CN113712668B

CN113712668B - Finger module, delivery device and interventional surgical robot

Info

Publication number: CN113712668B
Application number: CN202111018369.1A
Authority: CN
Inventors: 刘付林; 万海明; 马骏; 兰宏志; 郑凌霄
Original assignee: Shenzhen Raysight Intelligent Medical Technology Co Ltd
Current assignee: Shenzhen Raysight Intelligent Medical Technology Co Ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2023-03-21
Anticipated expiration: 2041-09-01
Also published as: CN113712668A

Abstract

The application provides a finger module, a delivery device and an interventional surgical robot. The finger module comprises a main mounting plate, a horizontal opening and closing mechanism and a vertical twisting mechanism. The main mounting plate is provided with a first guide rail extending along the horizontal direction; the horizontal opening and closing mechanism comprises a middle moving block and two side moving block assemblies; when the middle motion block slides in a reciprocating manner along the vertical direction, the two side motion block assemblies move oppositely or back to back on the first guide rail; two vertical rotary twisting mechanisms are respectively and fixedly connected with the two side motion block assemblies in the horizontal direction so as to clamp or loosen an instrument under the driving of the side motion block assemblies; in the vertical direction, the vertical twisting mechanism can move up and down relative to the side motion block so as to twist the instrument. The finger module of this application scheme has realized the centre gripping and has twisted round with rotating to the apparatus simultaneously, accords with the bionics principle, and it is higher to twist round with rotating the precision.

Description

Finger module, delivery device and interventional surgical robot

Technical Field

The application relates to the technical field of auxiliary equipment for vascular intervention operations, in particular to a finger module, a delivery device and an intervention operation robot.

Background

The usage amount of the heart stent in the Percutaneous Coronary Intervention (PCI) operation in 2010-2018 in China is increased year by year, and the amount of the PCI operation in the Chinese coronary intervention in 2019 is close to 100 ten thousands. With the increasing aging of the population in China in the future, the number will keep increasing at a higher speed. At present, the field of Chinese vascular intervention is still in a rapid development stage, and the space for importing replacement and innovation is large.

In recent years, the development of vascular interventional therapy technology is rapid, and doctors send special precise instruments into human bodies under the guidance of medical images to precisely treat in-vivo pathological conditions. The vascular interventional therapy technology opens up a new treatment way for a plurality of diseases which are considered to be difficult to treat in the past, and has the characteristics of no operation, small wound, quick recovery, good treatment and the like. The existing vascular interventional therapy method also has certain problems, and doctors are exposed to radioactive radiation such as X-rays and CT for a long time to cause harm to the health of the doctors; the limitations of hands and the long-time accurate holding of a surgical knife can lead doctors to feel very tired, the factors such as fatigue and unstable manual operation can seriously affect the surgical quality, and the surgical knife can be operated only by doctors with rich experience, so that the robot-assisted vascular interventional surgery technology is an important direction for the development of vascular interventional therapy.

When a vessel intervention operation robot delivers a catheter/guide wire, the catheter/guide wire needs to be rotated at the position of a vessel bifurcation so as to smoothly pass through the vessel bifurcation, the existing rotating mode is that the guide wire is rotated integrally, namely, equipment for clamping the guide wire is rotated so as to achieve the purpose of rotating the guide wire, however, the guide wire is fine and the equipment is large in size, so that the precision of the rotating angle of the guide wire is poor and fine control is not facilitated.

The above information disclosed in this background section is only for enhancement of understanding of the background of the application and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

It is an object of the present application to provide a finger module to improve the precision of twisting an instrument.

In order to solve the technical problem, the following technical scheme is adopted in the application:

according to one aspect of the present application, there is provided a finger module for an interventional surgical robot, comprising:

the main mounting plate is provided with a first guide rail extending along the horizontal direction;

the horizontal opening and closing mechanism comprises a middle moving block and two side moving block assemblies; the two side motion block assemblies are respectively arranged on two sides of the middle motion block along the horizontal direction and are connected to the first guide rail in a sliding manner; the surfaces of the middle motion block, which face the two side motion blocks, are inclined surfaces, and the side motion block assemblies are connected with the inclined surfaces in a sliding manner, so that when the middle motion block slides in a reciprocating manner in the vertical direction, the two side motion block assemblies move towards or away from each other on the first guide rail;

two vertical twisting mechanisms are arranged and are respectively and fixedly connected with the two side moving block assemblies in the horizontal direction so as to clamp or loosen an instrument under the driving of the side moving block assemblies; in the vertical direction, the vertical twisting mechanism can move up and down relative to the side motion block to twist the instrument.

According to an embodiment of the present application, the side motion block assembly includes a slider mounting plate mounted on the main mounting plate and a side motion block; the side motion block is fixed on one side of the slide block mounting plate, which is far away from the main mounting plate;

the slider mounting plate is convexly provided with a first slider, and the first slider is in sliding fit with the first guide rail so that the side motion block assembly slides along the first guide rail.

According to an embodiment of the application, corresponding to the inclined surface of the middle motion block, the surface of one side of the side motion block, which faces the middle motion block, is correspondingly an inclined surface and is provided with a first dovetail groove;

the middle motion piece epirelief is equipped with the forked tail structure, the forked tail structure with first forked tail groove looks adaptation, with when the middle motion piece slides along vertical direction, promote the side motion piece is followed first guide rail slides.

According to an embodiment of the application, the horizontal opening and closing mechanism further comprises a first driving assembly fixedly mounted on the main mounting plate, and the first driving assembly is arranged on one side, away from the vertical twisting mechanism, of the side moving block assembly so as to be away from the vertical twisting mechanism;

the first driving assembly is provided with a first push rod, and the first push rod is in driving connection with the middle moving block so as to drive the middle moving block to reciprocate in the vertical direction;

according to an embodiment of the application, the vertical twisting mechanism comprises a clamping jaw and a clamping piece; the clamping jaw comprises a first plate body extending along the horizontal direction and a second plate body extending along the vertical direction, the first plate body is fixed on the side motion block, and the clamping piece is connected with the second plate body in a sliding mode in the vertical direction;

the vertical twisting mechanism further comprises a second driving assembly, the second driving assembly is provided with a second push rod, and the second push rod is in driving connection with the clamping piece to drive the clamping piece to slide up and down relative to the second plate body.

