CN111588471A

CN111588471A - Robot for vascular intervention operation

Info

Publication number: CN111588471A
Application number: CN202010578954.6A
Authority: CN
Inventors: 刁燕; 杨韶勇; 李嘉晟; 罗华; 田兴国
Original assignee: Sichuan University
Current assignee: Sichuan University
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2020-08-28

Abstract

The invention discloses a vascular intervention operation robot, and belongs to the field of medical equipment. The blood vessel interventional operation replacing human hand includes five modules, including one propelling unit, one twisting unit, one guide wire guiding unit, one wire pressing unit and one bedside positioning unit. The twisting device drives a two-finger chuck coaxial with the large gear to clamp the guide wire catheter to rotate, and the two-finger chuck clamps the guide wire catheter by opening and closing. The guide wire guiding device drives the cam to adjust the distance of the guiding wheel, so that the guide wire guiding device is suitable for the diameter of the guide wire catheter. The wire pressing device is controlled by an electromagnet, and when the wire pressing device is electrified, the two movable fingers are closed to clamp the fixed position of the guide wire; when the power is off, the moving fingers are separated, and the guide wire can move freely. The bedside positioning device comprises an X-axis moving device and a Y-axis moving device, and the X-axis moving device drives the Y-axis moving device to move linearly through a ball screw. The Y-axis moving device drives the blood vessel interventional operation robot to move and position through the ball screw.

Description

Robot for vascular intervention operation

Technical Field

The invention relates to a minimally invasive vascular interventional surgical robot, and belongs to the field of medical equipment.

Background

The vascular interventional operation means that under the guidance of a Digital Subtraction Angiography (DSA), a doctor operates a catheter to move in a human blood vessel to treat a focus, so that the aims of embolizing a malformed blood vessel, dissolving thrombus, expanding a narrow blood vessel and the like are fulfilled. Compared with the traditional open operation, the method has the advantages of small wound, safety, effectiveness, quick postoperative recovery, few complications and the like. The main steps of the vascular intervention operation are to push a catheter to the lesion position and carry out corresponding diagnosis and treatment. Thus, the ability to deliver a catheter to a precise lesion location directly affects the quality of the overall procedure and the health of the patient. There are many drawbacks to manual intervention catheters: (1) doctors work in an X-ray environment, and the long-term operation has great harm to the body; (2) the existing operation method has strong skill, high risk and long operation training time of a specialist, and limits the wide application of the technology; (3) due to the complex operation and long operation time, the operation quality can be directly influenced by the factors such as doctor fatigue and unstable hand operation, and the survival quality of the patient is further influenced. These disadvantages limit the wide application of vascular interventional procedures, and the organic integration of robotics with vascular interventional techniques is an important approach to solve the above problems.

The invention designs an operation robot aiming at the vascular intervention operation, so as to reduce the burden of a doctor and the radiation received by the doctor in the operation process and improve the safety of the operation. The invention simulates the operation steps of pushing, pulling, twisting, pressing and the like of hands in the operation process through a mechanical structure, and is safer and more effective.

Disclosure of Invention

The invention provides a model of a vascular surgery robot, which comprises five functional modules: the device comprises a propelling device, a twisting device, a guide wire guiding device, a wire pressing device and a bedside positioning device. The propulsion device realizes the linear advance and retreat of the guide wire of the catheter; the twisting device realizes the rotation of the guide wire; the guiding device is used for guiding the advance and retreat of the guide wire of the catheter; the wire pressing device is used for fixing the position of the guide wire after the guide wire reaches a focus so as to facilitate the entry of subsequent interventional instruments such as a catheter, a balloon and a stent. All the functional modules coordinate together, so that the accurate guide wire and guide pipe intervention effect of the vascular intervention surgical robot can be effectively realized.

Preferably, the propelling device of the device is mainly realized by a ball screw, a linear guide rail and a motor. The last stepping motor of the device directly drives the ball screw to rotate, the stepping motor is fixed with the bottom shell of the main body through the rack, and the sliding table arranged on the screw is limited and guided through the linear guide rails on the two sides, so that the sliding table can move back and forth, and the guide wire can be driven to push and pull back and forth. The propelling device drives the ball screw to rotate to drive the sliding table to move by using the stepping motor, and the linear guide rail is used for limiting and guiding, so that the guide wire of the catheter can accurately move forwards and backwards in the linear direction.

