CN114521968B - Operating system for a guide wire and surgical robot - Google Patents

Abstract

The embodiment of the disclosure provides an operating system for a guide wire and a surgical robot, wherein the operating system comprises a driving module assembly, a long sheath driving assembly, a first catheter moving assembly, a second catheter moving assembly and a guide wire moving assembly, wherein the long sheath driving assembly, the first catheter moving assembly, the second catheter moving assembly and the guide wire moving assembly are driven to move along a linear direction through the driving module assembly, the guide wire moving assembly comprises a guide wire driving device and a guide wire moving device, a catheter with the guide wire arranged inside the guide wire is combined with a catheter guiding sheath in the second catheter moving assembly, the catheter is combined with the long sheath guiding sheath in the first catheter moving assembly, and the first catheter moving assembly and the second catheter moving assembly control the movement of the catheter. According to the embodiment of the disclosure, the arrangement mode of the catheter and the guide wire is close to the use habit of a doctor, such as the long sheath guiding sheath is at the outermost side, the catheter is in the middle, and the guide wire is at the innermost side, so that the replacement of the instrument is easier, and the integrated design realizes the movement of the catheter and the guide wire in a large range.

Description

Operating system for a guide wire and surgical robot

Technical Field

The present disclosure relates to the technical field of surgical robots, and in particular to an operating system for a guide wire and a surgical robot.

Background

Cardiovascular diseases become the first death cause of the world and China, and in use, doctors and medical staff can be exposed to ionizing radiation of X rays for a long time by using traditional guide wires and catheter interventional instruments, and the doctors can be secondarily injured by wearing heavy lead clothing. By means of the robot technology, doctors can precisely treat and reduce injuries through a physical isolation or remote operation mode.

At present, in the developed and proposed minimally invasive interventional surgical robot system, the rotation of the catheter inevitably causes the rotation of the corresponding driving element, so that the device is complex, the practical applicability is insufficient, medical accidents are easily caused, and meanwhile, no proper sterile protection exists, and the infection is easily caused.

Disclosure of Invention

In view of the foregoing, embodiments of the present disclosure provide an operating system for a guidewire and a surgical robot.

In one aspect, the present disclosure provides an operating system for a guidewire, including a drive module assembly and a long sheath drive assembly, a first catheter movement assembly, a second catheter movement assembly, and a guidewire movement assembly that are driven by the drive module assembly to move in a linear direction, the guidewire movement assembly including a guidewire drive device and a guidewire movement device, a catheter incorporating the guidewire being coupled to a catheter guiding sheath in the second catheter movement assembly, the catheter being coupled to a long sheath guiding sheath in the first catheter movement assembly, the first catheter movement assembly and the second catheter movement assembly controlling movement of the catheter.

In some embodiments, the drive module assembly includes a fixed base on which a sliding base is disposed, the sliding base sliding along a straight line on the fixed base, and the long sheath drive assembly, the first catheter movement assembly, the second catheter movement assembly, and the guidewire movement assembly are disposed on the sliding base.

In some embodiments, mounting posts are provided at the edges of the sliding base for securing the catheter guide sheath and the long sheath guide sheath.

In some embodiments, the catheter guide sheath has a forward end connected to the second catheter movement assembly and a rearward end secured to a first mounting post, and the elongate sheath has a forward end connected to the first catheter movement assembly and a rearward end secured to a second mounting post.

In some embodiments, the long sheath drive assembly and the first catheter movement assembly are disposed at a first end of the sliding base, the second catheter movement assembly is disposed in a middle portion of the sliding base, and the guidewire movement assembly is disposed at a second end of the sliding base opposite the first end.

In some embodiments, the guidewire drive is disposed on the sliding base and moves in a linear direction relative to the sliding base.

In some embodiments, the slide base includes a lower base plate and an upper base plate, and the lower base plate moves in a straight line with respect to the fixed base.

In some embodiments, a connecting block is disposed on the fixed base, a first linear slide rail is disposed on the lower substrate, and the connecting block is capable of sliding on the first slide rail to adjust a relative position between the lower substrate and the fixed base of the sliding base.

In some embodiments, a first feed motor is provided on the lower substrate and a first screw is provided, the first feed motor providing power and transmitting the power to the first screw through a synchronous pulley to drive rotation of the first screw.

In some embodiments, a first bearing seat is disposed at a first end of the first slide rail, a second bearing seat is disposed at a second end of the first slide rail, and the first screw is disposed between the first bearing seat and the second bearing seat and protrudes from the first bearing seat.

In some embodiments, a first lead screw nut is disposed on the connection block, the first lead screw nut being sleeved on the first lead screw.

In some embodiments, the first screw is connected to a screw shaft, a guide seat is disposed at a first end of the lower substrate, a release device is disposed at a first side of the guide seat, a spring is disposed between the guide seat and the release device, a clutch is disposed at a second side of the guide seat, and the clutch is disposed opposite to the screw shaft and connected to the screw shaft.

In some embodiments, a brake is provided on the screw shaft.