According to an embodiment of the application, the clamping piece comprises a connecting plate structure and a clamping block;

the connecting plate structure comprises a first connecting plate and a second connecting plate which are oppositely arranged and fixedly connected; the first connecting plate is in driving connection with the second push rod, and the second plate body is located between the first connecting plate and the second connecting plate and is arranged in parallel with the second connecting plate;

the clamping block is arranged on one side, deviating from the first connecting plate, of the second connecting plate.

According to an embodiment of the application, a second sliding block is fixed on one side surface of the second plate body facing the first connecting plate, and a raised guide rail positioning step is arranged on one side of the second sliding block; the second sliding block and the guide rail positioning step extend along the vertical direction;

and a second sliding groove is formed in one side, facing the second plate body, of the first connecting plate, and the second sliding groove slides along the second sliding block, so that the clamping piece plays a role in guiding when sliding up and down.

According to an embodiment of the application, a second dovetail groove is formed in the surface of the second connecting plate;

the clamping block is elastic, a dovetail-shaped limiting protrusion is arranged on the surface, facing the second connecting plate, of the clamping block, and the limiting protrusion is inserted into the second dovetail groove and is in tight fit with the second dovetail groove.

According to an embodiment of the present application, the side motion block has a hollow structure;

the second driving assembly is installed in the hollow structure of the side motion block, and the second push rod penetrates through the top of the side motion block and the first plate body to be in driving connection with the clamping piece.

According to an embodiment of the application, the two vertical rotary twisting machines are provided with the second driving assemblies, and the two second driving assemblies simultaneously drive the corresponding clamping pieces or only one driving assembly to drive the corresponding clamping piece to move up and down so as to twist an instrument.

The present application also provides a delivery device of an interventional surgical robot, comprising:

mounting a bottom plate;

the guide transmission module comprises a guide rod and two transmission pieces capable of sliding along the guide rod;

the number of the finger modules is two, and the two finger modules are arranged on the mounting bottom plate at intervals along the extending direction of the guide rod; the transmission parts are fixedly connected with the finger modules in a one-to-one correspondence manner;

the control mechanism controls the two transmission parts to move towards or away from each other along the guide rod so as to drive the two finger modules to move towards or away from each other; the control module is also electrically connected with the finger modules to control the clamping of the clamping pieces of the finger modules moving along the instrument delivery direction, so that the two finger modules deliver the instrument alternately.

According to an embodiment of the application, the two finger modules are a first finger module and a second finger module respectively; the guide rod is a guide screw rod, the guide screw rod is provided with a first section and a second section, and the thread turning directions of the first section and the second section are opposite;

the two transmission pieces comprise a first screw cap and a second screw cap respectively; the first nut is sleeved on the first section and fixedly connected with the first finger module, and the second nut is sleeved on the second section and fixedly connected with the second finger module;

the control mechanism controls the guide screw rod to rotate forwards or reversely, so that the first nut and the second nut correspondingly drive the first finger module and the second finger module to move towards or away from each other.

According to an embodiment of the application, the mounting bottom plate is further provided with two travel switches, and the two travel switches are respectively arranged at the limit positions of the two ends of the first section correspondingly; the first finger module and the second finger module are respectively provided with an inductive switch, and the inductive switches can be triggered when the finger modules move to the positions of the travel switches;

the control mechanism is electrically connected with the inductive switch, and when the first finger module moves to two extreme positions of the first section, the inductive switch is triggered, so that the control mechanism controls the lead screw to rotate in a reversing way and controls the clamping jaw assemblies of the first finger module and the second finger module to switch on and off.

The application also provides an interventional operation robot, which comprises the finger module or the delivery device.

In the application, a horizontal opening and closing mechanism and a vertical twisting mechanism are arranged, the horizontal opening and closing mechanism is provided with inclined planes on two sides of a middle moving block, and two side moving block assemblies are respectively arranged on two sides of the middle moving block and are in sliding connection with the inclined planes, so that when the middle moving block slides in a reciprocating manner in the vertical direction, the two side moving block assemblies move in opposite directions or move in opposite directions along a first guide rail; the vertical twisting mechanism is fixedly connected with the two side moving block assemblies in the horizontal direction so as to clamp or loosen an instrument under the driving of the side moving block assemblies, and the instrument can be installed and taken out. And, in the vertical direction, vertical rotary twisting mechanism can move up and down relative to the side motion block to rotary twist the apparatus, so that the distal end of the apparatus rotates to smoothly pass through the blood vessel branch. The finger module of this application scheme has realized the centre gripping and has twisted round with rotating to the apparatus simultaneously, accords with the bionics principle, and it is higher to twist round with rotating the precision.

Moreover, the clamping force and the clamping stroke of the finger module in the scheme of the application are adjustable, so that the clamping of instruments of different specification series can be met, and the compatibility of the existing commercialized instrument products is improved.

In addition, the finger module does not need to rotate along with the instrument, so that the size of the finger module is designed to be more compact and exquisite, and the small-sized development of the interventional operation robot is facilitated.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a schematic structural diagram of a finger module according to an embodiment.

Fig. 2 is another perspective view of fig. 1.

FIG. 3 illustrates a schematic diagram of a main mounting plate, according to one embodiment.

FIG. 4 illustrates a schematic diagram of a side motion block, according to an embodiment.

FIG. 5 illustrates a block diagram of a slider mounting plate, according to one embodiment.

Fig. 6 illustrates a schematic structure of a main motion block according to an embodiment.

FIG. 7 illustrates a schematic view of a jaw according to one embodiment.

FIG. 8 illustrates a schematic diagram of a connection plate according to one embodiment.

FIG. 9 illustrates a block diagram according to an embodiment.

FIG. 10 illustrates a schematic diagram of an instrument holder, according to one embodiment.

FIG. 11 illustrates a side view of a finger module in a grip twist state, according to one embodiment.

Fig. 12 is an enlarged view at a in fig. 11.

FIG. 13 illustrates a side view of a finger module in a released state, in accordance with one embodiment.

Fig. 14 is an enlarged view at B in fig. 13.

