CN112190335A - Intervene supplementary operation robot - Google Patents

Intervene supplementary operation robot Download PDF

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Publication number
CN112190335A
CN112190335A CN202011141414.8A CN202011141414A CN112190335A CN 112190335 A CN112190335 A CN 112190335A CN 202011141414 A CN202011141414 A CN 202011141414A CN 112190335 A CN112190335 A CN 112190335A
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CN
China
Prior art keywords
pressure pump
injector
stepping motor
lead screw
fixed
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011141414.8A
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Chinese (zh)
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CN112190335B (en
Inventor
黄韬
解菁
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Beijing Wemed Medical Equipment Co Ltd
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Beijing Wemed Medical Equipment Co Ltd
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Priority to CN202011141414.8A priority Critical patent/CN112190335B/en
Publication of CN112190335A publication Critical patent/CN112190335A/en
Application granted granted Critical
Publication of CN112190335B publication Critical patent/CN112190335B/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/02—Holding devices, e.g. on the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/142—Pressure infusion, e.g. using pumps
    • A61M5/14212—Pumping with an aspiration and an expulsion action
    • A61M5/14216—Reciprocating piston type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/02—Holding devices, e.g. on the body
    • A61M2025/028—Holding devices, e.g. on the body having a mainly rigid support structure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/10—General characteristics of the apparatus with powered movement mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2210/00—Anatomical parts of the body
    • A61M2210/12—Blood circulatory system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/007—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests for contrast media

Abstract

The invention discloses an intervention auxiliary operation robot, comprising: the connecting shell is used for being connected with the interventional robot manipulator positioned outside the connecting shell and is used as a reference surface for supporting and fixing other parts of the interventional auxiliary surgical robot; the pressure pump end is used for fixing the pressure pump and performing pressurization and depressurization operation on the pressure pump; the injector end is used for fixing the injector and pushing the injector to inject corresponding medicament into the blood vessel; the clamping end is used for fixing the guide wire, so that the position of the guide wire is kept still in necessary links in the operation. The whole device of the invention is matched with general consumables, namely matched with consumables of a medical pressure pump, an interventional contrast agent injector and a guide wire to complete the operation together. The doctor can control the push rod of the auxiliary robot to inject the contrast medium, pressurize and decompress the pressure pump, and assist in clamping the guide wire and the like through the operation handle outside the operating room.

Description

Intervene supplementary operation robot
Technical Field
The invention relates to the technical field of minimally invasive vascular interventional operations, in particular to a control technology for auxiliary operation operations such as contrast agent injection, pressure pump injection and the like in an interventional operation, and more particularly relates to an interventional auxiliary operation robot.
Background
Nearly 3000 million people die of cardiovascular and cerebrovascular diseases every year around 30% of all diseases, wherein the number of people suffering from cardiovascular and cerebrovascular diseases in China is nearly 3 hundred million. Cardiovascular and cerebrovascular diseases become one of three main causes of human disease death, and seriously affect national health and normal life of people.
The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.
However, the interventional radiography operation has the following 2 problems that firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to occur, and the life risk of a patient is caused; second, the risk of prolonged ionizing radiation injury can greatly increase the risk of physicians developing leukemia, cancer and acute cataracts. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected.
In operation, in addition to threading a catheter guide wire, a contrast medium is often injected to better observe the position of the guide wire in a blood vessel; a pressure pump is also required to hold open the stent or balloon at the lesion, etc. These processes are performed during DSA operation, that is, in an environment with X-rays. Therefore, there is a need for a device that allows a surgeon to perform these procedures outside of the operating room.
Meanwhile, the auxiliary operation of the interventional operation robot has the following problems in China: (1) an auxiliary operating device which is completely matched with the interventional robot is not arranged; (2) the device can not be used in linkage and cooperation with a surgical robot to establish corresponding safety protection measures; (3) remote control cannot be carried out, and no feedback information exists; (4) there is no device directly associated with the general consumables (contrast injector and interventional pressure pump).
Therefore, how to effectively solve the above problems is a problem that needs to be overcome by those skilled in the art.
Disclosure of Invention
The invention provides an interventional auxiliary surgical robot, which is used for controlling injection of contrast media, pressurizing of a pressure pump and auxiliary clamping of a guide wire in an interventional radiography or therapeutic operation, and the specific technical scheme of the interventional auxiliary surgical robot is as follows:
an intervention auxiliary operation robot is used for being matched with consumables such as a pressure pump, a syringe and a guide wire; the intervention-assisted surgical robot includes:
the surgical robot comprises a connecting shell, a circuit board and a plurality of switch buttons, wherein the connecting shell is used for being connected with an interventional robot manipulator positioned outside the connecting shell and used as a reference surface to support and fix other components of the interventional auxiliary surgical robot;
the pressure pump end is used for fixing the pressure pump and performing pressurization and decompression operation on the pressure pump, and comprises a pressure pump pressurization and depressurization mechanism, a pressure pump clamping mechanism and a camera shooting mechanism which are arranged on the connecting shell, wherein the pressure pump pressurization and depressurization mechanism, the pressure pump clamping mechanism and the camera shooting mechanism are all electrically connected with the circuit board, and the camera shooting mechanism is used for determining the clamping degree of the pressure pump clamping mechanism on the pressure pump;
the injector end is used for fixing an injector and pushing the injector to inject corresponding medicament into a blood vessel, and comprises an injector pushing mechanism and an injector clamping mechanism which are arranged on the connecting shell, and the injector pushing mechanism and the injector clamping mechanism are electrically connected with the circuit board;
the clamping end is used for fixing the guide wire to keep the position of the guide wire still in necessary links in an operation and comprises a guide wire clamping mechanism arranged on the connecting shell, and the guide wire clamping mechanism is electrically connected with the circuit board.