In some embodiments, a second sliding rail, a second screw rod and a second feeding motor are arranged on the side face of the upper substrate, the second screw rod is fixed with the second feeding motor through a coupler, a second screw rod nut is arranged on the sliding block, the second screw rod nut is sleeved on the second screw rod, the sliding block is arranged on the second sliding rail, the sliding block is connected with the guide wire driving device, the second screw rod rotates to drive the sliding block to move through the second screw rod nut, and therefore the second guide tube moving assembly and the guide wire moving assembly move along the linear direction through the movement of the sliding block on the second sliding rail.

In some embodiments, a third bearing seat and a fourth bearing seat are respectively arranged at two ends of the second sliding rail, and the second screw rod is arranged between the third bearing seat and the fourth bearing seat.

In some embodiments, a gear pair is disposed on the second screw, and the second screw is connected to a redundancy check encoder through the gear pair.

In some embodiments, the guide wire driving device comprises a first mounting base plate, a guide wire pushing motor and a guide wire rotating motor, wherein a guide wire mounting plate is arranged at one end of the first mounting base plate, and the guide wire mounting plate and the first mounting base plate are mutually perpendicular.

In some embodiments, the guidewire propulsion motor and the guidewire rotation motor are disposed outside the guidewire mounting plate, and the second catheter movement assembly and the guidewire movement device of the guidewire movement assembly are disposed inside the guidewire mounting plate.

In some embodiments, the output shaft of the guide wire rotating motor is fixedly connected with one end of the first docking coupler, and the output shaft of the guide wire pushing motor is fixedly connected with one end of the second docking coupler.

In some embodiments, the first and second docking couplings are connected with a guidewire advance input shaft and a guidewire rotation input shaft, respectively.

In some embodiments, a third mounting bottom plate is arranged at the end part of the other side of the first mounting bottom plate, a guide pipe driving motor is arranged on the front surface of the third mounting bottom plate through a connecting piece, a second mounting bottom plate is arranged on the back surface of the first mounting bottom plate, and a synchronous belt wheel set is arranged on the second mounting bottom plate.

In some embodiments, the output shaft of the catheter drive motor is connected to a first timing pulley in the timing pulley set, the first timing pulley being connected to a second timing pulley in the timing pulley set by a timing belt.

In some embodiments, the second synchronous pulley is coaxially fixed with a quick coupler coaxially connected with the input shaft of the first catheter movement assembly.

In some embodiments, a tension and pressure sensor is further disposed on the second mounting base plate, one side of the tension and pressure sensor is fixedly disposed on the second mounting base plate, and the other side of the tension and pressure sensor is connected with the sliding base.

In some embodiments, a fixing seat is arranged on the back surface of the third mounting bottom plate, a first connecting rod and a third connecting rod are arranged on the fixing seat, a second connecting rod is arranged between the first connecting rod and the third connecting rod, a parallelogram structure is formed among the first connecting rod, the second connecting rod, the third connecting rod and the fixing seat, and the catheter driving motor is fixedly connected with the first connecting rod.

In some embodiments, a tension and pressure sensor is disposed on the fixed base, one side of the tension and pressure sensor is fixed to the fixed base, and one side is fixed to the guide wire mounting plate.

In some embodiments, the first catheter movement assembly and/or the second catheter movement assembly comprises a base on which a first gear base and a second gear base are disposed, the first gear base and the base are disposed perpendicular to each other, and the second gear base and the base are disposed parallel.

In some embodiments, a first gear is disposed on the first gear base and a second gear is disposed on the second gear base, where the first gear and the second gear form a gear set, and wherein the first gear and the second gear are disposed in meshing engagement with each other.

In some embodiments, a first guiding sheath support seat is arranged on a first side of the first gear base, a second guiding sheath support seat is arranged on the base, and the second gear is positioned between the first guiding sheath support seat and the second guiding sheath support seat, wherein the first guiding sheath support seat and the second guiding sheath support seat are used for supporting and fixing the long sheath guiding sheath.

In some embodiments, the first guiding sheath supporting seat is provided with a groove for supporting the first guiding sheath, and the second guiding sheath supporting seat is provided with a through hole for passing through the long sheath guiding sheath.

In some embodiments, a guide sheath clamping ring is further provided on the first side of the first gear base, the guide sheath clamping ring for clamping a second guide sheath.

In some embodiments, an isolation coupling and a gear shaft are disposed on the base, one end of the gear shaft is fixedly connected with the isolation coupling, and the other end of the gear shaft is coaxially connected with the second gear.

In some embodiments, a first bearing and a second bearing are provided on the first gear base, the first bearing and the second bearing for supporting the first gear and providing rotational freedom of the first gear relative to the first gear base; and a third bearing and a fourth bearing are arranged on the second gear base, and the third bearing and the fourth bearing are sleeved on the gear shaft and are used for supporting the second gear and providing the rotational freedom degree of the second gear relative to the second gear base.

In some embodiments, two sides of the second gear base are respectively provided with a clamping part, and the second gear base can be clamped and fixed on the base through the clamping parts.