FIG. 15 illustrates a schematic structural view of a delivery device, according to an embodiment.

FIG. 16 is a state diagram illustrating the first finger module moving to a position at the beginning of the first section according to one embodiment.

Fig. 17 is an enlarged view at C in fig. 16.

FIG. 18 illustrates a state diagram of a first finger module moved to a position at the end of a first segment, according to one embodiment.

Fig. 19 is an enlarged view at D in fig. 18.

The reference numerals are illustrated below:

1. a finger module; 10. a main mounting plate; 101. a first guide rail positioning step; 102. a guide rail mounting hole; 103. a base mounting hole; 104. a support plate mounting hole; 105. an instrument support seat mounting hole; 106. a first guide rail; 11. a middle motion block; 111. a dovetail structure; 112. a pin shaft hole; 13. a slider mounting plate; 131. a slider mounting hole; 112. a side motion block; 121. a first dovetail groove; 122. a first via hole; 123. a mounting hole of the second linear stepping motor; 4. a first slider; 151. a first linear stepper motor; 152. a first push rod; 153. installing a base; 154. a support plate; 16. a clamping jaw; 161. a first plate body; 1611. a second via hole; 162. a second plate body; 1621. a guide rail positioning step; 1622. a second slider; 17. a connection plate structure; 171. a first connecting plate; 172. a second connecting plate; 1721. a second dovetail groove; 1722. a guide groove; 173. a second chute; 18. a clamping block; 181. a limiting bulge; 182. a guide projection; 191. a second linear stepper motor; 192. a second push rod; 107. an instrument support base; 1071. a support groove; 108. a support sleeve;

1a, a first finger module; 1b, a second finger module;

2. an instrument;

3. mounting a bottom plate;

41. a guide screw rod; 411. a first section; 412. a second section; 43. a guide rod mounting seat; 421. a first nut; 422. a second nut; 44. a third guide rail 46, a travel switch; 47. an inductive switch; 48. a signal trigger plate; 49. and (7) installing a bracket.

Detailed Description

While this application is susceptible of embodiment in different forms, there is shown in the drawings and will herein be described in detail only some specific embodiments thereof with the understanding that the present disclosure is to be considered as an exemplification of the principles of the application and is not intended to limit the application to that as illustrated herein.

Thus, a feature indicated in this specification is intended to describe one of the features of an embodiment of the application and does not imply that every embodiment of the application must have the described feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.

In the embodiments shown in the drawings, directional references (such as up, down, left, right, front, and rear) are used to explain the structure and movement of the various elements of the present application not absolutely, but relatively. These descriptions are appropriate when the elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indication of these directions changes accordingly.

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.

The preferred embodiments of the present application will be further described in detail below with reference to the accompanying drawings of the present specification.

The interventional operation robot mainly implements the propulsion and navigation of instruments in the blood vessel interventional operation, constructs a three-dimensional shape chart of a patient blood vessel according to image data before and during the operation and analyzes the characteristics of blood vessel intersections, curves, elasticity and plaques, thereby realizing the tracking and positioning of the surgical instruments in the operation process, being beneficial to greatly improving the accuracy of the operation, simultaneously reducing the labor intensity of medical personnel and reducing the dependence of the operation on the personal skill of doctors to a certain extent.

From the key components, the interventional surgical robot mainly comprises an image navigation system, a mechanical device and control system, a force feedback system and the like. The image navigation system can integrate display instruments and blood vessels, and ensures the safety of the operation through the construction of a three-dimensional blood vessel model. The mechanical device and the control system are responsible for the propelling and the rotating movement of the catheter and are operated and controlled by a doctor. The force feedback system can accurately sense the stress condition of the instrument in the blood vessel, and the safe intervention of the instrument can be ensured under the condition that the guide image is not visual enough.

The application provides a finger module, can improve and twist with fingers efficiency and precision soon to medical instrument.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a finger module 1 according to an embodiment. Fig. 2 is another perspective view of fig. 1.

In this embodiment, the finger module 1 includes at least a main mounting plate 10, a horizontal opening and closing mechanism, and a vertical twist mechanism. A first guide rail 106 extending along the horizontal direction is arranged on the main mounting plate 10; the horizontal opening and closing mechanism comprises a middle moving block 11 and two side moving block assemblies; the two side motion block assemblies are respectively arranged at two sides of the middle motion block 11 along the horizontal direction and are connected to the first guide rail 106 in a sliding manner; the surfaces of the middle motion block 11 facing the two side motion blocks 12 are symmetrically inclined surfaces, and the side motion block assemblies are connected with the inclined surfaces in a sliding manner, so that when the middle motion block 11 slides in a reciprocating manner vertically, the two side motion block assemblies move oppositely or oppositely on the first guide rail 106; the two vertical twisting mechanisms are respectively and fixedly connected with the two side moving block assemblies in the horizontal direction so as to clamp or loosen the instrument 2 under the driving of the side moving block assemblies; in the vertical direction, the vertical twisting mechanism can move up and down the side movement block 12 to twist the instrument 2.

The delivered medical device 2 includes a combination of one or more of a guiding guidewire, guiding catheter, contrast catheter, balloon catheter, stent catheter, electrophysiology guidewire or catheter, ablation guidewire or catheter. For ease of description, the device 2 delivered in fig. 1 is a guidewire.

It should be understood that the horizontal direction and the vertical direction of the present embodiment are not limited to the strict horizontal direction and vertical direction, a certain deviation is allowed, and the finger module 1 is more flexibly used as the miniaturization of the interventional surgical robot is advanced, and the horizontal or vertical orientation in the present application is changed accordingly when the inclined placement is allowed.

In the embodiment of the application, a horizontal opening and closing mechanism and a vertical twisting mechanism are arranged, the horizontal opening and closing mechanism is provided with inclined planes on two sides of the middle moving block 11, and two side moving block assemblies are respectively arranged on two sides of the middle moving block 11 and are in sliding connection with the inclined planes, so that when the middle moving block 11 slides in a reciprocating manner in the vertical direction, the two side moving block assemblies move in opposite directions or move in opposite directions along the first guide rail 106; the vertical twisting mechanism is fixedly connected with the two side moving block assemblies in the horizontal direction, so that the instrument 2 is clamped or loosened under the driving of the side moving block assemblies, and the instrument 2 is installed and taken out. And, in the vertical direction, the vertical twisting mechanism can move up and down the side motion block 12 to twist the instrument 2, thereby rotating the distal end of the instrument 2 to smoothly pass through the blood vessel branch. The finger module 1 of this application scheme has realized the centre gripping and has twisted round with revolving to apparatus 2 simultaneously, accords with the bionics principle, and it is higher to twist round with revolving the precision.