Preferably, the twisting device is arranged on the sliding table, the twisting function is mainly realized through circumferential rotation of the pair of gear pairs, and the device comprises the pair of gear pairs, a driving motor and two finger chucks. Wherein the two-finger chuck fixes the guide wire of the catheter by opening and closing up and down. The twisting device can well realize the rotation movement of the guide wire of the catheter, and the twisting action operated by hands is highly restored.

Preferably, the guide wire guiding device is mounted on the sliding table, and the guiding device is positioned at the most front end of the interventional surgical robot. The device is mainly guided by a pair of rollers, and the center distance of the device is controlled by a cam which is directly controlled by a driving motor. The guide wire guiding device can accurately adjust and control the position of the guide wire, and the guide wire catheter can smoothly move linearly. And functions to support the guide wire catheter.

Before the saccule, the stent and other interventional devices enter an artery, a guide wire needs to be put in, and after the guide wire reaches a focus, the saccule and the stent are delivered to the focus through a micro-catheter. In order to ensure that the position of the tail end of the guide wire is unchanged, a doctor needs to move the guide wire and press the guide wire simultaneously in the manual operation to prevent the guide wire from axially moving along with the balloon catheter, the fine operation extremely tests the operation experience of the doctor, and the labor intensity of the doctor and the uncertainty of the operation are increased. Therefore, moving the catheter and pressing the wire during the operation are one of the keys for ensuring the success of the operation.

Preferably, the wire pressing device is designed by using two fingers of electromagnetic clamps, when the coil is electrified, the armature iron drives the wedge-shaped block to move upwards due to electromagnetic attraction, at the moment, the two clamping plates are closed, and the electromagnetic clamps are in a closed state; when the coil is powered off, the armature iron is not attracted by electromagnetic force any more, the reset spring pulls the wedge-shaped block to move downwards, the two clamping plates move towards two sides at the moment, and the electromagnetic clamp is in an 'on' state. Through the wire pressing device of design, can press the silk action to seal wire pipe in real time, ensure that the position that seal wire pipe reachd is accurate, liberated the manual silk action of pressing of doctor, avoid the long-time operation fatigue that the silk brought of pressing of doctor.

Preferably, the bedside positioning device of the invention is divided into two parts, namely an X-axis moving device and a Y-axis moving device, and the positioning device realizes the positioning of the guide wire delivery device and the patient through the movement of two degrees of freedom. The guide wire motion of different body positions of a patient can be adapted through the movement in two directions.

Has the advantages that:

1. the vascular intervention operation robot has 5 functional modules, and the functional modules coordinate together, so that the operation action of a doctor can be replaced, and a guide wire and a catheter can safely and accurately intervene in the corresponding position of a blood vessel.

2. The propelling device drives the ball screw to rotate by using the stepping motor to drive the sliding table to move, the sliding table pushes or extracts the guide wire and the guide pipe along the linear guide rail foreground or retreats, the guide wire and the guide pipe can advance and retreat along the linear direction, and the speed of pushing the guide wire and the guide pipe can be effectively adjusted by controlling the moving speed of the sliding table.

3. The twisting device drives the guide wire and the catheter to perform circumferential rotary motion through the motor, the rotary motion of the guide wire and the catheter can be well realized, the twisting action operated by hands is highly restored, the direction of the most front bent part of the guide wire and the catheter can be effectively adjusted by controlling the rotating angle, and the guide wire and the catheter enter a preset blood vessel when meeting a blood vessel bifurcation intersection.

4. The guide wire guiding device is mainly guided by a pair of guide wheels, the guide wheels are arranged on a linear sliding table of the lower end guide rail and can move along the horizontal direction of the sliding table, and the guide wire guiding device can be controlled to clamp guide wire catheters with different diameters by adjusting the center distance of the two guide wheels. The groove structure designed on the guide wheel can be well adapted to the circular structures of guide wires and catheters. The guide wheel is provided with a disposable wheel sleeve, and a new wheel sleeve can be replaced for each operation, so that the operation is safe and sanitary. The guide wire guiding device realizes smooth linear movement of the guide wire and the catheter. And the function of supporting the guide wire and the catheter is realized.

