operations are not affected.

[0074] With reference to FIG. 4-6, the main control robot Q2 includes a basic device Q2100, a head and hand component Q2200, and a finger device Q2300. The Q2100 base unit has a walker at the bottom to move to the target area, and a doctor's foot pedal for perspective and DSA control is located on the walker. The Q2200 head and hand component is supported on top of the Q2100 base unit and is used to populate the identification information and position the fingers. The Q2300 finger device is connected to the arm end of the Q2200 head and arm component and is used for clamping, changing, and mounting surgical equipment.

[0075] The Q2300 finger device includes a link plate Q2301, a finger guide Q2303, a finger lead screw motor Q2311, a connecting member Q2304, Q2309, and two fingers (Q2307 and Q2306) performing a relative movement or an opposite movement. The pin connection plate Q2301 is connected to the end of the lever. The bottom of the link plate Q2301 is connected to the Q2303 finger guide, and the two finger slide blocks slide on the Q2303 finger guide. Under the Q2301 connection plate, the Q2311 motor is fixed through the bracket Q2310. Each pin sliding unit is respectively connected to one connector Q2304, Q2309, and two connectors Q2304, Q2309 respectively have clockwise and counter-clockwise threads, which are in threaded connection with the pin drive screw motor Q2311. When the Q2311 motor is spinning. Each connector Q2304 and Q2309 is respectively connected to one of the three-dimensional pressure sensors Q2305 and Q2308. Q2306 and Q2307 fingers are connected to the bottom of each Q2305 and Q2308 three-dimensional pressure sensor, the inner surfaces of Q2306 and Q2307 fingers are made of soft medical grade silica gel, and damage to surgical equipment can be prevented.

[0076] The three-dimensional pressure sensor located in the finger device can detect the clamping force and guarantee the clamping accuracy.

[0077] Preferably, the finger connection plate Q2301 extends obliquely outward to form a finger chamber holder, and at least one finger chamber Q2302 is connected to the finger chamber holder, and the finger chamber 302 is located in the direction of the fingers Q2306 and Q2307.

[0078] After clamping an object, the Q2305 and Q2308 3D pressure sensors can sense pressure values, and when a certain value is reached, the finger drive screw motor Q2311 stops moving. During the clamping process, the Q2302 finger camera pays attention to the shape of the object at any time in order to avoid the situation of clamping damaged equipment. Q2302 finger camera is used to observe the environment of the fingertip, can make things convenient to distribute and accurately position the best observation object of the robot and doctor.

[0079] It should be noted that before starting the operation, the main control robot Q2 automatically moves to the side of the catheter bed to control and guide the operation of each device, and is responsible for clamping and changing operating equipment during the operation. After the operation is completed, the robot can automatically move to the corner, while the use and cleaning of other equipment is not affected. Before using the robot for the first time, education and training is necessary, the purpose of which is to adapt the robot to the environment of the catheter chamber and become familiar with equipment such as DSA, catheter bed and other robots used in the current medical application, as well as training and other equipment that may be good agreed to work. After long-term training, the robot can gradually master and memorize the acquired knowledge, and after full training, the robot can be used normally for automated surgery or assisted surgery. The robotic system stores a large number of images of operations and standard workflows, as well as many measures for handling deviations, and can be used in a real clinic. The robot has an autonomous learning function and can record and analyze the situation of each subsequent operation in order to choose the best solution in the subsequent operation.

[0080] The puncture robot Q3, with reference to FIG. 7 includes a base device, head and hand components, and puncture finger devices, which are respectively connected to the first finger device Q3300 and the second finger device Q3400 via two mechanical arms. In the base device, information is received, stored, processed and sent through the main computer of the puncture robot. The first finger device is used for positioning the puncture point during surgery, and the second finger device is used for puncture. During operation, these two devices interact with each other to pick up, replace and place surgical equipment, which realizes a robotic puncture operation, improves puncture accuracy, and further reduces reoperation due to inaccurate puncture point position. This eliminates the state of vasospasm and improves the safety of the puncture operation.

[0081] In particular, with reference to FIG. 8, the first finger device Q3300 includes the first finger connection plate Q3302, the first finger guide Q3303, the first finger screw motor Q3305, the first connection plate Q3306, Q3312, the first three-dimensional pressure sensor Q3307, Q3311, and the first finger consumable Q3309. The first finger connection plate Q3302 is connected to the end of the mechanical arm. The lower part of the Q3302 first pin connection plate is connected to the Q3303 first pin guide, and the two first pin sliding blocks slide on the Q3303 first pin guide. The screw motor of the first pin Q3305 is fixed under the connecting plate of the first pin Q3302 through the first pin motor bracket Q3304. Each of the first pin slide units is respectively connected to one first connecting plate Q3306, Q3312, and the first two connecting plates Q3306, Q3312 respectively have clockwise thread and counterclockwise thread, which are mated with the first pin motor Q3305 in a threaded manner. One of the first three-dimensional pressure sensors Q3307, Q3311 is connected to the bottom of each of the first connectors Q3306, Q3312. Each first 3D pressure sensor Q3307, Q3311 is connected at the bottom to the first finger consumable Q3309. The inner surface of the first finger consumable Q3309 is made of medical-grade soft silica gel.