The invention relates to an interventional auxiliary surgical robot device, which is mainly used for helping a doctor to finish operations such as contrast medium injection, guide wire grasping, pressure pump pressing and the like outside an operation room and is divided into 4 parts including a connecting shell, a pressure pump end, an injector end and a clamping end. The whole device is matched with general consumables, namely a medical pressure pump, an interventional contrast agent injector and a guide wire to complete the operation together. The doctor can control the push rod of the auxiliary robot to inject the contrast medium, pressurize and decompress the pressure pump, and assist in clamping the guide wire and the like through the operation handle outside the operating room.
By adopting the technical scheme, the invention solves the problem that in the existing interventional radiography operation, when a contrast agent and a pressure pump are applied, doctors and nurses need to be beside a catheter bed, so that the problem of line feeding is solved, and the X-ray intake of the doctors is reduced; the problem of controlling the operation of the existing interventional pressure pump and the existing radiography injector by a machine is solved; and the problem that a doctor needs to perform holding operation on the guide wire in the operation process is also solved.
The mechanical structure adopted by the device can be suitable for most pressure pumps and contrast injectors in the market. Meanwhile, the device can also form a linkage system with the interventional robot, and when the propelling part of the interventional robot detects danger, the pressure pump and the contrast agent injection can be stopped at the first time, so that the safety of a patient is protected; the invention can also be remotely controlled by an external control and display device of the interventional robot.
On the basis of the technical scheme, the invention can be improved as follows:
preferably, the pressure pump pressure and pressure reducing mechanism comprises a first linear guide rail and a first motor fixing support which are fixed on the connecting shell, a first connecting piece is arranged above the first linear guide rail, the pressurizing direction of the pressure pump is defined as the front, a first pressure sensor is fixed at the front end of the first connecting piece, a first contact plate is fixed at the front end of the first pressure sensor, and the front end of the first contact plate can abut against a handle of the pressure pump; a first sliding block is mounted on the first linear guide rail in a matched mode, and the top of the first sliding block is connected with the first connecting piece; a travel switch and a double-shaft steering engine are fixed on one of the left side and the right side of the first connecting piece, the travel switch is used for detecting whether a double connecting rod on the double-shaft steering engine contacts a handle of the pressure pump, and the double connecting rod on the double-shaft steering engine can rotate to clamp the handle of the pressure pump; and a first screw nut is fixed on the other one of the left side and the right side of the first connecting piece, the first screw nut is matched and installed with an output shaft of a first screw rod stepping motor to drive the first connecting piece to move back and forth, and the first screw rod stepping motor is installed on the first motor fixing support.
In the pressure pump pressure and pressure increasing and reducing mechanism, a double-shaft steering engine is arranged at the tail end of the pressure pump and used for finishing the function of pinching the pressure pump, so that the pressure pump can move back and forth; the travel switch is used for determining whether a double connecting rod on the double-shaft steering engine contacts a handle of the pressure pump before the double-shaft steering engine pinches the pressure pump; a first lead screw stepping motor in the pressure increasing and reducing mechanism of the pressure pump drives a first connecting piece to move along a first linear guide rail so as to complete the pushing and withdrawing actions of the pressure pump; the first pressure sensor is used for detecting the pressure during pushing.
Preferably, the pressure pump clamping mechanism comprises two first bases fixed on the connecting shell, a second motor fixing support and a camera support, the two first bases are fixed on the connecting shell in a front-back side-by-side mode and close to the front end of the pressure pump, and the second motor fixing support is located between the two first bases; a second lead screw stepping motor is mounted on the second motor fixing support, a first connecting plate is arranged on the other side of the pressure pump opposite to the second lead screw stepping motor, a second nut is fixed on the first connecting plate, and the second nut is mounted in a matched manner with an output shaft of the second lead screw stepping motor; a vertical plate is arranged on one side, close to the second lead screw stepping motor, of the first base, a first manual jackscrew is installed on the side face, away from the pressure pump, of the vertical plate, a first sliding plate is installed on the side face, facing the pressure pump, of one side, and a first medical silica gel pad is attached to the first sliding plate; two second sliding plates are mounted on the side face, facing the pressure pump, of the first connecting plate, second pressure sensors are fixed on the second sliding plates, one ends, facing the pressure pump, of the second pressure sensors are connected with second contact plates, second medical silica gel pads are attached to the second contact plates, and the second medical silica gel pads correspond to the first medical silica gel pads in position; the camera support is provided with a camera, and the camera is positioned above the pressure pump and aligned with a dial plate of a pressure gauge on the pressure pump.
A second lead screw stepping motor in the pressure pump clamping mechanism drives the first connecting plate to act, so that the clamping and the opening of the hand grip can be realized; under the action of the second pressure sensor, the clamping force can be sensed, so that the clamping of the pressure pump can be ensured; the first medical silica gel pad and the second medical silica gel pad are arranged on the hand grip, and soft materials are adopted, so that various types of pressure pumps can be used; in addition, still be provided with this manual adjusting device of first manual jackscrew on the tongs, can finely tune clamping-force.
The invention is also provided with a camera above the pressure pump for observing and recording the reading of the pressure gauge on the pressure pump.
Preferably, the first lead screw stepping motor, the second lead screw stepping motor, the first pressure sensor, the second pressure sensor, the travel switch, the double-shaft steering engine and the camera are all electrically connected with the circuit board; the switch button comprises a first switch button and a second switch button, the first switch button is used for controlling the first lead screw stepping motor, and the second switch button is used for controlling the second lead screw stepping motor.