5. The wire pressing device can press wires of guide wires and catheters in real time, the position where the guide wires and the catheters reach is accurate, the manual wire pressing action of a doctor is liberated, the operation fatigue caused by long-time wire pressing of the doctor is avoided, the opening and closing of the electromagnetic clamp are realized along the linear motion of the two clamping plates in the design, the crossed roller guide rails are installed between the electromagnetic clamp and the cavity, the moving direction is limited, and the overall structure is more compact. The wedge-shaped block structure is designed to move up and down to push the two clamping plates to move horizontally, so that the transformation of the movement in the vertical direction is realized by the wedge-shaped block, and the symmetry of the movement of the two clamping plates is also ensured.

6. The bedside positioning device is divided into an X-axis moving device and a Y-axis moving device, and the position of the interventional operation robot can be adjusted through the movement in two directions so as to adapt to the interventional action of the guide wire catheters of different body positions of a patient.

Drawings

FIG. 1 is a schematic view of the overall structure of a robot for vascular intervention surgery

FIG. 2 is a detailed structural diagram of a robot propulsion device for vascular intervention surgery

FIG. 3 is a schematic view of the external structure of the rotation device of the vascular interventional surgical robot

FIG. 4 is a schematic view of the internal structure of the rotation device of the vascular interventional surgical robot

FIG. 5 is a schematic cross-sectional view of a twisting device of a vascular interventional surgical robot

FIG. 6 is a detailed structural diagram of a guide wire guiding device of a vascular intervention surgical robot

FIG. 7 is a schematic cross-sectional view of a robot wire pressing device for vascular intervention surgery

FIG. 8 is a schematic structural view of an X-axis moving device of a robot bedside positioning device for vascular intervention

FIG. 9 is a schematic structural view of a Y-axis moving device of a robot bedside positioning device for vascular intervention

Reference numerals:

1. a propulsion device; 2. a twisting device; 3. a guidewire directing device; 4. a wire pressing device; 5. a bedside positioning device; 1-1, a ball screw; 1-2, linear guide rail; 1-3, a coupler; 1-4, fixing a support by a screw rod; 1-5, a guide rail slide block; 1-6, a linear guide rail mounting seat; 1-7, a motor frame; 1-8, a screw nut sliding table; 1-9, driving a motor; 1-10, a main body shell; 2-1, an upper packaging shell; 2-2, a lower packaging shell; 2-3, installing a base; 2-4, a stepping motor; 2-5, pinion; 2-6, moving the two-finger chuck; 2-7, a two-finger chuck; 2-8, bearing end covers; 2-9, needle roller bearing; 2-10, angular contact ball bearings; 2-11, a sleeve; 2-12, flat bond; 2-13, a bull gear; 2-14, a hand wheel; 2-15, chuck shaft; 2-16, a large gear shaft; 3-1, driving a motor; 3-2, a guide device support; 3-3, linear guide rail; 3-4, a guide rail slide block; 3-5, supporting a guide wheel; 3-6, a guide wheel; 3-7, disposable wheel sleeve; 3-8, a camshaft; 3-9, a cam; 4-1, two clamping plates; 4-2, a cavity; 4-3, electromagnetic coils; 4-4, flat plate; 4-5, lower cavity; 4-6, rolling needles; 4-7, 4-8, cross roller guide rail; 4-9, wedge-shaped blocks; 4-10, a return spring; 5-1, bearing seats; 5-2, guide rails; 5-3, a ball screw; 5-4, a nut slider; 5-5, a baffle; 5-6, driving a motor; 5-7, connecting frames of XY axis moving devices; 5-8, fixing seats; 5-9, a screw rod; 5-10 parts of nut sliding block; 5-11, a hand wheel;

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

example 1:

the installation positions of the modules of the vascular interventional surgical robot are described with reference to fig. 1: the interventional operation robot delivery device consists of a pushing device 1, a twisting device 2, a guide wire guiding device 3, a wire pressing device 4 and a bedside positioning device 5. The thread twisting device is arranged on a sliding table of the propelling device, the thread guiding device is arranged at the foremost end of a sliding guide rail of the propelling device and is positioned at the same height with the thread twisting device, the thread pressing device is positioned at the side surface of the same height with the thread guiding device and the thread twisting device, and one end of the bedside positioning device is connected with one end of a working part of the surgical robot and is connected with the side surface of the operating table. The guide wire catheter can be effectively inserted into the blood vessel through the coordination of all the functional modules.