Moreover, the clamping force and the clamping stroke of the finger module 1 in the scheme of the application are adjustable, so that the clamping of the instruments 2 in different specification series can be met, and the compatibility of the existing commercialized instruments 2 is improved.

Moreover, the finger module 1 does not need to rotate along with the instrument 2, so that the size of the finger module 1 is designed to be more compact and exquisite, and the miniaturization development of the interventional surgical robot is facilitated.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a main mounting plate 10 according to an embodiment. The main mounting plate 10 provides support for the entire finger module 1. The main mounting plate 10 is provided with a first guide rail 106 extending in the left-right direction. The first rail is mounted to the rail through rail mounting holes 102. Still protruding first guide rail location step 101 that is equipped with on the main mounting panel 10, first guide rail location step 101 extends along the horizontal direction, and first guide rail 106 passes through the fix with screw in the step department of first guide rail location step 101, and the step face is used for fixing a position the levelness of first guide rail 106 to guarantee the gliding stability of side motion piece subassembly along the horizontal direction, and then guarantee the levelness of centre gripping apparatus 2, provide the structural basis for improving the precision of twisting with fingers soon.

In this embodiment, there are two side motion block assemblies, which correspond to the left motion block assembly and the right motion block assembly, respectively, and the two side motion block assemblies have the same structural composition and are symmetrical in position. In a similar way, the two vertical rotary twisting mechanisms are also identical in structure and symmetrical in position. The following descriptions of each embodiment of the side moving block assembly and the vertical twisting mechanism are applicable to the side moving block assembly and the vertical twisting mechanism on the left side and the right side at the same time.

Referring to fig. 4 and 5, fig. 4 is a schematic structural diagram of a side motion block 12 according to an embodiment. Fig. 5 shows a schematic structural diagram of a slider mounting plate 13 according to an embodiment. In one embodiment, the side motion block assembly includes a slider mounting plate 13 mounted on the main mounting plate 10, a side motion block 12, a first slider 14; the side motion block 12 is fixed on one side of the slide block mounting plate 13 departing from the main mounting plate 10; the slider mounting plate 13 has a slider mounting hole 131 for mounting the first slider 14, and the first slider 14 is slidably engaged with the first guide rail 106 to slide the side motion block assembly along the first guide rail 106. Wherein, the first slider 14 is mounted on the surface of the slider mounting plate 13 facing the main mounting plate 10 by screws for easy detachment and leveling.

The first guide rail 106 is provided with only one first sliding block 14, and the left and right side motion block assemblies are slidably connected to the first guide rail 106, so that the left and right side motion block assemblies can be ensured to be on the same horizontal line. The first slider 14 may be fixed to the slider mounting plate 13 by means of screw fixation. By arranging the first slider 14 to be engaged with the first guide rail 106, the friction coefficient can be reduced, so that the friction between the two is small, the wear in use is reduced, and the sliding stability is improved.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a main motion block according to an embodiment. In one embodiment, corresponding to the inclined surface of the middle motion block 11, a side surface of the side motion block 12 facing the middle motion block 11 is correspondingly inclined, and is formed with a first dovetail groove 121; a dovetail structure 111 is convexly arranged on the middle motion block 11, and the dovetail structure 111 is matched with the first dovetail groove 121 so as to push the side motion block 12 to slide along the first guide rail 106 when the middle motion block 11 slides in the vertical direction.

When the middle motion block 11 moves linearly up and down, the first dovetail groove 121 and the dovetail structure 111 are in sliding fit, so that the two side motion blocks 12 located on the left and the right are driven to move linearly in the horizontal direction in a facing or back-to-back manner. Thereby driving the two vertical rotary twisting mechanisms positioned on the left and the right to clamp and open so as to correspondingly realize clamping or loosening of the guide wire.

Further, the slope of the slopes of the left and right sides of the middle moving block 11 in the horizontal direction is the same. The inclination directions of the first dovetail grooves 121 are symmetrical in the vertical direction and have the same inclination.

The middle motion block 11 in this embodiment is located between the left motion block 12 and the right motion block 12, and the slopes of the left and right side surfaces of the middle motion block 11 in the horizontal direction are set to be the same, so that when the middle motion block 11 moves up and down, the horizontal moving distances of the two side motion blocks 12 are the same, so that the center of the line connecting the left motion block 12 and the right motion block 12 always remains collinear with the longitudinal axis of the middle motion block 11, and after the guide wire is clamped, the axis of the guide wire naturally also has an intersection with the longitudinal axis of the middle motion block 11. Therefore, the accuracy of guide wire positioning can be improved, the two finger modules 1 are arranged front and back, the same guide wire is clamped together, and a reliable position basis is provided for alternately delivering the guide wires.

The reciprocating motion of the middle motion block 11 in the vertical direction can be controlled manually by an operator, and can also be driven by a driving motor to realize automatic control.

In a specific embodiment, the horizontal opening and closing mechanism further comprises a first driving assembly fixedly mounted on the main mounting plate 10, and the first driving assembly is arranged on one side of the side moving block assembly, which is far away from the vertical twisting mechanism, so as to be far away from the vertical twisting mechanism; the first driving assembly has a first push rod 152, the first push rod 152 is in driving connection with the intermediate motion block 11 to drive the intermediate motion block 11 to reciprocate in the vertical direction;

the driving source of the first driving assembly may be a first linear stepping motor 151, and the precision of the stepping motor is high, which is beneficial to precisely controlling the up-down moving distance of the middle moving block 11, thereby precisely controlling the opening and closing distance of the vertical twist mechanism located at the left and right.