In some embodiments, a first protruding part and a second protruding part are arranged on two sides of the second gear base, a first fixing groove and a second fixing groove are arranged on the first protruding part and the second protruding part, and the first protruding part and the second protruding part are respectively connected with a first fixing buckle and a second fixing buckle through a first elastic piece and a second elastic piece; one end of the first elastic piece is connected with the first fixing groove, the other end of the first elastic piece is connected with the first fixing buckle, one end of the second elastic piece is connected with the second fixing groove, and the other end of the second elastic piece is connected with the second fixing buckle.

In some embodiments, a lower conduit clamping ring is fixedly arranged on the first gear, an upper conduit clamping ring is connected to the lower conduit clamping ring, and the conduit is arranged between the lower conduit clamping ring and the upper conduit clamping ring and is clamped to the conduit.

In another aspect, the disclosure also provides a surgical robot comprising an operating system as described in any one of the above technical solutions.

According to the embodiment of the disclosure, the arrangement mode of the catheter and the guide wire is close to the use habit of a doctor, such as the long sheath guiding sheath is at the outermost side, the catheter is in the middle, and the guide wire is at the innermost side, so that the replacement of the instrument is easier, and the integrated design realizes the movement of the catheter and the guide wire in a large range.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

FIG. 1 is a schematic diagram of an operating system according to an embodiment of the present disclosure;

FIG. 2 is a top view of an upper base plate of a slide base in an operating system according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a lower substrate of a slide base in an operating system according to an embodiment of the disclosure;

FIG. 4 is a schematic illustration of an arrangement of a long sheath drive assembly and a guidewire drive in an operating system according to an embodiment of the present disclosure;

FIG. 5 is a schematic illustration of an arrangement of a guidewire drive in an operating system according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a guidewire drive assembly in an operating system according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a first mounting base plate in an operating system according to an embodiment of the disclosure;

FIG. 8 is a schematic diagram of a first mounting base plate in an operating system according to an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a first mounting base plate in an operating system according to an embodiment of the present disclosure;

FIG. 10 is a schematic view of a first catheter movement assembly in an operating system according to an embodiment of the present disclosure;

FIG. 11 is a schematic view of a first catheter movement assembly in an operating system according to an embodiment of the present disclosure;

FIG. 12 is a schematic view of a first catheter movement assembly in an operating system according to an embodiment of the present disclosure;

Fig. 13 is a schematic view of a first catheter movement assembly in an operating system according to an embodiment of the disclosure.

Reference numerals:

1-a catheter; 2-a guide sheath clamping ring; 3-a first gear base; 4-clamping the upper ring of the catheter; 5-a first fixing buckle; 6, a base; 7-a first fixing groove; 8-a second gear base; 9-a second gear; 10-a second guiding sheath supporting seat; 11-a second fixing groove; 12-a second fixing buckle; 13-a first gear; 15-a first elastic member; 16-a second elastic member; 17-a first bearing; 18-a second bearing; 19-clamping the lower ring of the catheter; 20-gear shaft; 21-a sealing ring; 22-isolating shaft coupling; 23-a third bearing; 24-fourth bearing; 25-a primary guide sheath support; 26-a microswitch; 27-drag chain; 31-rotating the fixed seat; 32-a fixed base; 33-connecting blocks; 34-a first lead screw nut; 35-a sliding base; 36-a second screw rod; 37-a third bearing seat; 38-fourth bearing seat; 39-a second feed motor; 40-gear pair; 41-a second lead screw nut; 42-a second slide rail; 43-a first slide rail; 44-redundancy check encoder; 45-handle; 46-a first screw rod; 47-a first bearing seat; 48-a second bearing block; 49-a first feed motor; 50-a screw shaft; 51-a guidewire propulsion motor; 52-a guidewire rotating electrical machine; 53-flexible encoder; 54-quick connector; 55-a first docking coupler; 56-a second docking coupling; 57-clutch; 58-a guide seat; 59-release means; 60-a guidewire rotation input shaft; 61-guidewire advance input shaft; 62-mounting; 63-a synchronous pulley; a 64-brake; 65-springs; 66-sliding blocks; 67-a first mounting base plate; 68 a-a first mounting post; 68 b-a second mounting post; 105-a guidewire mounting plate; 106-fixing seat; 107-catheter drive motor; 108-pulling a pressure sensor; 109-a first link; 110-a second link; 111-a third link; 162-long sheath guide sheath; 163-catheter guide sheath; 164-a second mounting plate; 165-a third mounting base; 169-synchronous belt; 170 a-a first synchronous pulley; 170 b-a second synchronous pulley; 171-a lower substrate; 172-an upper substrate; 203-a guidewire; 1001-a drive module assembly; 1002-a long sheath drive assembly; 1003-a first catheter movement assembly; 1004-a second catheter movement assembly; 1005-guidewire drive means; 1006-guidewire movement means.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.

Unless otherwise defined, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

In order to keep the following description of the embodiments of the present disclosure clear and concise, the present disclosure omits detailed description of known functions and known components.

The embodiment of the disclosure provides an operating system for a guide wire, wherein the operating system can be arranged in medical equipment such as a surgical robot, can realize the cooperative work of a catheter and the guide wire in the interventional treatment process by the surgical robot, can realize the synchronous and asynchronous work of the catheter and the guide wire with different specifications in a large range, and finally controls the guide wire to extend into a patient to realize rotation and linear movement. The catheter and the guidewire are disposed within a catheter guide sheath and a long sheath guide sheath, respectively.