Example 2:

embodiment 2 is a description of the structure of the propulsion device with reference to fig. 2, in addition to embodiment 1: the driving motor 1-9 rotates forwards to drive the coupler 1-3 to rotate, the coupler 1-3 drives the ball screw 1-1 to rotate, the screw 1-1 rotates to drive the screw nut, the sliding block 1-5 and the sliding table 1-8 to move forwards to realize the action of guide wire pushing, the sliding table 1-8 is installed on the sliding block 1-5 through screw connection, and the sliding block 1-5 is matched with the linear guide rail 1-2 to ensure that the sliding table 1-8 moves linearly; the driving motor 1-9 rotates reversely, and the sliding table 1-8 moves backwards to realize the action of pulling back the guide wire. The propelling device drives the ball screw to rotate by using the stepping motor to drive the sliding table to move, and the linear guide rail is used for circumferential limiting and axial guiding, so that the guide wire of the catheter can accurately advance and retreat along the linear direction.

Example 3:

embodiment 3 is based on embodiment 2, and fig. 3 and 4 illustrate the installation position and the external structure of the twisting device: the twisting device 2 is connected with a sliding table 1-8 of the propelling device, a connecting base is arranged on the sliding table 1-8 by using a long bolt, and an upper packaging shell 2-1 and a lower packaging shell 2-2 are both of plastic structures and are connected through bayonets. The twisting device 2 is arranged on the sliding tables 1-8 and can synchronously move back and forth with the propelling device in space.

Example 4:

in example 4, the structure of the twisting apparatus is described with reference to fig. 5, in addition to example 3: a stepping motor 2-4 drives a pinion 2-5 to rotate, the pinion 2-5 is externally meshed with a gearwheel 2-13, the gearwheel 2-13 is matched with a gearwheel shaft 2-16 through a flat key 1-12, a chuck shaft 2-15 penetrates through the gearwheel shaft 2-16, two needle roller bearings 2-9 are mounted in the two shafts to ensure the coaxiality of the two shafts, a hand wheel 2-14 is used for controlling a front-end two-finger chuck 2-7, the two-finger chuck 2-7 rotates to enable the two-finger chucks to move to enable fingers 2-6 to open and close up and down for clamping and loosening, a bearing end cover 2-8 and a sleeve 2-11 are used for limiting a shaft system, and two pairs of angular contact ball bearings 2-10 are. The twisting device can well realize the rotation movement of the guide wire of the catheter, and the twisting action operated by hands is highly restored.

Example 5

Example 5 on the basis of example 4, fig. 6 illustrates the detailed structure of the guide wire guiding device: the guiding device 3 is arranged at the foremost end of the vascular interventional operation robot and is positioned at the same height with the twisting device. The guide wire catheter can be effectively guided to move linearly smoothly, and the guide wire catheter can be supported. The driving motor 3-1 is connected with the cam 3-9 through the cam shaft 3-8 to control the rotation of the cam. The linear guide rail 3-3 is arranged on the guide device support 3-2, the guide rail sliding block 3-4 is matched with the linear guide rail 3-3, the guide wheel support 3-5 is connected with the guide rail sliding block 3-4, and the pair of guide wheels 3-6 is assembled with the guide wheel support 3-5; the lower end extending part of the guide wheel support 3-5 is tangent to the cam 3-9, and when the cam 3-9 rotates, the guide wheel support 3-5 moves linearly along the linear guide rail 3-3 to adjust the distance; the disposable wheel sleeve 3-7 is arranged outside the guide wheel 3-6 to ensure cleanness and sterility. The cam structure through design can control the center distance, and its center distance control range is 0.3mm to 3mm, and two gyro wheels are installed on linear guide, guarantee that it only moves along linear direction.