Specifically, the first linear stepping motor 151 has a mounting base 153, and the first linear stepping motor 151 is connected to the mounting base 153 thereof by screws. The first linear stepping motor 151 is fixed to the main mounting plate 10 through a support plate 154, and the support plate 154 reinforces the support of the first linear stepping motor 151, so that the first linear stepping motor 151 is more stably fixed to the mounting base 153. The main mounting plate 10 is provided with a base mounting hole 103, a support plate mounting hole 104, and a first linear stepping motor 151 mounting hole for mounting the base 153, the support plate 154, and the first linear stepping motor 151.

Specifically, the front end of the extension shaft of the first linear stepping motor 151 is provided with an external thread, one end of the first push rod 152 is provided with an internal thread hole, the extension shaft of the first linear stepping motor 151 and the first push rod 152 are fixedly connected through a threaded connection, so that the linear motion of the extension shaft is transmitted to the first push rod 152, the other end of the first push rod 152 is provided with a through hole along the radial direction, the middle motion block 11 is provided with a pin shaft hole 112, the through hole is concentrically matched with the pin shaft hole 112 of the middle motion block 11, a pin shaft penetrates through the insertion holes, so that the first push rod 152 and the middle motion block 11 are fixedly connected, and the linear motion of the extension shaft of the first linear stepping motor 151 is transmitted to the middle motion block 11, so that the middle motion block 11 is vertically linearly moved at the installation position.

Referring to fig. 7, fig. 7 illustrates a schematic view of a jaw 16 according to one embodiment. In one embodiment, the vertical twist mechanism includes a jaw 16 and a clamp; the clamping jaw 16 comprises a first plate body 161 extending along the horizontal direction and a second plate body 162 extending along the vertical direction, the first plate body 161 is fixed on the side motion block 12, and the clamping piece is connected with the second plate body 162 in a sliding mode in the vertical direction; the vertical twisting mechanism further includes a second driving assembly having a second push rod 192, and the second push rod 192 is drivingly connected to the clamping member to drive the clamping member to slide up and down relative to the second plate 162.

In this embodiment, the vertical twisting mechanism is configured to twist the instrument 2 simultaneously when holding the instrument 2 by fixing the first plate 161 to the side motion block 12 and slidably connecting the holding member to the second plate 162 in the vertical direction, so as to move up and down with respect to the horizontal opening and closing mechanism.

Please refer to fig. 8 and 9 fig. 8 show a schematic structural diagram of a connection board according to an embodiment. Fig. 9 illustrates a schematic diagram of a block 18 according to an embodiment. Further, in one embodiment, the clamp comprises a connection plate structure 17 and a clamp block 18; the connecting plate structure 17 comprises a first connecting plate 171 and a second connecting plate 172 which are oppositely arranged and fixedly connected; the first connecting plate 171 is in driving connection with the second push rod 192, and the second plate body 162 is located between the first connecting plate 171 and the second connecting plate 172 to be parallel to the second connecting plate 172, and all the three are vertically arranged; the clamping block 18 is mounted on a side of the second connecting plate 172 facing away from the first connecting plate 171.

In order to ensure the verticality of the up-and-down movement of the clamping member, in one embodiment, a second slider 1622 is fixed on one side surface of the second plate 162 facing the first connecting plate 171, and a raised guide rail positioning step 1621 is provided on one side of the second slider 1622; the second slider 1622 and the guide rail positioning step 1621 both extend in the vertical direction; a second sliding groove 173 is formed on one side of the first connecting plate 171 facing the second plate 162, the second sliding groove 173 extends in the vertical direction, and the second sliding groove 173 slides along the second sliding block 1622 to guide the clamping member when the clamping member slides vertically.

Specifically, 4 fixing holes are formed in the second plate 162, and the second slider 1622 is fixed to the second plate 162 by screws. When the second sliding groove 173 is clamped on the second sliding block 1622, the groove wall end surface of the second sliding groove 173 abuts against the guide rail positioning step 1621, so that the contact surface between the second sliding groove 173 and the second plate 162 is improved, and the stability of the second sliding groove 173 sliding along the second sliding block 1622 is improved.

The second guide rail can pass through the fix with screw on first connecting plate 171 on the surface to in convenient to detach and position calibration, and spacing through guide rail location step 1621, gliding straightness that hangs down about further spacing second slider 1622 makes the holder better at the stability of upper and lower direction motion, is favorable to improving the stability of twisting soon and twists soon the accuracy nature of angle control.

The second plate 162 is provided with a screw hole to which the second push rod 192 is screwed, and the second push rod 192 and the jaw 16 are fastened together by a screw, so that the linear motion of the second stepping motor protruding shaft can be converted into the vertical motion of the jaw 16.

In this embodiment, through set up second guide rail and guide rail location step 1621 at second plate body 162, can improve the relative clamping jaw 16's of holder stability and linearity to make clamping jaw 16 can keep twisting round the seal wire at strict vertical direction soon, thereby prevent that the seal wire from taking place crooked when twisting round soon, improve the stability of twisting round the seal wire soon, improve the security of the operation of operation in-process.

In one embodiment, the surface of second connection plate 172 is a second dovetail groove 1721; the clamping block 18 is elastic, a dovetail-shaped limiting protrusion 181 is formed on the surface of the clamping block 18 facing the second connecting plate 172, and the limiting protrusion 181 is inserted into the second dovetail groove 1721 and is tightly matched with the second dovetail groove 1721.

In this embodiment, the second connecting plate 172 and the clamping block 18 are matched through the dovetail groove structure, so that the clamping block 18 can slide back and forth relative to the second connecting plate 172, and is convenient to mount and dismount, however, the in-groove structure of the second dovetail groove 1721 limits the up-and-down movement of the clamping block 18, so that in the process of twisting the guide wire up and down, the clamping block 18 is not easy to shift up and down, and the stability of the twisting process is improved.

The clamping block 18 is made of elastic material, so that the clamping block can be in elastic contact with the guide wire, the clamping force on the guide wire can be improved, the guide wire cannot be damaged, and the phenomenon of slipping caused by hard contact and the damage of the guide wire caused by overlarge clamping force are prevented.

Moreover, in the whole finger module 1, only the clamping block 18 is in direct contact with the guide wire; to avoid cross-infection, the clamping block 18 may be made of a disposable and disposable material with low cost, such as medical silica gel or rubber, and the clamping block 18 may be replaced after each operation without replacing the entire finger module 1.