Fig. 1-9 illustrate a schematic structural view of an operating system for a guidewire and components thereof according to an embodiment of the present disclosure, including a drive module assembly 1001, a long sheath drive assembly 1002, a first catheter movement assembly 1003, a second catheter movement assembly 1004, and a guidewire movement assembly, where the guidewire movement assembly includes a guidewire drive 1005 and a guidewire movement 1006. Wherein, the driving module assembly 1001 is used for driving the long sheath driving assembly 1002, the first catheter moving assembly 1003, the second catheter moving assembly 1004 and the guide wire moving assembly to move along a straight line direction as a whole.

As shown in fig. 1, in actual use of the operating system, the guide wire 203 (shown in fig. 6), the catheter 1, the long sheath guide sheath 162 and the catheter guide sheath 163 are used as medical consumables, respectively, wherein the guide wire 203 is preset in the catheter 1, the catheter 1 with the guide wire 203 is combined with the catheter guide sheath 163 in the second catheter moving assembly 1004, the combined catheter 1 is separated from the catheter guide sheath 163 before the first catheter moving assembly 1003, and is combined with the long sheath guide sheath 162 in the first catheter moving assembly 1003, and the first catheter moving assembly 1003 and the second catheter moving assembly 1004 are respectively used for realizing corresponding motions for controlling the catheter 1 and the catheter guide sheath 163 to rotate and the like.

As shown in fig. 1 and 2, in particular, the driving module assembly 1001 includes a fixed base 32, on which a sliding base 35 is disposed, the sliding base 35 being slidably movable on the fixed base 32 in a straight line to generate a degree of freedom in a straight line, wherein the degree of sliding of the sliding base 35 with respect to the fixed base 32 is adjustable. As such, the long sheath drive assembly 1002, the first catheter movement assembly 1003, the second catheter movement assembly 1004, and the guidewire movement assembly in the embodiments of the present disclosure are provided on the slide base 35 so as to be integrally slidable with respect to the fixed base 32.

Further, a mounting post may be provided at the edge of the slide base 35 for fixing the catheter guide sheath 163 and the long sheath guide sheath 162. Wherein the catheter guide sheath 163 is fixed to the second catheter movement assembly 1004 on the front side and the first mounting post 68a on the rear side, and the long sheath guide sheath 162 is fixed to the first catheter movement assembly 1003 on the front side and the second mounting post 68b on the rear side, thereby facilitating the coupling of the catheter guide sheath 163 to the catheter 1 in the second catheter movement assembly 1004 and simultaneously facilitating the coupling of the catheter 1 to the long sheath guide sheath 162 in the first catheter movement assembly 1003.

Further, the long sheath drive assembly 1002 and the first catheter movement assembly 1003 are disposed at a first end of the slide base 35 of the drive module assembly 1001; the second catheter moving assembly 1004 is disposed in the middle of the sliding base 35, and the guide wire moving assembly is disposed at a second end of the sliding base 35 opposite to the first end. Further, the second catheter movement assembly 1004 may be disposed on the guidewire drive 1005 of the guidewire movement assembly. This allows for reasonable placement of components on the slide base 35 to facilitate control of the catheter guide sheath 163 in combination with the catheter 1 in the second catheter movement assembly 1004, while facilitating combination of the catheter 1 with the long sheath guide sheath 162 in the first catheter movement assembly 1003.

Further, the guide wire driving device 1005 is disposed on the sliding base 35 and can move in a linear direction relative to the sliding base 35, so that the guide wire driving device 1005 can generate a sliding stroke multiplication effect relative to the fixed base 32, that is, the guide wire driving device 1005 can move forward for a longer distance in a shorter length range, so that the driving module base 1001 provides 2 linear feeding motions for the guide wire driving device 1005, and thus, the second catheter moving assembly 1004, the guide wire moving device 1006 and the like disposed on the guide wire driving device 1005 have a stroke multiplication effect, for example, so that a larger range of operation distances can be realized, and the applicability of the operation system is improved.

Specifically, the sliding base 35 herein adopts a double-layer structure, and includes a lower base plate 171 and an upper base plate 172 that are fixedly disposed with each other, wherein the lower base plate 171 is capable of moving in a straight line with respect to the fixed base 32, the upper base plate 172 is disposed above the lower base plate 171, and the guide wire driving device 1005 is capable of moving in a straight line with respect to the upper base plate 172. Specifically, as shown in fig. 2, fig. 2 shows a schematic structural view of the lower substrate 171 of the slide base 35, in order to realize that the slide base 35 is linearly moved on the fixed base 32, a connection block 33 is provided on the fixed base 32, a first slide rail 43 having a linear shape is provided on the lower substrate 171, and the connection block 33 is capable of sliding on the first slide rail 43 to adjust a relative position between the lower substrate 171 of the slide base 35 and the fixed base 32.