[0082] Preferably, the first electromagnet Q3308, Q3310 is fixed between the first three-dimensional pressure sensor Q3307, Q3311 and the first finger consumable Q3309, and the first finger consumable Q3309 has inside the first iron sheet magnetically connected to the first electromagnet Q3308, Q3310.

[0083] A recess is formed inside the consumable of the first finger Q3309, and the first iron sheet is placed in the recess and connected to the magnetism electromagnet, and it is convenient to change the consumable. The Q3309 thumb consumable is a disposable ethylene oxide sterilizable consumable and a new set is used for each operation. The inner surface of the Q3309 Thumb Consumable is made of soft medical-grade silica gel to prevent slipping and damage to surgical equipment.

[0084] More preferably, the side of the first finger connection plate Q3302 protrudes obliquely outward to form a support for the first finger chamber. At least one first finger chamber Q3301 is connected to the finger chamber support, and the first finger chamber Q3301 is located in the direction of the first consumable Q3309. The first Q3301 finger camera is used to monitor the environment around the fingertip.

[0085] One of the first connectors Q3306, Q3312 is threaded clockwise and the other of the first connectors Q3306, Q3312 is threaded counterclockwise so that when the motor rotates, the two first pin consumables Q3309 move relative or opposite to clamp or retrieving an object. After clamping the object, the first three-dimensional pressure sensors Q3307, Q3311 determine the pressure value, and after reaching a certain value, the engine stops moving. During the clamping process, the first finger camera Q3301 pays attention to the shape of the object at any time to ensure that the equipment is not broken.

[0086] With reference to FIG. 9, the second finger device Q3400 includes a second finger connecting plate Q3402, two second finger guides Q3415, a second finger screw motor Q3404, two third finger guides Q3405, and an adapter plate Q3406. The top of the Q3402 second pin link plate is connected to the end of another mechanical arm, and the bottom of the Q3402 second pin link plate is formed by two mounting bars that are parallel and protrude downward. The guides for the second pin Q3415 are respectively fitted under the mounting rails. Each Q3415 second finger guide has at least two second finger sliding blocks. The second pin screw motor Q3404 is fixed under the second pin connection plate Q3402 through the second pin motor bracket and is located between two mounting plates. The upper part of the adapter plate Q3406 is provided with a connecting block in threaded connection with the lead screw of the second pin screw motor Q3404, and the adapter plate Q3406 is fixed on the bottom surface of the second pin sliding block. Two Q3405 third finger guides are located at the bottom of the Q3406 adapter plate in parallel and perpendicular to the Q3415 second finger guides, and at least two third finger slide blocks slide on the bottom of each Q3405 third finger guide. The third pin motor Q3407 is fixed between the two second Q3415 pin guides via the motor bracket. Each sliding block of the third pin is respectively connected to one second connector Q3408, Q3414, and the two second connectors Q3408, Q3414 respectively have clockwise and counter-clockwise threads matching those of the screw motor of the third pin Q3407. One second three-dimensional pressure sensor Q3409, Q3412 is respectively connected under each second connecting piece Q3408, Q3414. One second Q3411 finger consumable is connected to the bottom of each second Q3409, Q3412 3D pressure sensor, and the inner surface of the second Q3411 finger consumable is made of soft medical grade silica gel.

[0087] A recess is formed inside the second finger consumable Q3411. The second iron sheet is placed in the recess and connected to the electromagnet, which is convenient for changing consumables. The second finger consumable Q3411 is a disposable consumable, sterilized by ethylene oxide, and a new set is used for each operation. The inner surface of the second finger consumable Q3411 is made of soft medical-grade silica gel to prevent slipping and damage to surgical equipment.

[0088] Preferably, the second electromagnet Q3410, Q3413 is fixed between the second three-dimensional pressure sensor Q3409, Q3412 and the second finger consumable Q3411, and the second iron piece magnetically coupled to the second electromagnet Q3410, Q3413 is disposed in the second finger consumable Q3411.

[0089] More preferably, the connecting plates of the second finger Q3402 extend obliquely in the direction of two sides, forming the chamber supports of the second finger, each chamber of the second finger is connected to at least one chamber of the second finger Q3401, Q3403, and the chambers of the second finger Q3401, Q3403 are located towards the consumable of the second pin Q3411.