Further, a guide groove 1722 is further formed in the top end face of the second connecting plate 172; the clamping block 18 has a flange toward the top of the second connecting plate 172, and the flange is formed with a guide protrusion 182 for inserting into the connecting groove, and the guide protrusion 182 is inserted into the connecting groove and tightly fitted with the guide groove 1722. During the process of mounting the clamping block 18 on the second connecting plate 172, the matching of the guide groove 1722 and the guide projection 182 plays a role in guiding and positioning, and the rapid mounting and dismounting of the clamping block 18 are facilitated.

Based on the above embodiment, the second driving assembly also adopts the second linear stepping motor 191, which has high precision and fast response, is beneficial to realizing the precise control of the twisting angle and twisting speed, enables the instrument 2 to smoothly pass through the blood vessel branch, and simultaneously meets the precision requirement in the actual operation process.

In one embodiment, the side motion block 12 is a hollow structure, and has a mounting platform at the bottom thereof, the mounting platform is provided with a mounting hole 123 for the second linear stepping motor 191, and the second linear stepping motor 191 is mounted in the hollow structure of the side motion block 12 through the mounting hole. The top of the side motion block 12 is provided with a first through hole 122, and a corresponding position on the first plate 161 is provided with a second through hole 1611, so that the second push rod 192 penetrates through the top of the side motion block 12 and the first plate 161, and is connected with the clamping member in a driving manner.

Specifically, the second push rod 192 has an internal threaded hole, and the linear stepping motor has an external thread at the front end of the protruding shaft, which is tightly engaged with the thread. The side motion block 12 is a hollow structure, and the linear stepping motor is installed in the hollow structure of the side motion block 12. The second push rod 192 penetrates the side movement block 12 from bottom to top and extends out of the first plate 161 of the jaw 16.

The power part (including the first linear stepping motor 151 and the second linear stepping motor 191) of the surgical instrument adopts a structural design with strong sealing performance, so that the power part and the instrument 2 are completely isolated, and the possibility of being polluted by the instrument 2 in the surgical process is effectively reduced.

Further, in an embodiment, both vertical twisting machines have second driving assemblies, and both second driving assemblies simultaneously drive the corresponding clamping members or only one driving assembly drives the corresponding clamping members to move up and down so as to twist the apparatus 2.

The two drive assemblies may be independently controlled by a control mechanism. The second linear stepping motors 191 on the left side and the right side are controlled to work so as to control the clamping pieces on the two sides to move up and down, so that the twisting of the guide wire is realized, and the far end of the guide wire rotates under the twisting action, so that the guide wire smoothly passes through a blood vessel branch. And meanwhile, the two second linear stepping motors 191 are controlled to work, so that the twisting speed can be increased, and the blood vessel can rapidly rush through the branch of the blood vessel. The control mechanism only controls one second linear stepping motor 191 to work, and when the other one does not work, the twisting effect can be achieved. In addition, the guide wire is twisted by driving the single clamping piece to move, so that errors caused by mechanical transmission of equipment can be reduced, and the accuracy of the control of the twisting angle of the guide wire is improved.

Referring to FIG. 10, FIG. 10 illustrates a schematic view of an instrument holder 107 according to one embodiment. In one embodiment, the finger module 1 further comprises an instrument holder 107, and the main mounting plate 10 is formed with instrument holder mounting holes 105 for fixing the instrument holder 107 on the main mounting plate 10. Specifically, one end (can be the lower extreme) of instrument supporting seat 107 passes through the screw fastening on main mounting panel 10, has seted up support groove 1071 on the instrument supporting seat 107 other end (can be the upper end), and support groove 1071 supplies support sleeve to wear to establish, and support groove 1071's tank bottom can adopt the cambered surface with support sleeve 108 looks adaptation to improve the support stability to support sleeve.

A notch is formed along the axial direction of the support pipe sleeve 108 for accommodating the instrument 2, and a support pipe fastening hole is formed in the side end surface of the instrument support base 107, so that the support pipe sleeve 108 can be fixed by using a screw. A plurality of support means like the instrument support 107 may be provided in the delivery direction of the instrument 2 for supporting the instrument 2.

When the instrument 2 is installed, the support groove 1071 notch of the instrument support seat 107 and the notch on the support sleeve are both upward, so that the guide wire can be conveniently and rapidly placed or taken out in the operation process while the guide wire supporting function is achieved.

The clamping piece of the embodiment is provided with the connecting plate structure 17 and the clamping block 18 in a separated manner, so that the parts of the finger module 1, which are in contact with the instrument 2, are reduced, the clamping block 18 and the supporting tube, which are in direct contact with the instrument 2, are used for one time, and the condition that other parts are polluted by the instrument 2 is effectively avoided; the installation process of the clamping block 18 and the second connecting plate 172 is quick and convenient; the second connecting plate 17 is also less likely to be damaged due to the elastic properties of the clamping blocks 18.

The operation of the finger module 1 of the present application is generally described herein.

Referring to fig. 11 and 12, fig. 11 is a side view of the finger module 1 in a clamping twist state according to an embodiment. Fig. 12 is an enlarged view at a in fig. 11. The first linear stepping motor 151 works under the control of the control mechanism, so that the first push rod 152 moves downwards, the middle moving block 11 is driven to move downwards synchronously, the two side moving blocks 12 respectively arranged at the left side and the right side are driven to approach to the middle, and finally the clamping of the clamping piece at the left side and the clamping piece at the right side to the middle is realized; the left clamping piece and the right clamping piece are in contact with the to-be-clamped instrument 2 through the disposable left clamping block 18a and the disposable right clamping block 18b, and clamping of the instrument 2 is achieved. Under the clamping state, the second linear stepping motors 191 on the left side and the right side are controlled to work through driving, the clamping piece on the left side and the clamping piece on the right side are controlled to move up and down through the second push rod 192, the rotary twisting of the instrument 2 is realized, and the far end of the instrument 2 rotates under the rotary twisting effect, so that the instrument smoothly passes through a blood vessel branch.