In addition, in order to facilitate the sliding of the sliding base 35 with respect to the fixed base 32, handles 45 may be provided on the side of the sliding base 35, particularly on the side of the lower substrate 171, for example, the handles 45 may be provided at both ends of the lower substrate 171, and the lower substrate 171 may be manually pulled by the handles 45, so that the sliding base 35 may select a better working position, thereby facilitating the better use of the linear stroke of the driving module assembly 1001.

Further, a first feed motor 49 and a first screw 46 are disposed on the lower substrate 171, wherein a first bearing seat 47 is disposed at a first end of the first sliding rail 43, a second bearing seat 48 is disposed at a second end of the first sliding rail 43, the first screw 46 is disposed between the first bearing seat 47 and the second bearing seat 48 and protrudes from the first bearing seat 47, and the first feed motor 49 provides power and transmits the power to the first screw 46 through a synchronous pulley 63 so as to drive the first screw 46 to rotate. For this purpose, the extent of the sliding base 35 relative to the fixed base 32 can be adjusted here by rotation of the first spindle 46.

In order to further realize the movement of the lower substrate 171 relative to the fixed base 32, a first screw nut 34 is provided on the connection block 33, the first screw nut 34 is sleeved on the first screw 46, and when the first screw 46 rotates, the first screw 46 can realize the movement along the linear direction relative to the first screw nut 34; specifically, one end of the first screw 46 is connected to the first bearing housing 47 by, for example, an angular contact bearing, and the other end of the first screw 46 is connected to the second bearing housing 48 by, for example, a deep groove ball bearing, so that, considering that the angular contact bearing is fixable in the axial direction, there is only one degree of freedom in rotation of the first screw 46, so that when the first screw 46 itself rotates, since the first screw nut 34 is fixedly disposed on the connection block 33, the first screw 46 itself is rotatable and linearly movable, thereby driving the lower base plate 171 of the slide base 35 to perform feeding movement in the linear direction with respect to the fixed base 32, whereby the long sheath driving assembly 1002, the first catheter moving assembly 1003, the second catheter moving assembly 1004, and the catheter moving assembly provided on the slide base 35 can perform integral linear movement.

Further, in some emergency situations, in order to manually control the relative sliding between the lower base plate 171 and the fixed base 32, the first screw rod 46 is connected to the screw rod shaft 50, a guide holder 58 is provided at a first end of the lower base plate 171, a release device 59 is provided at a first side of the guide holder 58, a spring 65 is provided between the guide holder 58 and the release device 59, a clutch 57 is provided at a second side of the guide holder 58, the clutch 57 is disposed opposite to the screw rod shaft 50 and is connectable to the screw rod shaft 50, and whether the clutch 57 is connected to the screw rod shaft 50 can be controlled by the release device 59, so that in case of emergency situations, such as a power failure of the operating system, the release device 59 is rotated to manually control the rotation of the first screw rod 46.

Thus, when the operating system of the embodiment of the present disclosure is operating normally, the releasing device 59 moves towards the first end of the lower substrate 171 under the action of the spring 65, so that the clutch 57 is separated from the screw shaft 50, and when the operating system needs emergency exit or human intervention, the releasing device 59 is pushed into the second end of the lower substrate 171, so that the clutch 57 is connected with the screw shaft 50, and at this time, the releasing device 59 can be rotated instead of the motor by rotating, so that the first screw 46 is controlled to stop rotating, or the driving module assembly 1001 can be withdrawn, so as to ensure the safety of the patient.

In addition, a brake 64 may be provided on the screw shaft 50, where the brake 64 may be, for example, a band brake, for providing a suitable braking force to stop the rotation of the screw shaft 50 when necessary, so as to ensure that the drive module assembly 1001 does not slip under a certain angle, for example, when power is off.

Furthermore, it is conceivable that the first spindle 46 is driven in rotation by the first feed motor 49, for which purpose a redundancy check encoder 44 is also provided on the lower base plate 171, the redundancy check encoder 44 being connected to the first feed motor 49 via a flexible encoder 53, so that the first feed motor 49 is ensured to operate in the normal range by a redundancy check of a fixed period.

In addition, a micro switch 26 and a drag chain 27 are further arranged on the sliding base 35, wherein each time the operating system is started, the micro switch 26 can be used as an origin zero position check, and the drag chain 27 is used for guaranteeing long durability of the electric wires.

As shown in fig. 3, fig. 3 shows a schematic structural diagram of an upper layer structure of the slide base 35, that is, the upper base plate 172, a second slide rail 42 and a second feed motor 39 are disposed on a side surface of the upper base plate 172, a third bearing seat 37 and a fourth bearing seat 38 are disposed at two ends of the second slide rail 42, a second screw rod 36 is disposed between the third bearing seat 37 and the fourth bearing seat 38, the second screw rod 36 and the second feed motor 39 are fixed by a coupling so as to be driven by the second feed motor 39 to rotate, a gear pair 40 is disposed on the second screw rod 36, and the gear pair 40 is connected with a redundancy check encoder 44, so that the second screw rod 36 is connected with the redundancy check encoder 44 by the gear pair 40, and the second feed motor 39 is ensured to work normally by redundancy check of a fixed period.