Example 6

Example 6 is based on example 5, and fig. 7 illustrates the detailed structure of the wire pressing device: the wire pressing device 4 is installed at the front end of the vascular interventional surgical robot and laterally behind the guide wire guiding device 3. After the guide wire reaches the focus, the wire pressing device 4 can effectively ensure that the tail end of the guide wire is unchanged. The operation that doctors press the wires while moving the guide wires in manual operation is solved, the fatigue caused by excessive operation of the doctors is avoided, and the success of the operation is ensured. The two clamping plates 4-1 move along a straight line to realize the opening and closing of the electromagnetic clamp, and crossed roller guide rails 4-7 and 4-8 are arranged between the electromagnetic clamp and the cavity 4-2. The wedge-shaped block 4-9 moves up and down along the Z axis to drive the two clamping plates 4-1 to open and close towards two sides respectively, and the wedge-shaped block 4-9 realizes the conversion of the movement in the vertical direction and ensures the symmetry of the movement of the two clamping plates. A flat plate 4-4 is arranged at the bottom end of the wedge-shaped block 4-9, armatures are respectively arranged on two sides of the flat plate 4-4, an electromagnetic coil 4-3 is arranged at the corresponding position of the lower cavity 4-5, and a return spring 4-10 is connected at the corresponding position of the other side of the flat plate. When the coil is electrified, the armature drives the wedge-shaped block 4-9 to move upwards due to electromagnetic attraction, at the moment, the two clamping plates 4-1 are closed, and the electromagnetic clamp is in a closed state; when the coil is powered off, the armature is not attracted by electromagnetic force any more, the reset spring 4-10 pulls the wedge-shaped block 4-9 to move downwards, the two clamping plates 4-1 move towards two sides at the moment, and the electromagnetic clamp is in an 'on' state. In the design, the two clamping plates move linearly to realize the electromagnetic clamping and the opening and the closing, and a crossed roller guide rail is arranged between the clamping plates and the cavity, so that the movement direction is limited, and the whole structure is more compact.

Example 7

Embodiment 7 is a description of the structure of the X-axis moving device in the bedside positioning device, in addition to embodiment 6, with reference to fig. 8: the driving motor 5-6 drives the ball screw 5-3 to rotate, the screw 5-3 rotates to drive the nut slider 5-4 to move back and forth, the rear end of the screw is connected with the driving motor 5-6 through a coupler, the front end of the screw is connected with the bearing seat 5-1 to fix and support, and the baffle 5-5 is installed at the upper end of the screw and used for protecting a transmission structure. The device can be moved smoothly in the X direction to a suitable position by the drive of the drive motors 5-6.

Example 8

Embodiment 8 is a description of the structure of the Y-axis moving device in the bedside positioning device, in addition to embodiment 7, with reference to fig. 9: the handwheel 5-11 rotates to drive the screw rod 5-9 to rotate, the screw rod 5-9 rotates to drive the nut slider 5-10 to move back and forth, the rear end of the screw rod is directly connected with the handwheel 5-11, the front end of the screw rod is connected with the fixed seat 5-8 for fixing and supporting, and the fixed seat 5-8 is arranged on the XY axis moving device connecting frame 5-7. By turning the handwheels 5-11, the device can be moved smoothly in the Y direction to the appropriate position.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. A vascular interventional surgical robot, characterized by: the device comprises five functional modules, namely a propelling device, a twisting device, a guide wire guiding device, a wire pressing device and a bedside positioning device; the thread twisting device is arranged on a sliding table of the propelling device, the thread guiding device is arranged at the foremost end of a sliding guide rail of the propelling device and is positioned at the same height with the thread twisting device, the thread pressing device is positioned at the side surface of the same height with the thread guiding device and the thread twisting device, and one end of the bedside positioning device is connected with the other end of the working part of the surgical robot and is connected with the side surface of the operating table.

2. The robotic surgical advancing device for vascular intervention according to claim 1, wherein the advancing device mainly comprises: the device comprises four parts, namely a ball screw, a linear guide rail, a stepping motor and a sliding table; the driving motors (1-9) are fixedly connected onto the motor frames (1-7) through screws, the motor frames (1-7) are fixedly connected onto the bottom surface of the main body bottom (1-10) through long bolts, one ends of the couplers (1-3) are connected with output shafts of the driving motors (1-9), the other ends of the couplers (1-3) are connected with ball screws (1-1), two ends of each ball screw (1-1) are sleeved on screw rod fixing supports (1-4) with bearing structures, the screw rod fixing supports (1-4) are fixedly arranged on the bottom surface of the main body shell (1-10) through long bolts, screw rod nut sliding tables (1-8) are fixedly arranged on guide rail sliding blocks (1-5) through screws, and the guide rail sliding blocks (1-5) are matched with linear guide rails (1-2) to slide.