Preferably, the injector pushing mechanism comprises a second linear guide rail fixed on the connecting shell and a third motor fixing support, a second connecting piece is arranged above the second linear guide rail, the injection direction of the injector is defined as the front, a third pressure sensor is fixed at the front end of the second connecting piece, a third contact plate is fixed at the front end of the third pressure sensor, and the front end of the third contact plate can be abutted against a push rod of the injector; a second sliding block is mounted on the second linear guide rail in a matched mode, and the top of the second sliding block is connected with the second connecting piece; and a third screw nut is fixed on one of the left side and the right side of the second connecting piece, the third screw nut is matched and installed with an output shaft of a third screw rod stepping motor to drive the second connecting piece to move back and forth, and the third screw rod stepping motor is installed on the third motor fixing support.
A third screw rod stepping motor in the injector pushing mechanism drives a second connecting piece to move along a second linear guide rail so as to complete the pushing and withdrawing actions of a push plate at the tail part of the injector, thereby realizing the action of pushing the contrast agent to a human body; the third pressure sensor is used for informing the machine that the tail push plate of the injector is attached.
Preferably, the syringe clamping mechanism comprises two second bases and a fourth motor fixing support, the two second bases are fixed on the connecting shell in a front-back side-by-side mode and are close to the front end of the syringe, and the fourth motor fixing support is located between the two second bases; a fourth lead screw stepping motor is mounted on the fourth motor fixing support, a second connecting plate is arranged on the other side of the injector opposite to the fourth lead screw stepping motor, a fourth nut is fixed on the second connecting plate, and the fourth nut is mounted in a matched manner with an output shaft of the fourth lead screw stepping motor; a vertical plate is arranged on one side, close to the fourth lead screw stepping motor, of the second base, a second manual jackscrew is installed on the side face, away from the injector, of the vertical plate, a third sliding plate is installed on the side face, facing the injector, of one side, and a third medical silica gel pad is attached to the third sliding plate; two fourth sliding plates are installed on the side face, facing the injector, of one side of the second connecting plate, a fourth pressure sensor is fixed on each fourth sliding plate, faces towards one end of the injector, a fourth contact plate is connected to one end of the injector, a fourth medical silica gel pad is attached to each fourth contact plate, and the fourth medical silica gel pad corresponds to the third medical silica gel pad in position.
A fourth lead screw stepping motor in the injector clamping mechanism drives the second connecting plate to act, so that the gripper can be clamped and opened; under the action of the fourth pressure sensor, the clamping force can be sensed, so that the clamping of the injector can be guaranteed; the third medical silica gel pad and the fourth medical silica gel pad are arranged on the hand grip, and soft materials are adopted, so that various types of pressure pumps can be used; in addition, the gripper is also provided with a manual adjusting device of a second manual jackscrew, and the clamping force can be finely adjusted.
Preferably, the third lead screw stepping motor, the fourth lead screw stepping motor, the third pressure sensor and the fourth pressure sensor are electrically connected to the circuit board; the switch button comprises a third switch button and a fourth switch button, the third switch button is used for controlling the third lead screw stepping motor, and the fourth switch button is used for controlling the fourth lead screw stepping motor.
Preferably, the guide wire clamping mechanism comprises a third base fixed on the connecting shell, a third linear guide rail and a fifth motor fixing bracket, the third base is a right-angle piece, a fifth medical silica gel pad is pasted on the side surface of one side of the vertical plate of the right-angle piece facing the guide wire, the other side of the guide wire opposite to the third base is provided with the third linear guide rail, a third sliding block is installed on the third linear guide rail in a matching way, the top of the third sliding block is connected with a third connecting piece, the side surface of one side of the third connecting piece facing the guide wire is provided with a fifth pressure sensor, one end, facing the guide wire, of the fifth pressure sensor is connected with a fifth contact plate, a sixth medical silica gel pad is attached to the fifth contact plate, and the fifth medical silica gel pad corresponds to the sixth medical silica gel pad in position; and defining the feeding direction of the guide wire as the front, wherein a fifth screw is fixed on one of the front side and the rear side of the third connecting piece, the fifth screw is matched with an output shaft of a fifth screw stepping motor to drive the third connecting piece to move left and right, and the fifth screw stepping motor is installed on the fifth motor fixing support.
A fifth lead screw stepping motor in the guide wire clamping mechanism drives a third connecting piece to act, so that the clamping and the opening of the gripper can be realized; under the action of the fifth pressure sensor, the clamping force can be sensed, so that the guide wire can be ensured to be clamped; the grip is provided with a fifth medical silica gel pad and a sixth medical silica gel pad, so that the clamping guide wire can be ensured not to slip.
Preferably, the fifth lead screw stepping motor and the fifth pressure sensor are both electrically connected with the circuit board; the switch button comprises a fifth switch button, and the fifth switch button is used for controlling the fifth lead screw stepping motor.
Preferably, a shell fixing part for connecting an external interventional robot mechanical arm is fixed on the outer side of the connecting shell; the connecting shell is also provided with a plurality of indicating lamps which respectively correspondingly prompt the working states of the pressure pump clamping mechanism, the injector clamping mechanism and the guide wire clamping mechanism, so that the observation is convenient.
The intervention auxiliary operation robot has the following beneficial effects:
1. the device can be matched with a general radiography injector and an interventional pressure pump on the market, and has wide application range.
2. The device is convenient to mount and dismount, can be completed within 3 seconds without tools, and is convenient to popularize and use in clinic. Meanwhile, the indicator light is arranged, so that the working state of a doctor can be fed back in time, and the operation safety is ensured.
3. The device has the advantages of simple integral structure, good stability, modular structural design, compact structure, small volume and suitability for operation environment.