Referring to fig. 13 and 14, a side view of a finger module 1 in a released state is shown according to one embodiment. Fig. 14 is an enlarged view at B in fig. 13. The first linear stepping motor 151 operates under the control of the control mechanism, so that the first push rod 152 moves upward to push the middle moving block 11 to move upward synchronously, and then drives the two side moving blocks 12 respectively arranged at the left and right sides to move away from the left and right sides, so that the left clamping block 18a and the right clamping block 18b are opened outwards, and finally the clamping and the twisting of the instrument 2 are released.

Referring to fig. 15, fig. 15 is a schematic structural diagram of a delivery device according to an embodiment. The present application also proposes a delivery device of an interventional surgical robot, which comprises a mounting base plate 3, a guiding transmission module, and the finger module 1 and the control mechanism in the above embodiments. The guide transmission module comprises a guide rod and at least two transmission pieces capable of sliding along the guide rod; the number of the finger modules 1 is two, and the finger modules are arranged on the mounting bottom plate 3 at intervals along the extending direction of the guide rod; the transmission parts are fixedly connected with the finger modules 1 in a one-to-one correspondence manner; the control mechanism controls the two transmission parts to move towards or away from each other along the guide rod, so that the two finger modules 1 are driven to move towards or away from each other; the control module is also electrically connected to the finger module 1 to control the grip of the finger module 1 moving in the delivery direction of the instrument 2 so that the two finger modules 1 alternately deliver the instrument 2.

For a specific embodiment of the finger module 1, please refer to the above embodiment, which is not described herein again.

The control mechanism in this embodiment may include a single chip microcomputer, a DSP, a MCU, and other control systems, and may have an upper computer, so that an operator may input a control instruction to control the configuration and adjustment of each working parameter of the guiding transmission mechanism and the finger module 1.

Mounting plate 3 is used to provide a stable delivery environment for the delivery mechanism and in one embodiment, mounting plate 3 may be comprised of multiple parts, for example, mounting plate 3 may include a base and guide bar mount 43. Wherein, the base contacts with the external support plane, and the bottom surface of the base can be provided with an anti-slip layer so as to make the delivery environment more stable. In another embodiment, the base may further be provided with a fixing mechanism, and the fixing mechanism is used to fix the base to the other apparatus 2, so as to cooperate with the other apparatus 2. The guide rod mounting seat 43 can be fixed on the base through screws and other modes, so that the guide rod mounting seat is convenient to detach and mount, and the guide rod mounting seat 43 is provided with a through hole for the guide rod to penetrate and fix.

In one embodiment, the guide rod is a guide screw 41, and the guide screw 41 has a first section 411 and a second section 412 with opposite thread directions. The two finger modules 1 are a first finger module 1a and a second finger module 1b respectively; the guide rod is a guide screw rod 41, the guide screw rod 41 is provided with a first section 411 and a second section 412, and the thread directions of the first section 411 and the second section 412 are opposite; the two transmission members comprise a first nut 421 and a second nut 422 respectively; wherein the first nut 421 is sleeved on the first section 411 and is fixedly connected with the first finger module 1a, and the second nut 422 is sleeved on the second section 412 and is fixedly connected with the second finger module 1b; the control mechanism controls the guide screw 41 to rotate forward or backward, so that the first nut 421 and the second nut 422 drive the first finger module 1a and the second finger module 1b to move toward or away from each other correspondingly.

In one embodiment, the first section 411 and the second section 412 are the same length, thereby improving the utilization of the mounting baseplate 3 and miniaturizing the volume of the delivery module of the instrument 2. Therefore, the delivery accuracy can be improved on the basis of improving the delivery efficiency by arranging the guide screw 41 and making the two nuts move relatively on the guide screw 41.

In some embodiments, the mounting base plate 3 further comprises a third guide rail 44 arranged in parallel with the guide screw 41 and a third slider capable of sliding along the guide rail, so as to smoothly and smoothly deliver the instrument 2. Specifically, the third sliding block is fixedly connected with a nut so as to move along with the nut. The mounting base plate 3 may be provided with a through hole for fixing the third rail 44, so that the third rail 44 can pass through the through hole. The finger module 1 is arranged on the upper side of the third sliding block. This allows the finger module 1 to move smoothly.

Further, in one embodiment, two travel switches 46 are mounted on the mounting base plate 3, and the travel switches are fixed on the mounting base plate 3 through a mounting bracket 49. Two travel switches 46 are respectively arranged corresponding to the limit positions at two ends of the first section 411; the first finger module 1a and the second finger module 1b are both provided with an inductive switch 47, and the inductive switch 47 can be triggered when the finger module 1 moves to the position of the travel switch 46; the control mechanism is electrically connected to the inductive switch 47, when the first finger module 1a moves to two extreme positions of the first section 411, the inductive switch 47 is triggered, the trigger signal is transmitted to the control mechanism through a circuit on the signal trigger board 48, so that the control mechanism controls the lead screw to rotate in a reverse direction after receiving the trigger signal, and controls the clamping jaw 16 assemblies of the first finger module 1a and the second finger module 1b to switch on and off.

The travel switch 46 is used in cooperation with the inductive switch 47, and through the arrangement of the travel switch 46, the control mechanism can accurately control the reversing position of the finger module 1, so that the delivery of the instrument 2 is realized by the mutual cooperation of the two finger modules 1.

Referring to fig. 16 to 19, fig. 16 is a state diagram illustrating a state where the first finger module 1a moves to the head end of the first section 411 according to an embodiment. Fig. 17 is an enlarged view at C in fig. 16. FIG. 18 illustrates a position state diagram of the first finger module 1a moving to the end of the first section 411, according to one embodiment. Fig. 19 is an enlarged view at D in fig. 18. Specifically, the end of the first section 411 is the head end of the second section 412 along the delivering direction. Assuming that the starting point of the first finger module 1a is the end of the first section 411 and the starting point of the second finger module 1b is the head end of the second section 412, at the end of the first section 411, the inductive switch 47 on the first finger module 1a is triggered by the travel switch 46, the control mechanism controls the vertical twist mechanism of the first finger module 1a to grip the instrument 2 and simultaneously controls the vertical twist mechanism of the second finger module 1b to disengage to release the instrument 2, thereby completing the transfer of the instrument 2, the control mechanism may be synchronized and may later control the lead screw 41 to reverse direction so that the first finger module 1a slides towards the head end 411 of the first section and the second finger module 1b slides towards the tail end of the second section 412.