[0090] One second coupler Q3408, Q3414 has clockwise threads, and the other second coupler Q3408, Q3414 has counterclockwise threads, so that when the Q3407 third pin screw motor (the third here means the screw motor sequence, not the third pin ) is rotated, the two consumables of the second finger Q3411 carry out a relative movement or an opposite movement, and the object is clamped and removed. After clamping the object, the second 3D pressure sensors Q3409 and Q3412 determine the pressure value, and when a certain value is reached, the motor stops moving. During clamping of the second finger camera, Q3401 and Q3403 pay attention to the shape of the object at any time to prevent the clamping condition of damaged equipment. The entire pin device at the bottom is driven left and right by the drive action of the second pin screw motor Q3404, and the reciprocating motion of the guide wire, outer shell and the like can be realized by matching with the clamping action of the third pin screw motor Q3407. In particular, the motor of the second finger screw Q3404 rotates to allow the second finger consumable Q3411 to move to the rightmost end, the motor of the third finger screw Q3407 rotates to allow the second finger consumable Q3411 to clamp the guide wire or sheath, the second 3D pressure sensors Q3409 and Q3412 used to determine clamping force. After clamping, the second finger screw motor Q3404 rotates so that the finger can move to the far left end, the third finger screw motor Q3407 opens the guide wire or sheath, the second finger screw motor Q3404 rotates to return to its original position, and the operation is repeated until the desired position is reached.

[0091] At the time of puncture by the puncture surgical robot, puncture of the radial artery of the wrist is taken as an example for explanation. After the start of the operation, the necessary consumables for the puncture operation are placed on the catheter bed, and the robot moves towards the catheter bed. The robot's first finger device is used to locate the patient's wrist, and after positioning to the position of the radial artery, the finger can be used to feel the pulse of the radial artery. One finger can be used to feel the pulse while the other finger is suspended. A three-dimensional pressure sensor on the finger being felt searches for a pulse, if during the search the position is not suitable, the position changes and the search continues. If a pulse is felt, the finger chamber determines the position, and this position functions as a puncture point. During pulse detection, if the pressure value is a regularly changing numerical value, it is designated as a pulse; if the pressure value does not change, it is not indicated as a pulse, and the three-dimensional pressure sensor can be FA702-D or silicon piezoresistive type. The volume of the pressure sensor can be selected according to the usage. The robot's first finger device grabs a cotton ball soaked in alcohol and wipes the epididymal skin of the radial artery. The robot's first finger device grabs the anesthetic syringe, moves to the radial appendage, and gently penetrates the skin. The robot's second finger device pushes the dose into the syringe and stops it. The first finger device holds the syringe. After waiting for some time, the first finger device of the robot is used to gently grasp the patient's hand, the second finger device of the robot is used to grasp the puncture needle, and the camera of the second finger is used to find the puncture point. Driven by the screw motor of the second finger, the puncture needle is slowly inserted into the skin, and at the same time, the two cameras of the device of the second finger monitor whether the blood returns and stop the movement of the motor if the blood returns. The first finger of the robot moves slowly to grasp the puncture needle, and the second finger of the robot pulls out the needle shaft. The first finger device is slowly lowered and then the second finger device grasps the puncture guide wire and inserts it into the puncture needle. The guide wire moves slowly forward and backward a certain distance. The first finger device is held in place of the puncture hole and the second finger device is removed from the puncture needle tube. The second finger device grasps the outer sheath and the first finger device grasps the end of the puncture guide wire. The second finger device threads the outer sheath into the guide wire, then the first finger device holds the puncture site, and the second finger device threads the outer sheath into the vessel along the guide wire, advances the outer sheath forward until the outer sheath reaches the puncture site, until the entire puncture process is completed. After completion of the puncture, the robot returns to the corner without affecting the subsequent course of the operation.

[0092] The catheter and guide wire replacement robot Q4 is used in interventional operations, and the replacement operation is performed for interventional consumables such as guide wires, balloons or stent catheters and the like, with reference to the attached FIGS. 10-13. The guide wire catheter can be replaced by alignment with the interventional surgery robot, and can also be replaced by alignment with the help of physicians. The invention is used to perform operations of winding and removing the guide wire, winding the catheter onto the guide wire and pushing the catheter into the Y-shaped valve, removing the catheter from the guide wire, etc., which ensures that the catheter and guide wire do not move during the replacement of the guide wire catheter, thereby ensuring the safety of the operation.

[0093] The Q4 Catheter and Guide Wire Replacement Robot includes a base unit, a head, and a Q4400 moving arm component. The Q4400 driving arm component is used to complete the step of changing the guidewire catheter. There are three groups of levers, and each of them functions independently. Three groups of levers are located on the connecting plate, and the connecting plate can move forward and backward through two groups of screw rod motors and two groups of linear guides, and is used to extend and retract the levers of the handle. The three groups of levers have almost the same structure and can move left and right. Each group of levers has a clamping mechanism for clamping and removing the guidewire or catheter. The pressure sensor is located in the clamping device and is used to determine the clamping force. The three levers are mutually coordinated to operate in working mode.