4. The device can automatically clamp and loosen the syringe and the pressure pump through the force transducer, thereby facilitating the operation of doctors. Meanwhile, the clamping force can be manually adjusted according to the implementation condition.
5. The device can be accurately controlled by assembling a plurality of sensors, and can be matched with a propelling mechanism of a robot to realize a protection mechanism that abnormal stress conditions are found in the propelling mechanism and a pressure pump and an imaging injector can be interrupted in real time.
6. The device can set the pushing speed of the pressure pump at will according to actual needs, and the pressure reading of the pressure pump can be observed at any time by installing the camera. The propelling speed and the propelling quantity of the contrast injector can be set at will.
7. The device is provided with the guide wire gripping end, so that the operation step that a doctor needs to be beside a catheter bed can be omitted, and the use is convenient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of an interventional assisted surgical robot (with consumables) in its entirety;
FIG. 2 is a schematic view of an interventional assisted surgical robot (without consumables) in its entirety;
FIG. 3 is a partial schematic view of a pressure pump end of an interventional assisted surgery robot;
FIG. 4 is an exploded view of the pressure pump end of the interventional assisted surgical robot;
FIG. 5 is a partial schematic view of an injector end of an interventional assisted surgery robot;
FIG. 6 is an exploded view of the injector end of the interventional assisted surgery robot;
FIG. 7 is a partial schematic view of a clamping end of an interventional assisted surgical robot;
FIG. 8 is an exploded view of the gripping end of the interventional assisted surgical robot;
wherein, in the figure,
100-connecting the outer shell to the outer shell,
101-circuit board, 102-housing fixture, 103-indicator light, 104-first switch button, 105-second switch button, 106-third switch button, 107-fourth switch button, 108-fifth switch button;
200-the end of the pressure pump,
201-a first linear guide rail, 202-a first motor fixing support, 203-a first connecting piece, 204-a first pressure sensor, 205-a first contact plate, 206-a first sliding block, 207-a travel switch, 208-a double-shaft steering engine, 209-a first screw nut, 210-a first screw rod stepping motor, 211-a first base, 212-a second motor fixing support, 213-a second screw rod stepping motor, 214-a first connecting plate, 215-a second screw nut, 216-a first manual jackscrew, 217-a first sliding plate, 218-a first medical silica gel pad, 219-a second sliding plate, 220-a second pressure sensor, 221-a second contact plate, 222-a second medical silica gel pad, 223-a camera support and 224-a camera;
300-the end of the injector,
301-a second linear guide rail, 302-a third motor fixing support, 303-a second connecting piece, 304-a third pressure sensor, 305-a third contact plate, 306-a second slider, 307-a third screw nut, 308-a third lead screw stepping motor, 309-a second base, 310-a fourth motor fixing support, 311-a fourth lead screw stepping motor, 312-a second connecting plate, 313-a fourth screw nut, 314-a second manual jackscrew, 315-a third sliding plate, 316-a third medical silica gel pad, 317-a fourth sliding plate, 318-a fourth pressure sensor, 319-a fourth contact plate, 320-a fourth medical silica gel pad;
400-clamping the end of the tube in a clamping manner,
401-a third base, 402-a third linear guide rail, 403-a fifth motor fixing support, 404-a fifth medical silica gel pad, 405-a third sliding block, 406-a third connecting piece, 407-a fifth pressure sensor, 408-a fifth contact plate, 409-a sixth medical silica gel pad, 410-a fifth screw nut, 411-a fifth lead screw stepping motor;
500-a pressure pump, wherein the pressure pump is arranged in the shell,
501-handle, 502-pressure gauge;
600-a syringe, wherein the syringe is used,
601-a push rod;
700-guide wire.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example (b):
an interventional assisted surgical robot according to embodiments of the present invention is described in detail below with respect to fig. 1-8.
As shown in fig. 1 and 2, the embodiment of the invention discloses an intervention auxiliary surgical robot, which is used for cooperating with consumables such as a pressure pump 500, a syringe 600 and a guide wire 700; the intervention-assisted surgical robot includes:
the surgical robot comprises a connecting shell 100, a circuit board 101, a motor driver and a plurality of switch buttons, wherein the connecting shell 100 is used for being connected with an interventional robot manipulator positioned outside the connecting shell 100, and is used as a reference surface for supporting and fixing other components of an interventional auxiliary surgical robot;
the pressure pump end 200 is used for fixing the pressure pump 500 and pressurizing and depressurizing the pressure pump 500, and comprises a pressure pump pressurizing and depressurizing mechanism, a pressure pump clamping mechanism and a camera shooting mechanism which are arranged on the connecting shell 100, wherein the pressure pump pressurizing and depressurizing mechanism, the pressure pump clamping mechanism and the camera shooting mechanism are electrically connected with the circuit board 101, and the camera shooting mechanism is used for determining the clamping degree of the pressure pump clamping mechanism on the pressure pump 500;
the injector end 300 is used for fixing the injector 600 and pushing the injector 600 to inject corresponding medicament into a blood vessel, and comprises an injector pushing mechanism and an injector clamping mechanism which are arranged on the connecting shell 100, and the injector pushing mechanism and the injector clamping mechanism are electrically connected with the circuit board 101;
the clamping end 400 is used for fixing the guide wire 700, so that the position of the guide wire 700 is kept still in necessary links in the operation, and the clamping end 400 comprises a guide wire clamping mechanism arranged on the connecting shell 100, and the guide wire clamping mechanism is electrically connected with the circuit board 101.