Further, a sliding block 66 is provided on the second slide rail 42, the sliding block 66 being connected to the guide wire driving device 1005, so that the second catheter movement assembly 1004 and the guide wire movement assembly are moved in a linear direction by the movement of the sliding block 66 on the second slide rail 42; further, a second screw nut 41 is disposed on the sliding block 66, and the second screw nut 41 is sleeved on the second screw 36, so that the sliding block 66 is driven to move by the second screw nut 41 through rotation of the second screw 36.

Accordingly, when the second feed motor 39 rotates, the second screw rod 36 is driven to rotate, and as the second screw rod nut 41 is mounted on the slide block 66, the rotation of the second screw rod 36 drives the second screw rod nut 41 to move, and causes the slide block 66 to move in a linear direction.

Thus, when the slide base 35 is fixed relative to the fixed base 32 and the upper layer movement is achieved by the upper base plate 172, that is, the sliding block 66 is driven to move by the rotation of the second screw rod 36, the second catheter moving assembly 1004 and the guide wire moving assembly perform feeding movement in a linear direction relative to the slide base 35.

Further, when the sliding base 35 moves in a straight direction relative to the fixed base 32 at the same time, that is, when the lower substrate 171 and the upper substrate 172 of the sliding base 35 perform simultaneous feeding movement, for example, the first catheter moving assembly 1003, the second catheter moving assembly 1004, and the guide wire moving assembly may perform double-speed feeding movement and increase the stroke, so that a large range of feeding movement can be performed by the driving module base 1001, which is beneficial to conveying the guide wire 203 to a possibly far designated position during the interventional operation, and the application range of the guide wire 203 is enlarged.

Fig. 4 shows a schematic view of the arrangement of the long sheath driving assembly 1002 and the guide wire driving device 1005, wherein the guide wire driving device 1005 comprises a first mounting plate 67, a guide wire pushing motor 51 and a guide wire rotating motor 52, a guide wire mounting plate 105 is disposed at the end of the other side of the first mounting plate 67, the guide wire mounting plate 105 and the first mounting plate 67 are disposed perpendicular to each other, the guide wire pushing motor 51 and the guide wire rotating motor 52 are disposed outside the guide wire mounting plate 105, and the second guide wire moving assembly 1004 and the guide wire moving device 1006 of the guide wire moving assembly are disposed inside the guide wire mounting plate 105.

Further, as shown in fig. 5, the output shaft of the guide wire rotating motor 52 is fixedly connected to one end of the first docking coupler 55, and the output shaft of the guide wire pushing motor 51 is fixedly connected to one end of the second docking coupler 56. When the guide wire moving device 1006 is mounted on the inner side of the guide wire mounting plate 105, the guide wire pushing motor 51 and the guide wire rotating motor 52 respectively rotate and respectively drive the corresponding couplings to rotate, so as to respectively control the pushing and rotating movements of the guide wire 203.

As shown in fig. 6, further, the first docking coupler 55 and the second docking coupler 56 in the guide wire driving device 1005 are respectively connected with the guide wire pushing input shaft 61 and the guide wire rotating input shaft 60, and when the guide wire pushing motor 51 and the guide wire rotating motor 52 rotate, the guide wire pushing input shaft 61 and the guide wire rotating input shaft 60 are respectively driven to rotate, so as to push and rotate the guide wire 203.

Fig. 7 and 8 show a schematic installation view of the long sheath driving assembly 1002, wherein fig. 7 is a top view of the long sheath driving assembly 1002, and fig. 8 is a bottom view of the long sheath driving assembly 1002, specifically, the third installation base plate 165 is disposed on the first installation base plate 67, the duct driving motor 107 is disposed at an end of a front surface of the third installation base plate 165, the duct driving motor 107 is disposed on the third installation base plate 165 through a connection member 172, the second installation base plate 164 is disposed at a rear surface of the first installation base plate 67, and a timing belt pulley group is disposed on the second installation base plate 164, wherein an output shaft of the duct driving motor 107 is connected with a first timing pulley 170a in the timing belt pulley group, and the first timing pulley 170a is connected with a second timing pulley 170b in the timing belt pulley group through a timing belt 169, so that a rotational motion is transmitted to the second timing pulley 170b through the timing belt 169.

Further, the second synchronous pulley 170b is coaxially fixed to the quick connector 54, and the quick connector 54 is coaxially connected to the input shaft of the first catheter moving assembly 1003, so that when the catheter driving motor 107 rotates, the quick connector 54 is driven to rotate, and the input shaft of the first catheter moving assembly 1003 can be made to rotate.