3. The robotic rotation device for vascular interventional procedures as defined in claim 1, wherein: the twisting device comprises a rotating device and a guide wire clamping device; the stepping motor (2-4) drives the pinion (2-5) to rotate, the pinion (2-5) is externally meshed with the bull gear (2-13), the bull gear (2-13) is installed on a bull gear shaft (2-16) in a matched and connected mode through a flat key (2-12), the chuck shaft (2-15) penetrates through the bull gear shaft (2-16), two needle bearings (2-9) are installed in the two shafts to guarantee coaxiality of the two needle bearings, the hand wheels (2-14) are installed at the tail ends of the chuck shaft (2-15) in a clearance fit mode and used for controlling the front two-finger chucks (2-7), the two-finger chucks (2-7) rotate to enable the two-finger chucks to move fingers (2-6) to be opened and closed up and down to clamp and release, and the bearing end covers (2-8) and the sleeves (2-11) are used, two pairs of angular contact ball bearings (2-10) are used for supporting and bearing force.

4. A vascular interventional surgical robotic guidewire guiding device according to claim 1, characterized in that: the guiding device is positioned at the most front end of the interventional operation robot; the driving motor (3-1) is connected with the cam (3-9) through the cam shaft (3-8); the linear guide rail (3-3) is arranged on the guide device support (3-2), the guide rail sliding block (3-4) is matched with the linear guide rail (3-3), the guide wheel support (3-2) is connected with the guide rail sliding block (3-4), and the pair of guide wheels (3-6) is assembled with the guide wheel support (3-5); the lower end extending part of the guide wheel support (3-5) is tangent to the cam (3-9), and when the cam (3-9) rotates, the guide wheel support (3-2) moves linearly along the linear guide rail (3-3) to adjust the distance; the disposable wheel sleeve (3-7) is sleeved outside the guide wheel (3-6).

5. The vascular intervention surgical robot wire pressing device of claim 1, wherein: the main structure of the wire pressing device comprises two finger clamps, a wedge block and an electromagnet; the two finger clamps are controlled by electromagnets, and the two moving fingers are connected with the electromagnets through wedge-shaped blocks for transmission; the opening and closing of the electromagnetic clamp are realized by the two clamping plates (4-1) along the linear motion, cross roller guide rails (4-7, 4-8) are arranged between the electromagnetic clamp and the cavity (4-2), the wedge-shaped block (4-9) moves up and down along the Z axis to drive the two clamping plates (4-1) to open and close towards two sides respectively, the bottom end of the wedge-shaped block (4-9) is provided with a flat plate (4-4), armatures are arranged on two sides of the flat plate (4-4) respectively, an electromagnetic coil (4-3) is arranged at the corresponding position of the lower cavity (4-5), a reset spring (4-10) is connected at the corresponding position of the other side of the flat plate (4-4), when the coil is electrified, the armatures drive the wedge-9) to move upwards due to the electromagnetic attraction, at the moment, the two, the electromagnetic clamp is in an 'on' state; when the coil is powered off, the armature is not attracted by electromagnetic force any more, the reset spring (4-10) pulls the wedge-shaped block (4-9) to move downwards, the two clamping plates (4-1) move towards two sides at the moment, and the electromagnetic clamp is in an 'on' state.

6. The robotic bedside vascular interventional surgery positioning device of claim 1, wherein: the bedside positioning device is divided into an X-axis moving device and a Y-axis moving device; the device is arranged at the edge of an interventional operation table, a driving motor (5-6) drives a ball screw (5-3) to rotate, the screw (5-3) rotates to drive a nut slider (5-4) to move back and forth, the rear end of the screw is connected with the driving motor (5-6) through a coupler, the front end of the screw is connected with a bearing seat (5-1) to fix and support, a baffle (5-5) is arranged at the upper end of the screw, and the device can realize stable movement in the X direction to a proper position under the driving of the driving motor (5-6); the hand wheel (5-11) rotates to drive the ball screw (5-9) to rotate, the screw (5-9) rotates to drive the nut slider (5-10) to move back and forth, the rear end of the screw is directly connected with the hand wheel (5-11), the front end of the screw is connected with the fixing seat (5-8) to be fixed and supported, the fixing seat (5-8) is installed on the XY axis moving device connecting frame (5-7) through bolt and nut connection, and the device can stably move to a proper position in the Y direction by rotating the hand wheel (5-11).