Fig. 1 and 2 are schematic diagrams showing the overall structure of the robot for the intervention-assisted surgery of the present invention, and it can be seen from the diagrams that the whole device has three functions, firstly, the function of assisting the doctor to push the contrast medium into the blood vessel of the human body in the operation outside the surgery room; second, the push-pull pressure pump 500 is used to support the balloon or stent; third, the guide wire 700 is assisted to be grasped, so that the robot can push the catheter conveniently. Therefore, the whole device is also mainly divided into three parts which are independent from each other and can act independently or cooperatively. The operating end of these mechanisms is outside the operating room and all actions are performed as desired by the surgeon.
Fig. 3 and 4 are structural diagrams of a pressure pump end 200 of an interventional auxiliary surgical robot according to the present invention, and as shown in fig. 3 and 4, the pressure pump pressure reducing and increasing mechanism includes a first linear guide 201 fixed on the connection housing 100 and a first motor fixing bracket 202, a first connecting member 203 is disposed above the first linear guide 201, and defines a pressurizing direction of the pressure pump 500 as a front direction, a first pressure sensor 204 is fixed at a front end of the first connecting member 203, a first contact plate 205 is fixed at a front end of the first pressure sensor 204, and a front end of the first contact plate 205 can abut against a handle 501 of the pressure pump 500 for detecting a pressure during pushing; a first sliding block 206 is fittingly installed on the first linear guide rail 201, and the top of the first sliding block 206 is connected with a first connecting piece 203; a travel switch 207 and a double-shaft steering engine 208 are fixed on one of the left side and the right side of the first connecting piece 203, the travel switch 207 is used for detecting whether a double-connecting rod on the double-shaft steering engine 208 contacts a handle 501 of the pressure pump 500, the double-connecting rod on the double-shaft steering engine 208 can rotate to clamp the handle 501 of the pressure pump 500, and at the moment, a pull rod of the pressure pump 500 can move back and forth; a first screw nut 209 is fixed on the other of the left and right sides of the first connecting piece 203, the first screw nut 209 is installed in cooperation with an output shaft of a first lead screw stepping motor 210 to drive the first connecting piece 203 and all the components on the first connecting piece 203 to move back and forth, and the first lead screw stepping motor 210 is installed on the first motor fixing support 202.
The pressure pump clamping mechanism comprises two first bases 211 fixed on the connecting shell 100, a second motor fixing support 212 and a camera support 223, the two first bases 211 are fixed on the connecting shell 100 in a front-back side-by-side mode and are close to the front end of the pressure pump 500, and the second motor fixing support 212 is located between the two first bases 211; the second motor fixing bracket 212 is provided with a second lead screw stepping motor 213, the other side of the pressure pump 500 opposite to the second lead screw stepping motor 213 is provided with a first connecting plate 214, a second nut 215 is fixed on the first connecting plate 214, and the second nut 215 is matched with an output shaft of the second lead screw stepping motor 213; a vertical plate is arranged on one side, close to the second lead screw stepping motor 213, of the first base 211, a first manual jackscrew 216 for manually adjusting the clamping force is installed on the side, far away from the pressure pump 500, of the vertical plate, a first sliding plate 217 is installed on the side, facing the pressure pump 500, of the first sliding plate 217, and a first medical silica gel pad 218 is attached to the first sliding plate 217; two second sliding plates 219 are mounted on the side surface of the first connecting plate 214 facing the pressure pump 500, a second pressure sensor 220 is fixed on the second sliding plates 219, one end of the second pressure sensor 220 facing the pressure pump 500 is connected with a second contact plate 221, a second medical silicone pad 222 is attached to the second contact plate 221, and the second medical silicone pad 222 corresponds to the first medical silicone pad 218; a camera 224 is mounted on the camera support 223, and the camera 224 is positioned above the pressure pump 500 and aligned with the face of the pressure gauge 502 on the pressure pump 500 to view the reading of the pressure gauge 502.
The first lead screw stepping motor 210, the second lead screw stepping motor 213, the first pressure sensor 204, the second pressure sensor 220, the travel switch 207, the double-shaft steering engine 208 and the camera 224 are electrically connected with the circuit board 101; the switch buttons include a first switch button 104 and a second switch button 105, the first switch button 104 is used for controlling the first lead screw stepping motor 210, and the second switch button 105 is used for controlling the second lead screw stepping motor 213.
When the pressure pump end 200 works, the pressure pump 500 is placed under the driving of the second lead screw stepping motor 213, after the second switch button 105 is pressed, the pressure pump 500 can be automatically clamped, after the second pressure sensor 220 reaches a certain reading, the second lead screw stepping motor 213 stops rotating, and meanwhile, the first manual jackscrew 216 can be rotated to manually finely adjust the clamping force. After the first switch button 104 is pressed, the first lead screw stepping motor 210 starts to rotate to drive the first connecting piece 203 and the components thereon to move forward until the first connecting piece 203 moves to the travel switch 207 and is pressed by the connecting rod on the double-shaft steering engine 208, which indicates that the connecting rod on the double-shaft steering engine 208 has contacted the handle 501 of the pressure pump 500, and the first lead screw stepping motor 210 stops rotating. The double-shaft steering engine 208 controls the double-link on the double-shaft steering engine to start rotating, and when the button of the double-link handle 501 is pressed down, the rotation is stopped. Then, the surgeon can control the first lead screw stepping motor 210 to perform the operations of pressurizing and depressurizing the pressure pump 500 outside the operating room according to the needs of the operation. After the operation is completed, the first switch button 104 and the second switch button 105 can be pressed again to turn on the pressure pump 500.