Then, when the first finger module 1a slides to the head end of the first section 411, the inductive switch 47 on the first finger module 1a is triggered by the travel switch 46, the control mechanism controls and controls the vertical twisting mechanism of the second finger module 1b to approach to clamp the instrument 2, and the vertical twisting mechanism of the first finger module 1a is separated to release the instrument 2, so that the transmission of the instrument 2 is completed; the control mechanism may be synchronized or may later control the lead screw 41 to reverse again, so that the first finger module 1a slides towards the end of the first section 411 and the second finger module 1b slides towards the head end of the second section 412, until at the end of the first section 411, the inductive switch 47 on the first finger module 1a is again triggered by the travel switch 46, and the transfer and alternate transport process of the implement 2 is repeated.

The present application also proposes an interventional surgical robot having a finger module 1 or a delivery device as described before. Since the interventional surgical robot has the finger module 1 or the delivery device, all the beneficial effects of the finger module 1 or the delivery device are achieved, and the details are not repeated herein.

While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. A finger module for an interventional surgical robot, comprising:

the horizontal opening and closing mechanism comprises a middle moving block and two side moving block assemblies; the two side motion block assemblies are respectively arranged on two sides of the middle motion block along the horizontal direction and are connected to the first guide rail in a sliding manner, each side motion block assembly comprises a side motion block and an inclined surface corresponding to the inclined surface of the middle motion block, and one side surface of each side motion block, facing the middle motion block, is correspondingly provided with an inclined surface; the surfaces of the middle motion block, which face the two side motion blocks, are inclined surfaces, and the side motion block assemblies are connected with the inclined surfaces in a sliding manner, so that when the middle motion block slides in a reciprocating manner in the vertical direction, the two side motion block assemblies move towards or away from each other on the first guide rail;

two vertical twisting mechanisms are arranged and are respectively and fixedly connected with the two side moving block assemblies in the horizontal direction so as to clamp or loosen an instrument under the driving of the side moving block assemblies; in the vertical direction, the vertical twisting mechanism can move up and down relative to the side motion block so as to twist the instrument.

2. The finger module of claim 1, wherein said side motion block assembly further comprises a slider mounting plate mounted on said main mounting plate; the side motion block is fixed on one side of the slide block mounting plate, which is far away from the main mounting plate;

the slider mounting panel epirelief is equipped with first slider, first slider with first guide rail sliding fit, so that the side motion piece subassembly is followed first guide rail slides.

3. The finger module of claim 2, wherein said side motion block is formed with a first dovetail slot;

the middle motion block is convexly provided with a dovetail structure, and the dovetail structure is matched with the first dovetail groove to push the side motion block to slide along the first guide rail when the middle motion block slides along the vertical direction.

4. The finger module of claim 2, wherein said horizontal opening and closing mechanism further comprises a first drive assembly fixedly mounted on said main mounting plate, said first drive assembly being disposed on a side of said side motion block assembly facing away from said vertical twist mechanism so as to be remote from said vertical twist mechanism;

the first driving assembly is provided with a first push rod, and the first push rod is in driving connection with the middle moving block so as to drive the middle moving block to reciprocate in the vertical direction.

5. The finger module of claim 3, wherein said vertical twist mechanism comprises a jaw and a grip; the clamping jaw comprises a first plate body extending along the horizontal direction and a second plate body extending along the vertical direction, the first plate body is fixed on the side motion block, and the clamping piece is connected with the second plate body in a sliding mode in the vertical direction;

6. The finger module of claim 5, wherein said clip comprises a connecting plate structure and a clamping block;

7. The finger module of claim 6, wherein a second slider is fixed on one side surface of said second board body facing said first connection board, and a raised guide rail positioning step is provided on one side of said second slider; the second sliding block and the guide rail positioning step extend along the vertical direction;

and a second sliding groove is formed in one side, facing the second plate body, of the first connecting plate, and the second sliding groove slides along the second sliding block so as to play a role in guiding the clamping piece when the clamping piece slides up and down.

8. The finger module of claim 6, wherein the surface of the second connecting plate is provided with a second dovetail groove;

9. The finger module of claim 5, wherein said side motion block is a hollow structure;

10. The finger module of claim 5, wherein both said vertical twisters have said second drive assemblies, both said second drive assemblies driving their respective grippers simultaneously or only one said drive assembly driving the respective gripper up and down for twisting the instrument.

11. A delivery device for an interventional surgical robot, comprising:

mounting a bottom plate;

the finger module of any one of claims 1 to 8, wherein two finger modules are arranged on the mounting base plate at intervals along the extending direction of the guide rod; the transmission parts are fixedly connected with the finger modules in a one-to-one correspondence manner;

the control mechanism controls the two transmission parts to move towards or away from each other along the guide rod so as to drive the two finger modules to move towards or away from each other; the control mechanism is also electrically connected with the finger modules to control the clamping of the clamping members of the finger modules moving in the instrument delivery direction so that the two finger modules alternately deliver the instrument.

12. The interventional surgical robotic delivery device of claim 11, wherein the two finger modules are a first finger module and a second finger module, respectively; the guide rod is a guide screw rod, the guide screw rod is provided with a first section and a second section, and the thread turning directions of the first section and the second section are opposite;

the control mechanism controls the guide screw rod to rotate forwards or reversely so that the first nut and the second nut correspondingly drive the first finger module and the second finger module to move towards or away from each other.

13. The delivery device of the interventional surgical robot as set forth in claim 12, wherein two travel switches are further mounted on the mounting base plate and are respectively disposed corresponding to two extreme positions at the first section; the first finger module and the second finger module are respectively provided with an inductive switch, and the inductive switches can be triggered when the finger modules move to the positions of the travel switches;

the control mechanism is electrically connected with the inductive switch, and when the first finger module moves to two extreme positions of the first section, the inductive switch is triggered, so that the control mechanism controls the screw rod to rotate in a reversing manner, and controls the clamping jaw assemblies of the first finger module and the second finger module to switch on and off.

14. An interventional surgical robot comprising a finger module according to any one of claims 1 to 10 or a delivery device according to any one of claims 11 to 13.