In addition, a pull pressure sensor 108 is also arranged on the second mounting base plate 164, one side of the pull pressure sensor 108 is fixedly arranged on the second mounting base plate 164, the other side of the pull pressure sensor 108 is connected with the sliding base 35, and when the first catheter moving assembly 1003 is displaced due to a certain propelling force change, the pull pressure sensor 108 generates an electric signal, and the operating system can obtain a propelling force or displacement feedback value so as to perform force control detection and control on the movement of the long sheath

As shown in fig. 9, a fixing seat 106 is further disposed on the back surface of the third mounting base 165, a first connecting rod 109 and a third connecting rod 111 are disposed on the fixing seat 106, and a second connecting rod 110 is disposed between the first connecting rod 109 and the third connecting rod 111, wherein a parallelogram structure is formed among the first connecting rod 109, the second connecting rod 110, the third connecting rod 111 and the fixing seat 106, and the catheter driving motor 107 is fixedly connected with the first connecting rod 109, so that when the catheter driving motor 107 rotates, the third connecting rod 111 can be driven to rotate under the transmission of the parallelogram structure, and the second catheter moving assembly 1004 is disposed on the fixing seat 106, and the rotation of the catheter 1 can be realized through the second catheter moving assembly 1004 driven by the third connecting rod 111.

In addition, a pull pressure sensor 108 may be disposed on the fixing seat 106, where one side of the pull pressure sensor 108 is fixed on the fixing seat 106, and one side of the pull pressure sensor 108 is fixed on the first mounting base 67, when the second catheter moving component 1004 is displaced due to a change of a certain pushing force, the pull pressure sensor 108 generates an electrical signal, and the operating system can obtain a pushing force or displacement feedback value so as to perform force control detection and control on the movement of the catheter 1.

In summary, the first catheter moving assembly 1003 is used to fix and rotate the catheter guide sheath 163, and the second catheter moving assembly 1004 is used to fix and rotate the catheter 1. For this purpose, the first catheter movement assembly 1003 and the second catheter movement assembly 1004 have the same structure, and the specific structure of the first catheter movement assembly 1003 will be described as an example, as shown in fig. 10 to 13. The catheter 1 is coupled to an elongate sheath guide sheath 162 in the primary catheter movement assembly 1003.

As shown in fig. 10 and 11, the first catheter moving unit 1003 specifically includes a base 6, and the base 6 may have a block or plate structure, so that the movement of the catheter 1 and the catheter guiding sheath 163 may be conveniently controlled at the same time, thereby having better versatility and applicability. Specifically, a first gear base 3 and a second gear base 8 are disposed on the base 6, wherein the first gear base 3 and the base 6 are disposed perpendicular to each other, and the second gear base 8 and the base 6 are disposed parallel to each other. The first gear base 3 and the second gear base 8 may be disposed on the base 6, or the second gear base 8 may be disposed on the base 6, and the first gear base 3 may be disposed on the second gear base 8.

Further, a first gear 13 is arranged on the first gear base 3, a second gear 9 is arranged on the second gear base 8, and the first gear 13 and the second gear 9 form a gear set, wherein the first gear 13 and the second gear 9 are meshed with each other; preferably, the rotation of the first gear 13 may be driven by the rotation of the second gear 9, where the first gear 13 may be a passive gear and the second gear 9 may be a driving gear. In a preferred embodiment, the first gear 13 and the second gear 9 are bevel gears, wherein the bevel gears can achieve accurate engagement of the two gears, and stable transmission of motion can be achieved on the basis of space saving.

In practice, the catheter 1 passes through the first gear 13 on the first gear base 3, where the first gear 13 and the second gear 9 function to enable rotation of the catheter 1. Specifically, the guide tube 1 passes from the first side 3a of the first gear base 3 to the second side 3b of the first gear base 3 so as to pass through the first gear 13 provided on the first gear base 3 and is rotatable coaxially with the first gear 13.

Further, in order to fix the catheter guide sheath 163 and the long sheath guide sheath 162, a guide sheath clamping ring 2 and a first guide sheath supporting seat 25 are provided on a first side 3a of the first gear base 3, wherein the guide sheath clamping ring 2 and the first guide sheath supporting seat 25 are respectively positioned at two ends of the first gear base 3, a second guide sheath supporting seat 10 is provided on the base 6, the guide sheath clamping ring 3 is used for clamping the catheter guide sheath 163 so that the catheter 1 is separated from the catheter guide sheath 163 before entering the second guide sheath supporting seat 10, and the first guide sheath supporting seat 25 is used for supporting the long sheath guide sheath 162; the second gear 9 is located between the first guiding sheath supporting seat 25 and the second guiding sheath supporting seat 10, where a groove is disposed on the first guiding sheath supporting seat 25 to facilitate the supporting of the long sheath guiding sheath 162, and a through hole is disposed on the second guiding sheath supporting seat 10 to facilitate the passing of the long sheath guiding sheath 162.

In this way, the catheter guide sheath 163 is clamped by the guide sheath clamping ring 2, and the long sheath guide sheath 162 is further passed through the second guide sheath support holder 10 by the support of the first guide sheath support holder 25, so that it can extend from the first side 3a of the first gear base 3 to the second side 3b of the first gear base 3 and achieve the coupling with the catheter 1 in the second guide sheath support holder 10, where the catheter 1 is accommodated in the long sheath guide sheath 162.