[0094] The Q4400 drive arm component includes a Q4312 arm support, and the Q4312 arm support is a gantry frame. The lower part of the arm support Q4312 is connected to the base unit. Two groups of Q4308 linear guides in the Y direction are fixed on the upper plane of the Q4312 lever support in parallel. The first sliding block slides on each Q4308 Y-axis linear guide. The work plate Q4306 is fixed on the top surface of the first sliding block. The upper plane of the arm support Q4312 is located between the two Y-axis linear guides Q4308. Two groups of Y-axis screw rod motors Q4309 are arranged in parallel, and the screw rod of each group of Y-axis screw rod motors Q4309 engages with the first threaded hole appropriately located on the work plate Q4306. The first link mechanism, the second link mechanism, and the third link mechanism are sequentially arranged on the top surface of the work plate Q4306 in parallel in a direction close to the bottom of the guide tube. The Y-axis lead screw motor Q4309 is connected to the drive unit on the base. Under the action of Q4309 motor with Y-axis lead screw, the Q4306 work plate can move left and right to perform the extending and retracting actions of the entire arm.

[0095] With reference to FIG. 11 and 12, the first link mechanism, the second link mechanism and the third link mechanism have the same structure, and each of the first link mechanism, the second link mechanism and the third link mechanism includes a Q4423 rectangular frame. The Q4423 rectangular frame includes a connecting section and a clamping section that form an L-shape. The connecting section slides on the linear guide Q4419 fixed on the arm support Q4312. A Y-direction guide is installed at the top of the connecting section. The third slide block slides along the Y-direction guide, the Q4422 rectangular connector with the third threaded hole is fixedly connected to the top of the third slide block. The connecting section is located at the rear of the Y-direction rail. The Y-direction drive screw motor Q4402 is fixed through the Y-direction motor support Q4401, the Y-direction drive screw motor Q4402 engages the third threaded hole, and the Y-direction drive screw motor Q4402 is connected to the driving device. The front of the rectangular connector Q4422 is connected to the clamping element Q4420, and the clamping element Q4420 is aligned with the clamping part to form a clamping mechanism. The Y-directed screw motor Q4402 drives the third sliding block so that the clamping section and the clamping portion Q4420 are clamped.

[0096] Mainly, with reference to FIG. 11, the front end of the rectangular connector Q4422 is provided with a first connector notch. The clamping piece Q4420 is a rectangular piece. The upper part of the rectangular part Q4422 has a second connecting recess aligned with the first connecting recess. The first connecting recess and the second connecting recess are connected. The clamping part is vertical to the connecting part and faces down, and is located on the front of the working plate and arm support and next to the side of the catheter bed. The shape of the lower part of the clamping element Q4420 is the same as that of the clamping section. A clamping area is formed between the Q4420 clamping part and the clamping section, and pieces of Q4418 medical silica gel are fixed on the inner walls of the two sides of the clamping area to prevent slipping. The first connection notch and the second connection notch are staggered and are used to connect to the two ends of the Q4421 pressure sensor. The pressure sensor Q4421 is connected to the carrier of the basic device and is used to determine the clamping force. In this way, the clamping force is transmitted back to the main computer via the pressure sensor Q4421, which sends commands to the control device to actuate the corresponding motor. Provides controllable clamping force.

[0097] The X-axis drive plates Q44231 are connected to the sides away from the clamping portion of the respective rectangular frames Q4423 in the first link mechanism, the second link mechanism, and the third link mechanism. Each Q44231 drive plate corresponds to one Q44232 drive group. The Q44232 drive mechanisms in X-direction are connected to the drive unit. The Q44232 X-direction drive mechanism is convenient to operate, the three X-direction drive plates of Q44231 are of different length according to the arrangement, and the three groups of screw motor drive (Q4404, Q4403 and Q4407) and the three groups of drive motor supports (Q4405, Q4406 and Q4408 ) are arranged accordingly.

[0098] FIG. 12 and 13, the first link mechanism, the second link mechanism and the third link mechanism are arranged in this order from left to right. The arm component faces the guide tube side, and it is necessary to control the first arm mechanism by the robot to grip the guide wire on the Q4105 tip, and then fix the first arm mechanism in a stationary state. The third link mechanism grabs the tip of the Q4103 catheter, the second link mechanism grabs the tail end of the Q4102 guide wire, adjusts the position to insert the Q4103 catheter into the Q4102 guide wire, then the third link mechanism pushes the Q4103 catheter forward, when approaching the second link mechanism, the second link mechanism is released. Then, the second link mechanism is controlled to move about 2 cm in the Y valve direction. The second link mechanism is controlled to clamp the guide wire. The third linkage is controlled to continue advancing the Q4103 catheter forward and the process is repeated sequentially until the tail end of the Q4102 guidewire passes through the Q4103 guidewire by about 3 cm. The third linkage is actuated to retreat and move to the rear end Q4101, and the guide wire Q4102, which is brought out from the middle end of the catheter Q4103, is clamped. Then, the second link mechanism is controlled to push the Q4103 guide wire towards the Y valve, holding the Q4103 guide wire at the middle end of Q4104. The second link mechanism pushes the guide wire Q4103 forward. The third linkage moves back until the guide wire Q4102 is pulled out in a line. When the second link mechanism moves towards the first link mechanism, the movement of the second link mechanism is stopped and the first link mechanism is controlled to hold the Y-valve Q4106. The second linkage pushing the Q4103 guide wire is controlled to enter the Q4106 Y-valve. After reaching the Y-valve, the second link mechanism is released and retracts by about 2 cm. The pressure guide wire is moved forward again and the process is repeated until the head of the Q4103 guide wire is fully inserted into the Y-valve Q4106.