Fig. 5 and 6 are structural diagrams of the injector end 300 of the robot for assisted interventional surgery according to the present invention, and as shown in fig. 5 and 6, the injector pushing mechanism includes a second linear guide 301 fixed on the connecting housing 100 and a third motor fixing bracket 302, the second connecting member 303 is disposed above the second linear guide 301, and defines the injection direction of the injector 600 as the front, then a third pressure sensor 304 is fixed at the front end of the second connecting member 303, a third contact plate 305 is fixed at the front end of the third pressure sensor 304, and the front end of the third contact plate 305 can abut against a push rod 601 of the injector 600; a second sliding block 306 is mounted on the second linear guide rail 301 in a matched manner, and the top of the second sliding block 306 is connected with a second connecting piece 303; a third screw 307 is fixed on one of the left and right sides of the second connecting member 303, the third screw 307 is mounted in cooperation with an output shaft of a third screw stepping motor 308 to drive the second connecting member 303 to move back and forth, and the third screw stepping motor 308 is mounted on the third motor fixing bracket 302.
The injector clamping mechanism comprises two second bases 309 and a fourth motor fixing support 310 which are fixed on the connecting shell 100, the two second bases 309 are fixed on the connecting shell 100 in a front-back side-by-side mode and are close to the front end of the injector 600, and the fourth motor fixing support 310 is located between the two second bases 309; a fourth lead screw stepping motor 311 is mounted on the fourth motor fixing bracket 310, a second connecting plate 312 is arranged on the other side of the injector 600 opposite to the fourth lead screw stepping motor 311, a fourth nut 313 is fixed on the second connecting plate 312, and the fourth nut 313 is mounted with an output shaft of the fourth lead screw stepping motor 311 in a matching manner; a vertical plate is arranged on one side, close to the fourth lead screw stepping motor 311, of the second base 309, a second manual jackscrew 314 for manually adjusting the clamping force is installed on the side, away from the injector 600, of the vertical plate, a third sliding plate 315 is installed on the side, facing the injector 600, of one side, and a third medical silica gel pad 316 is attached to the third sliding plate 315; two fourth sliding plates 317 are mounted on the side surface of the second connecting plate 312 facing the injector 600, a fourth pressure sensor 318 is fixed on the fourth sliding plates 317, a fourth contact plate 319 is connected to one end of the fourth pressure sensor 318 facing the injector 600, a fourth medical silicone pad 320 is attached to the fourth contact plate 319, and the position of the fourth medical silicone pad 320 corresponds to the position of the third medical silicone pad 316.
The third lead screw stepping motor 308, the fourth lead screw stepping motor 311, the third pressure sensor 304 and the fourth pressure sensor 318 are electrically connected with the circuit board 101; the switch buttons include a third switch button 106 and a fourth switch button 107, the third switch button 106 is used for controlling the third lead screw stepping motor 308, and the fourth switch button 107 is used for controlling the fourth lead screw stepping motor 311.
When the injector end 300 works, the injector 600 is placed under the driving of the fourth lead screw stepping motor 311, after the fourth switch button 107 is pressed, the injector 600 can be automatically clamped, after the fourth pressure sensor 318 reaches a certain reading, the fourth lead screw stepping motor 311 stops rotating, and meanwhile, the first manual jackscrew 216 can be rotated to manually finely adjust the clamping force. After the third switch button 106 is pressed, the third lead screw stepping motor 308 starts to rotate to drive the second connecting member 303 and the components thereon to move forward until the third contact plate 305 on the second connecting member 303 touches the push rod 601 of the injector 600, and the third lead screw stepping motor 308 stops rotating after the third pressure sensor 304 detects a pressure value. Then, the doctor can control the third lead screw stepping motor 308 to push the injector 600 to inject the contrast medium into the blood vessel outside the operation room according to the operation requirement, and the moving speed and the moving distance of the push rod 601 of the injector 600 can be set by the doctor according to the requirement. After the operation is completed, the third switch button 106 and the fourth switch button 107 may be pressed again to open the syringe 600.
Fig. 7 and 8 are structural diagrams of a clamping end 400 of an interventional auxiliary surgical robot according to the present invention, as shown in fig. 7 and 8, a guide wire clamping mechanism includes a third base 401, a third linear guide 402 and a fifth motor fixing bracket 403 fixed on a connecting housing 100, the third base 401 is a right-angle component, a fifth medical silicone pad 404 is attached to a side surface of a vertical plate of the right-angle component facing to one side of the guide wire 700, the third linear guide 402 is disposed on the other side of the guide wire 700 opposite to the third base 401, a third slider 405 is mounted on the third linear guide 402, a third connecting member 406 is connected to a top of the third slider 405, a fifth pressure sensor 407 is mounted on a side surface of the third connecting member 406 facing to the guide wire 700, a fifth contact plate 408 is connected to one end of the fifth pressure sensor 407 facing to the guide wire 700, a sixth medical silicone pad 409 is attached to the fifth contact plate 408, the fifth medical silica gel pad 404 corresponds to the sixth medical silica gel pad 409 in position; the feeding direction of the guide wire 700 is defined as the front direction, a fifth screw 410 is fixed on one of the front and rear sides of the third connecting member 406, the fifth screw 410 is installed in cooperation with an output shaft of a fifth screw stepping motor 411 to drive the third connecting member 406 to move left and right, and the fifth screw stepping motor 411 is installed on the fifth motor fixing bracket 403.
The fifth lead screw stepper motor 411 and the fifth pressure sensor 407 are electrically connected to the circuit board 101; the switch buttons include a fifth switch button 108, and the fifth switch button 108 is used to control a fifth lead screw stepping motor 411.
When the clamping end 400 works, the guide wire 700 is placed under the driving of the fifth lead screw stepping motor 411, after the fifth switch button 108 is pressed, the guide wire 700 can be automatically clamped, and when the fifth pressure sensor 407 reaches a certain reading, the fifth lead screw stepping motor 411 stops rotating. After the operation is completed, the fifth switch button 108 may be pressed again to open the guide wire 700.