[0099] When the Q4103 catheter is to be removed from the Q4102 guide wire, both the catheter and the guide wire are in a human blood vessel. During catheter withdrawal, it must be ensured that the displacement of the guide wire does not change. The third linkage is operated to clamp the guide wire Q4102, which is 2-3 cm away from the exit of the Q4106 Y-valve. The first linkage is controlled to clamp the Q4106 Y-valve, and the second linkage is controlled to clamp the guide tube Q4103 at the outlet of the Q4106 Y-valve, ensuring that the third linkage is fixed. The second link mechanism moves back until the second link mechanism approaches the third link mechanism, then stops, and then the third link mechanism is released to move back 2 cm to clamp the guide wire. The second link mechanism moves back continuously until the second link mechanism approaches the third link mechanism and then stops. These steps are repeated in sequence until the head end of the catheter is 2-3 cm away from the tail of the Q4106 Y-valve, after which the first linkage is moved to the exit position of the Q4106 Y-valve. The guide wire is clamped and it remains stationary. Then the second link mechanism and the third link mechanism are controlled to move back together until the catheter exits the guide wire. When replacing the guide wire, the guide wire is first inserted into the Q4106 Y-valve, and the third linkage and the second linkage are controlled to clamp the position of the guide wire near the head end. The first linkage clamps the Q4106 Y-valve and keeps the Q4106 Y-valve stationary. The third linkage and the second linkage are controlled to move the guide wire forward to enter the Y-valve Q4106. The second link mechanism moves to the outlet of the Y-valve and stops, then the third link mechanism is released and moves back 2 cm. Then the guide wire is clamped, the second link mechanism is released, and the guide wire is clamped after moving back 2 cm. Third hand mechanism and the second hand mechanism moves forward together until the second hand mechanism stops after moving to the Y-valve outlet, and the cycle stops before 10-12 groups of actions are completed. When the Q4102 guide wire is to be removed, the first hand mechanism is operated to clamp the Q4106 Y-valve and keep it in a fixed position. The third linkage is controlled to move to the outlet of the Q4106 Y-valve, grab the Q4102 guide wire and then move back until the head end of the Q4102 guide wire is completely released from the tail of the Q4106 Y-valve, at which time it checks that the guide wire has been completely removed.

[00100] The consumable delivery robot Q5, see FIG. 16, is used for automatic control and consumable delivery operation. The whole process is automated, labor resources are saved. The device as a whole has a compact structure, small dimensions, and is particularly adapted to the catheter chamber environment. The consumables delivery robot includes a base unit, a head, and an actuator.

[00101] With reference to FIG. 17, the actuator includes two lever assemblies symmetrically located on either side of the head. The arm assembly includes a Q5226 linear guide mounted on the top surface of the Q5237 U-shaped lift frame. The sliding block Q5230 of the lever is connected to the linear guide of the lever Q5226 in a sliding manner. The connector Q5224 is attached to the sliding block Q5230 and the rear arm Q5225 is attached to the connector Q5224. The front end of the rear arm Q5225 is rotatably connected to the middle arm coupling Q5229. The fifth servo motor Q5222 is located on the rear arm Q5225, and the power shaft of the fifth servo motor Q5222 is attached to the middle arm coupling Q5229. The connecting element of the middle lever Q5229 and the middle lever Q5228 are fixed. The front end of the middle arm Q5228 is rotatably connected to the front arm Q5231. The sixth servo motor Q5220 is mounted on the middle arm Q5228, and the power shaft of the sixth servo motor Q5220 is mounted on the front arm Q5231. The seventh servo motor Q5227 is fixed to the front end of the front arm Q5231, and the third electric handle Q5232 is fixed to the power shaft of the seventh servo motor Q5227. The Q5223 arm screw motor is mounted on the Q5237 U-shaped lift frame, and the shaft end screw of the Q5223 arm screw motor is in a threaded connection with a threaded hole in the side surface of the Q5224 coupling.

[00102] The Q5 consumables delivery robot is used to transport surgical consumables in interventional surgery. The base and lifting part are mainly used to realize the lifting and lifting of the robot. The base controls the movement of the entire robot and includes four groups of motor-driven wheel devices. The lifting part can raise or lower the height of the system head and arm. The head and actuator are mainly used to complete the system identification and hand control. The head is the viewing and output part of the system. Two cameras are provided for monitoring the external environment. The second touch screen is designed to transmit information to the user and receive instructions from the user, and is also a control element for the user. The head can move in all directions for better observation of the environment. The arm component is used for the final clamping of the object. The arm component can be pulled back and forth, and when it needs to be grabbed, the arm can turn around. After the clamp is completed, the hand retracts. Thanks to the hand component, the grip of the consumable and the opening of the package are achieved.

[00103] Advantageously, the consumables delivery robot Q5 can be used with an existing consumables management system. Also, it can only be equipped with one set of consumable management system, and communicate wirelessly via bluetooth with the consumable management system, thus achieving collaboration.

[00104] Quick Charge Robot Q6, see FIG. 14 and 15, quickly charges each robot in the operating room and ensures the continuous operation of each robot. The Q6 fast charging robot is combined with the charging box in the charging area for use, and the charging box is used to charge the battery and charge the robot. Adopted a mode where the fast charging robot automatically replaces the batteries for other robots. The whole battery replacement process is fast, and the battery replacement can be completed within one minute. After receiving a signal to replace the battery, the charging robot can automatically carry a fully charged battery, drive it to the robot in need of battery replacement, replace the robot's original battery with a new one. The original battery is then returned to the charging box outside the operating room and charged. The whole process can be automatically completed by the robot. The kit also includes a base block, a head block and a torso block.

[00105] The Q6100 charging box is located outside the operating room (charging area 9). The Q6103 touch screen for human-computer interaction is located on the Q6100 charging box. The control node is located in the body of the Q6100 charging box and is connected to the network in which the interventional surgical robot is located. A signal for which particular robot needs to change the battery can be received and the Q6103 touch screen receives and outputs the information and transmits it to the control node for data processing and storage. A transformer is installed in the case to ensure a stable and correct power supply. The outer part of the surgical robot is equipped with a plurality of Q6102 charging grids for charging, and ten charging grids can be arranged according to the requirements of the surgical robot for battery charging. Each Q6102 Charging Grid has a charging socket that is aligned with the Q6105 battery connector. The charging hole for the robot is located under the Q6102 charging grid. The Q6 fast charging robot is an automatic walking robot, is in communication with the control node, and is used to change the battery for the low battery robot in the interventional surgical robot by placing the replaced battery into the Q6102 charging grid hole for charging, and equipped with a Q6204 charging head combined with charging hole.

[00106] During charging, the charging hole on the bottom of the Q6105 battery is connected to the charging connector in the Q6100 charging box. An iron sheet is installed at the front end of the Q6105 battery, and the iron sheet can be attached and connected to the electromagnet in the charging box, so that the battery is fixed. When the Q6105 battery is put into the Q6102 charger cell, the system will automatically charge the battery until it is fully charged, automatically turn off the power and prompt on the touch screen, and at the same time send information to the Q6200 charging robot so that the robot can quickly find the battery ready. The system can support charging ten groups of batteries at the same time, which can effectively meet the battery replacement needs of many robots. When the charging robot is empty, it can be charged on the charging platform under the charging box. Two groups of charging stations are installed on the charging box, which allows you to simultaneously charge two fast-charging Q6 robots.

[00107] The trunk device is used to eject and retract the battery and lift the system. The trunk device can be pulled back and forth and up and down, and the battery is ejected when needed. After the action is completed, the position can be returned. The battery can be replaced with the overall cooperation of the system.

[00108] With reference to FIG. 15, specifically, the base plate Q6225 is included, the base plate Q6225 is located on the chassis of the base unit, and the upper part of the base plate Q6225 is provided with a housing grid Q62271 that can be moved with respect to the vertical direction. Containment grate Q62271 has two horizontally arranged containment grates. One of them is used to house a fully charged Q6105 battery for transportation, and the other is used to house a low Q6105 battery. The containment grille Q62271 is connected to the head gear at its top. One end of the Q6227 link plate, which is at a distance from the head mechanism, protrudes outward to form the Q6227 link plate. The clamping and pushing mechanism, which can be moved telescopically, is located on the Q6227 connection plate with respect to the two containment grids, and the clamping and pushing mechanism is connected to the drive.

[00109] The two sides of the containing grate Q62271 are fixed to the base plate Q6225. Two supports Q6226 are located on two sides of the containment grate Q62271. A Q6224 vertical linear guide is attached to the inner side surface of each Q6226 support. The first sliding block is connected to each Q6224 vertical linear guide in sliding mode, and the first sliding blocks on the two groups of supports Q6226 are attached to the outer wall of the enclosing grid Q62271. The two sides of the Q6227 connection plate respectively have a first threaded hole. The base plate Q6225 has two vertical screw-rod motor components Q6212 fixed to the base plate Q6225. The Q6228 screw rod is aligned with the first two threaded holes, and the Q6212 and Q6228 vertical screw rod motor components are electrically connected to the driver. Thus, the lift is completed by the interaction of the Q6212 and Q6228 vertical screw rod motor assemblies and the first threaded holes on the left side and right side of the Q6227 connection plate, respectively.

[00110] With reference to FIG. 15, the clamping and pushing mechanism includes two groups of Q6216 horizontal linear guides. The horizontal linear guides Q6216 are attached to the connection plate Q6227 and are positioned behind the containment grille Q62271. The second shutter is connected to each Q6216 horizontal linear guide in a sliding manner, the Q6211 follower is attached to each group of the second shutters, the second threaded hole is formed at the bottom of each Q6211 follower, and the electromagnet is located at the end of each Q6211 follower and is used to attach the iron sheets on the Q6105 battery. The connecting plate Q6227 is located on the outside of the two groups of horizontal linear guides Q6216, and two horizontal screw motor assemblies Q6229 are fixed on it, the lead screw of the horizontal screw motor assembly Q6229 is aligned with the second threaded hole, and the lead screw is electrically connected to the driver. Thus, the Q6229 horizontal screw motor assembly is aligned with the second threaded hole, the pusher is extended and retracted, and the electromagnet at the front end of the pusher is aligned with the iron sheet on the battery, and is used to clamp the battery.