Further, a shell fixing part 102 for connecting an external interventional robot mechanical arm is fixed on the outer side of the connecting shell 100; the connecting shell 100 is also provided with a plurality of indicator lights 103 which respectively correspondingly indicate the working states of the pressure pump clamping mechanism, the syringe clamping mechanism and the guide wire clamping mechanism, and the running state of the machine can be seen by observing the colors of the indicator lights 103.
Meanwhile, the circuit board 101 in the invention can further feed back and present the pressure gauge data, the pressure sensor data and the like received by the circuit board to the operation screen of the doctor outside the operation room through the data line, so that the doctor can conveniently master various information at any time, and simultaneously can also be linked and matched with the operation robot for use, when the propelling part of the robot detects danger, the pressure pump 500 and the injection of the contrast medium can be stopped at the first time, thereby protecting the safety of the patient.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An interventional assisted surgical robot for use with consumables such as a pressure pump (500), a syringe (600), and a guidewire (700); characterized in that the interventional assisted surgery robot comprises:
the surgical robot comprises a connecting shell (100), wherein the connecting shell (100) is used for being connected with an interventional robot manipulator positioned outside the connecting shell (100) and supporting and fixing other components of the interventional auxiliary surgical robot as a reference surface, a circuit board (101) and a plurality of switch buttons electrically connected with the circuit board (101) are fixed on the connecting shell (100), and the circuit board (101) is externally connected with an interventional robot external control and display device;
the pressure pump end (200) is used for fixing the pressure pump (500) and pressurizing and decompressing the pressure pump (500), and comprises a pressure pump pressurizing and depressurizing mechanism, a pressure pump clamping mechanism and a camera shooting mechanism which are arranged on the connecting shell (100), wherein the pressure pump pressurizing and depressurizing mechanism, the pressure pump clamping mechanism and the camera shooting mechanism are electrically connected with the circuit board (101), and the camera shooting mechanism is used for determining the clamping degree of the pressure pump clamping mechanism on the pressure pump (500);
the injection device comprises an injector end (300), an injection device and a circuit board (101), wherein the injector end (300) is used for fixing an injector (600) and pushing the injector (600) to inject corresponding medicament into a blood vessel, and comprises an injector pushing mechanism and an injector clamping mechanism which are arranged on the connecting shell (100), and the injector pushing mechanism and the injector clamping mechanism are both electrically connected with the circuit board (101);
the clamping end (400) is used for fixing a guide wire (700), and comprises a guide wire clamping mechanism arranged on the connecting shell (100), and the guide wire clamping mechanism is electrically connected with the circuit board (101).
2. An intervention-assisted surgical robot as claimed in claim 1, wherein: the pressure pump pressure increasing and reducing mechanism comprises a first linear guide rail (201) and a first motor fixing support (202), the first linear guide rail (201) is fixed on the connecting shell (100), a first connecting piece (203) is arranged above the first linear guide rail (201), the pressurizing direction of the pressure pump (500) is defined as the front, a first pressure sensor (204) is fixed at the front end of the first connecting piece (203), a first contact plate (205) is fixed at the front end of the first pressure sensor (204), and the front end of the first contact plate (205) can abut against a handle (501) of the pressure pump (500); a first sliding block (206) is mounted on the first linear guide rail (201) in a matched mode, and the top of the first sliding block (206) is connected with the first connecting piece (203); a travel switch (207) and a double-shaft steering engine (208) are fixed on one of the left side and the right side of the first connecting piece (203), the travel switch (207) is used for detecting whether a double connecting rod on the double-shaft steering engine (208) contacts a handle (501) of the pressure pump (500), and the double connecting rod on the double-shaft steering engine (208) can rotate to clamp the handle (501) of the pressure pump (500); a first screw nut (209) is fixed on the other side of the left side and the right side of the first connecting piece (203), the first screw nut (209) is matched with an output shaft of a first lead screw stepping motor (210) to drive the first connecting piece (203) to move back and forth, and the first lead screw stepping motor (210) is installed on the first motor fixing support (202).
3. An intervention-assisted surgical robot as claimed in claim 2, wherein: the pressure pump clamping mechanism comprises two first bases (211), a second motor fixing support (212) and a camera support (223), wherein the two first bases (211) are fixed on the connecting shell (100), the two first bases (212) are fixed on the connecting shell (100) in a front-back side-by-side mode and are close to the front end of the pressure pump (500), and the second motor fixing support (212) is located between the two first bases (211); a second lead screw stepping motor (213) is mounted on the second motor fixing support (212), a first connecting plate (214) is arranged on the other side of the pressure pump (500) opposite to the second lead screw stepping motor (213), a second nut (215) is fixed on the first connecting plate (214), and the second nut (215) is mounted with an output shaft of the second lead screw stepping motor (213) in a matching manner; a vertical plate is arranged on one side, close to the second lead screw stepping motor (213), of the first base (211), a first manual jackscrew (216) is installed on the side face, far away from the pressure pump (500), of the vertical plate, a first sliding plate (217) is installed on the side face, facing the pressure pump (500), of one side, and a first medical silica gel pad (218) is attached to the first sliding plate (217); two second sliding plates (219) are mounted on the side face, facing the pressure pump (500), of the first connecting plate (214), a second pressure sensor (220) is fixed on each second sliding plate (219), one end, facing the pressure pump (500), of each second pressure sensor (220) is connected with a second contact plate (221), a second medical silica gel pad (222) is attached to each second contact plate (221), and the second medical silica gel pad (222) corresponds to the first medical silica gel pad (218); the camera support (223) is provided with a camera (224), and the camera (224) is positioned above the pressure pump (500) and aligned with the dial plate of a pressure gauge (502) on the pressure pump (500).