[00111] Cleaning Robot Q7, see FIG. 18 and 19 mainly includes three parts, that is, a Q7100 base device, a Q7200 proboscis device, and a Q7300 head and arm component. The whole device can be moved in the catheter chamber of the interventional operation, cleaning of the surface in the catheter chamber, catheter bed and other objects is completed, and a clean and sterile environment of the catheter chamber is ensured.

[00112] The base device Q7100 is mainly used to realize the movement of the robot and complete the actions of cleaning the surface. The basic device Q7100 includes a moving device, a sweeping device Q7101 and a floor mopping device Q7102. The movement device is used to control the movement of the entire robot. The Q7101 sweeping device is used to complete the robot's sweeping and cleaning up debris and dust on the surface, and the Q7102 floor mopping device is used to complete the robot's floor mopping. The moving device, the Q7101 floor sweeping device, and the Q7102 floor mopping device are built into the Q7103 bottom plate, and the Q7104 vertical posts to support the Q7200 trunk device are respectively installed at the four corners of the upper surface of the Q7103 bottom plate.

[00113] The movement device includes four sets of wheel assemblies that have the same structure and are driven by a motor. One set of wheel assemblies is described below. The wheel assembly includes a Q7105 wheel, a Q7106 link plate, a Q7107 first servo motor, and a Q7108 second servo motor. The wheel connecting plate Q7106 is rectangular in shape, and the through hole of the wheel connecting plate is formed in the vertical plate at the bottom of the wheel connecting plate Q7106. The first servomotor Q7107 is fixed in the interior of the wheel coupling plate Q7106. The motor shaft of the first servo motor Q7107 penetrates through the through hole of the wheel connecting plate and connects with the wheel Q7105 on the outside of the lower vertical plate, and the first servo motor Q7107 controls the forward and reverse motion of the wheel Q7105. Each of the four corners of the bottom plate Q7103 respectively formed a mounting hole for the motor. The second servomotor Q7108 is fixed in the mounting hole in the corresponding position on the bottom plate Q7103. The motor shaft of the second servo motor Q7108 penetrates through the mounting hole to connect with the upper cross plate of the wheel connection plate Q7106, and the second servo motor Q7108 controls the steering of the wheel Q7105. The first servo motor Q7107 is matched with the second servo motor Q7108, and the four wheels of Q7105 move together, so that the multi-directional movement of the whole robot can be realized.

[00114] The Q7200 main device is mainly used to support and lift the robot, and includes the Q7210 base plate, as well as the control and power device, the floor sweeping control device, the floor mopping control device, and the lifting device, which are located on the Q7210 base plate. The bottom of the Q7210 base plate is connected to the top of the Q7104 upright. The control and power equipment provides power to the system and is used as the processing center for the control information of the entire system. The sweep control device is connected to the Q7101 sweeper and is used to control the height of the Q7101 sweeper and implement various system operation modes. The floor cleaning control device is connected with the Q7102 floor cleaning device, and is used to control the height of the Q7102 floor cleaning device and implement various system operation modes. The lifting device is connected to the Q7300 head and arm component and is used to raise or lower the height of the Q7300 head and arm component.

[00115] The Q7300 head and arm component is mainly used to complete the system identification and arm control, and includes the Q7301 head and arm component support, head unit, and arm component. The head unit and the arm component are located on the head and arm component support Q7301, the head and arm component support Q7301 is connected to the lifting device. The head unit is the observation and exit end of the system, and the arm component is used to complete the workpiece clamping. The head unit can move in all directions to achieve a better view of the environment. The arm component is used to complete the clamping of objects. The arm component can be stretched forward and backward, and when it needs to grab an object, the arm rotates. After clamping, the hand is retracted. The hand system can complete the cleaning of the products on the catheter bed.

[00116] The base unit and the head unit of each robot may have the same structure, so that the cost is reduced and the interchangeability of the robot parts is improved. The base can realize automatic walking, and 360 degrees of rotation, and each individual movement can be realized for the head or the head unit, and it is convenient to quickly observe the situation. Each robot is equipped with a communication module, so that the communication characteristics of the whole system are realized.

[00117] With regard to the device for introducing a contrast agent, an electric contrast agent injector disclosed in CN215608391U can be used.

[00118] The automatic transfer cart 8, which may be an existing transfer cart, may also be a transfer system with an automatic charging function, see FIG. 20-22. Automatic transfer cart 8 includes transfer cart 8100, auto-locking and automatic charging device (corresponding to the charging stand of transfer cart 81). The auto-lock and auto-charge device includes a sheath, an 8304 lock mechanism, an auto-charge mechanism, and an 8200 control box. The sheath is concealed and built into the underfloor 8101. The sheath cover 8316 can be opened to reveal a roomy cavity formed in the sheath. The automatic charging mechanism and locking mechanism 8304 are housed in a spacious cavity and are used to automatically extend and lock the cart for moving. The automatic charging mechanism is located in the containing cavity, and the charging plug 8311 of the automatic charging mechanism is connected to an external power supply, can be pulled into the containing cavity, and is used to charge the moving cart. The 8200 control cabinet is used for display, information storage, parameter setting and data processing, and is connected with the automatic charging mechanism and the 8304 fixing mechanism. The circuit can guarantee the charging of the automatic transfer cart, and then guarantee the normal operation of the automatic transfer cart.

[00119] The automatic movement device has a fastening part at the bottom for installing the automatic charging mechanism and the fastening mechanism 8304, and a charging head at the bottom for installing the charging plug 8311. The two poles of the charging plug 8311 are respectively connected to the current-carrying wire and the neutral wire of the power supply network , and are also provided with a limit switch to determine if the two plugs are connected.

[00120] In particular, the bottom of the auto mover has four fixing holes 8102 corresponding to four fastening mechanisms 8304. The charging head 8110 is located in the flip 8103 of the bottom of the auto mover. The 8103 flip opens down and the position sensor 8104 is mounted on its adjacent door. The 8104 Proximity Sensor communicates with the 8301 Proximity Sensor Base Station. After the locking pins of the 8304 fasteners are inserted into the fastening holes, the auto move device is firmly fixed so that the body of the device cannot move arbitrarily.

[00121] The position sensor 8104 is used to interface with the base station of the position sensor 8301 and supplement the positioning of the automatic movement device. After the auto move device receives the coordinates of the 8301 position sensor base station, the moveable body of the device is controlled to move so that the auto move device reaches a certain position.

[00122] The DSA device may be implemented using existing technologies.

[00123] In the description herein, references to the terms "one embodiment", "some implementations", "example", "specific example" or "multiple examples", etc. means that a particular feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, the various embodiments or examples described in this specification may be combined and combined by those skilled in the art. While embodiments of the disclosure have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the disclosure, and that variations, modifications, substitutions, and alterations may be made to the above embodiments by those skilled in the art within the limits of disclosure volume.

Claims (16)

1. An interventional automated operating system, characterized by the fact that it includes: a catheter chamber (1), wherein the catheter chamber (1) is an interventional surgery area which is provided with a catheter bed (101); a control chamber (2) adjacent to the catheter chamber and provided with a viewing window (201) located between them; robots, including an interventional surgery robot (Q1), a control robot (Q2), a puncture robot (Q3), and a catheter and guide replacement robot (Q4) aligned with each other and located in the catheter chamber (1); wherein the catheter bed (101) is provided with a DSA device (3) and a device for introducing a contrast agent (4); the monitoring device (5) is located in the control chamber (2) and is configured to communicate with the robots; a DSA device (3) and a contrast agent injector (4), and a monitoring device (5) configured to display information of each device and robot, real-time synchronous update, and monitor physicians; And the controller (6) is located in the control chamber (2) and is configured to be used for human-machine interaction between the doctor and the robot. 2. Interventional automated operating system according to claim 1, characterized in that it contains a chamber (7) for resting the patient, adjacent to the catheter chamber (1). 3. Interventional automated operating system according to claim 2, characterized in that the automatic cart (8) is movable between the ward (7) and the catheter chamber (1) to automatically move the patient. 4. Interventional automated operating system according to claim 3, characterized in that a charging post (81) is installed in the ward (7) for charging the automatic trolley (8). 5. Interventional automated operating system according to claim 1, characterized in that the robot further includes a consumables delivery robot (Q5); the consumables delivery robot (Q5) is configured to record information about the surgical consumables for delivering the surgical consumables to the catheter chamber (1), which is communicatively connected to the monitoring device (5) and the controller (6). 6. Interventional automated operating system according to claim 1, characterized in that the robot further includes a charging robot (Q6), wherein the charging robot (Q6) is communicatively connected to the robots for replacing depleted batteries. 7. Interventional automated operating system according to claim 6, characterized in that outside the catheter chamber (1) there is a charging zone (9) for charging a discharged battery, and in the charging zone (9) there is a place for charging the charging robot (Q6). 8. Interventional automated operating system according to any one of paragraphs. 1-7, characterized in that it further includes a cleaning robot (Q7) in communication with the controller (6), and the cleaning robot (Q7) is configured to automatically clean the catheter chamber (1) after the procedure is completed. 9. Interventional automated operating system according to any one of paragraphs. 1-7, characterized in that the monitoring device (5) includes screens (51) supported by supports (52). 10. Interventional automated operating system according to any one of paragraphs. 1-7, characterized in that the robot is made with the priority of powers, and the control robot (Q2) has the greatest powers, being the manager when performing the operation, and is configured to diagnose the image, instruct the robots for their coordinated work.