4. An intervention-assisted surgical robot as claimed in claim 3, wherein: the first lead screw stepping motor (210), the second lead screw stepping motor (213), the first pressure sensor (204), the second pressure sensor (220), the travel switch (207), the double-shaft steering engine (208) and the camera (224) are electrically connected with the circuit board (101); the switch buttons comprise a first switch button (104) and a second switch button (105), the first switch button (104) is used for controlling the first lead screw stepping motor (210), and the second switch button (105) is used for controlling the second lead screw stepping motor (213).
5. An intervention-assisted surgical robot as claimed in claim 1, wherein: the injector pushing mechanism comprises a second linear guide rail (301) and a third motor fixing support (302) which are fixed on the connecting shell (100), a second connecting piece (303) is arranged above the second linear guide rail (301), the injection direction of the injector (600) is defined as the front direction, a third pressure sensor (304) is fixed at the front end of the second connecting piece (303), a third contact plate (305) is fixed at the front end of the third pressure sensor (304), and the front end of the third contact plate (305) can abut against a push rod (601) of the injector (600); a second sliding block (306) is mounted on the second linear guide rail (301) in a matched mode, and the top of the second sliding block (306) is connected with the second connecting piece (303); a third screw nut (307) is fixed on one of the left side and the right side of the second connecting piece (303), the third screw nut (307) is matched and installed with an output shaft of a third lead screw stepping motor (308) to drive the second connecting piece (303) to move back and forth, and the third lead screw stepping motor (308) is installed on the third motor fixing support (302).
6. An intervention-assisted surgical robot as claimed in claim 5, wherein: the injector clamping mechanism comprises two second bases (309) fixed on the connecting shell (100) and a fourth motor fixing support (310), the two second bases (309) are fixed on the connecting shell (100) in a front-back side-by-side mode and are close to the front end of an injector (600), and the fourth motor fixing support (310) is located between the two second bases (309); a fourth lead screw stepping motor (311) is mounted on the fourth motor fixing support (310), a second connecting plate (312) is arranged on the other side of the injector (600) opposite to the fourth lead screw stepping motor (311), a fourth nut (313) is fixed on the second connecting plate (312), and the fourth nut (313) is mounted with an output shaft of the fourth lead screw stepping motor (311) in a matched manner; a vertical plate is arranged on one side, close to the fourth lead screw stepping motor (311), of the second base (309), a second manual jackscrew (314) is installed on the side face, far away from the injector (600), of the vertical plate, a third sliding plate (315) is installed on the side face, facing the injector (600), of one side, and a third medical silica gel pad (316) is attached to the third sliding plate (315); two fourth sliding plates (317) are installed on the side face of one side, facing the injector (600), of the second connecting plate (312), a fourth pressure sensor (318) is fixed on the fourth sliding plate (317), the fourth pressure sensor (318) faces the one end of the injector (600) and is connected with a fourth contact plate (319), a fourth medical silica gel pad (320) is pasted on the fourth contact plate (319), and the fourth medical silica gel pad (320) corresponds to the position of the third medical silica gel pad (316).
7. An intervention-assisted surgical robot as claimed in claim 6, wherein: the third lead screw stepping motor (308), the fourth lead screw stepping motor (311), the third pressure sensor (304) and the fourth pressure sensor (318) are electrically connected with the circuit board (101); the switch buttons comprise a third switch button (106) and a fourth switch button (107), the third switch button (106) is used for controlling the third lead screw stepping motor (308), and the fourth switch button (107) is used for controlling the fourth lead screw stepping motor (311).
8. An intervention-assisted surgical robot as claimed in claim 1, wherein: the guide wire clamping mechanism comprises a third base (401), a third linear guide rail (402) and a fifth motor fixing support (403), the third base (401) is fixed on the connecting shell (100), a fifth medical silica gel pad (404) is pasted on the side face, facing the guide wire (700), of the vertical plate of the right-angle piece, the third linear guide rail (402) is arranged on the other side, opposite to the third base (401), of the guide wire (700), a third sliding block (405) is installed on the third linear guide rail (402) in a matching mode, a third connecting piece (406) is connected to the top of the third sliding block (405), a fifth pressure sensor (407) is installed on the side face, facing the guide wire (700), of the third connecting piece (406), and a fifth pressure sensor (408) is connected to one end, facing the guide wire (700), of the fifth pressure sensor (407), a sixth medical silica gel pad (409) is attached to the fifth contact plate (408), and the fifth medical silica gel pad (404) corresponds to the sixth medical silica gel pad (409); the feeding direction of the guide wire (700) is defined as the front direction, a fifth screw nut (410) is fixed on one of the front side and the rear side of the third connecting piece (406), the fifth screw nut (410) is matched with an output shaft of a fifth screw rod stepping motor (411) to drive the third connecting piece (406) to move left and right, and the fifth screw rod stepping motor (411) is installed on the fifth motor fixing support (403).
9. An intervention-assisted surgical robot as claimed in claim 8, wherein: the fifth lead screw stepping motor (411) and the fifth pressure sensor (407) are electrically connected with the circuit board (101); the switch buttons include a fifth switch button (108), the fifth switch button (108) to control the fifth lead screw stepper motor (411).
10. An intervention-assisted surgical robot as claimed in claim 1, wherein: a shell fixing piece (102) used for connecting an external interventional robot mechanical arm is fixed on the outer side of the connecting shell (100); the connecting shell (100) is further provided with a plurality of indicator lamps (103) which respectively correspondingly prompt the working states of the pressure pump clamping mechanism, the injector clamping mechanism and the guide wire clamping mechanism.
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