Further, as shown in fig. 12, in order to realize the rotation of the second gear 9 as a driving gear and further drive the first gear 13 to rotate, an isolating coupler 22 and a gear shaft 20 are disposed on the base 6, where the isolating coupler 22 may be connected with an output shaft of an external driving device, so as to transmit power, and one end of the gear shaft 20 is fixedly connected with the isolating coupler 22, and the other end of the gear shaft 20 is coaxially connected with the second gear 9, so that the driving device can drive the gear shaft 20 to rotate through the isolating coupler 22, and the rotation of the gear shaft 20 can drive the second gear 9 to rotate, thereby realizing the active rotation of the second gear 9. A sealing ring 21 is also provided in the base 6, which serves as a rolling seal.

Furthermore, in order to ensure the rotation of the first gear 13 and the second gear 9, a first bearing 17 and a second bearing 18 are provided on the first gear base 3, the first bearing 17 and the second bearing 18 being for supporting the first gear 13 and providing a rotational degree of freedom of the first gear 13 with respect to the first gear base 3; a third bearing 23 and a fourth bearing 24 are provided on the second gear base 8, and the third bearing 23 and the fourth bearing 24 are sleeved on the gear shaft 20, and are used for supporting the second gear 9 and providing rotational freedom of the second gear 9 relative to the second gear base 8.

Further, in order to achieve the fixation of the catheter 1 so as to be able to achieve the combination with the long sheath guide sheath 162 in the second catheter sheath holder 10, a catheter clamping lower ring 19 is fixedly provided on the first gear 13, a catheter clamping upper ring 4 is connected to the catheter clamping lower ring 19, the catheter 1 is provided between the catheter clamping lower ring 19 and the catheter clamping upper ring 4 and achieves the clamping, and there is a degree of rotational freedom between the catheter clamping lower ring 19 and the catheter clamping upper ring 4 so as to clamp the catheters 1 of different sizes.

Specifically, when the catheter 1 is threaded from the first side 3a of the first gear base 3 to the second side 3b of the first gear base 3 so as to pass through the first gear 13 provided on the first gear base 3, the catheter clamping upper ring 4 and the catheter clamping lower ring 19 are opened at a certain angle, and then the catheter clamping upper ring 4 is buckled inward toward the catheter clamping lower ring 19 to fix the catheter 1.

Preferably, a suitable buffer material such as rubber is provided at the press-fit between the upper conduit clamping ring 4 and the lower conduit clamping ring 19 to protect the conduit 1, so that the conduit 1 can be pressed and fixed after the fastening between the upper conduit clamping ring 4 and the lower conduit clamping ring 19 is completed. The fitting between the upper conduit gripping ring 4 and the lower conduit gripping ring 19 and the use of rubber material at the nip can be adapted for the installation of different sizes of the conduit 1.

In this way, when the catheter 1 is pressed, the catheter 1 may be driven to rotate by the rotation of the first gear 13, specifically, the rotation of the isolating coupler 22 drives the rotation of the gear shaft 20, so that the second gear 9 drives the first gear 13 to rotate, and the rotation of the catheter 1 may be achieved.

In the use of a surgical robot, quick replacement of consumable parts is also an important issue, and further, as shown in fig. 13, considering that the catheter 1 needs to be used in a sterile environment, it is necessary to cover not only the base 6 but also the first catheter moving assembly 1003 as a whole with a protective cover, and therefore, the second gear base 8 and the first gear base 13 and the like are provided in the catheter rotating consumable parts, and when replacement of the catheter rotating consumable parts is required, for example, replacement of the catheter, the second gear base 8 needs to be removed from the base 6, and the second gear base 8 needs to be provided and fixed on the base 6 in use, which requires a detachable connection between the base 6 and the second gear base 8, and for this reason, a connection piece 61 may be provided on the base 6, the second gear base 8 is connected to the base 6 through the connection piece 61, and the first gear base 3 is provided on the second gear base 8.

In this disclosed embodiment, adopt the mode realization of shaft coupling to connect, only need to tightly insert, the installation that shaft coupling part can the self-adaptation lets the doctor install more convenient to on aseptic isolated design, the protective sheath all installs with the consumptive material is synchronous, facilitates the use.

In order to facilitate the replacement operation, engaging portions are provided on both sides of the second gear base 8, respectively, and the second gear base 8 can be engaged and fixed to the base 16 by the engaging portions.

Specifically, a first protruding part and a second protruding part are arranged on two sides of the second gear base 8, a first fixing groove 7 and a second fixing groove 11 are arranged on the first protruding part and the second protruding part 9, and the first protruding part and the second protruding part are respectively connected with a first fixing buckle 5 and a second fixing buckle 12 through a first elastic piece 15 and a second elastic piece 16; wherein one end of the first elastic member 15 is connected to the first fixing groove 7, the other end is connected to the first fixing buckle 5, one end of the second elastic member 16 is connected to the second fixing groove 11, the other end is connected to the second fixing buckle 12, and the first elastic member 15 and the second elastic member 16 may be torsion springs or other elastic members; in this way, the first fixing buckle 5, the second fixing buckle 12 and the second gear base 8 are movably connected, and the second gear base 8 can be engaged and fixed on the base 6.

When the second gear base 8 needs to be fixed on the base 6, the sterile protective sleeve B is placed at a designated position, and then the catheter rotating consumable a is attached to the sterile protective sleeve B downwards according to the direction indicated by the arrow in fig. 13, so that the installation is realized.

When not installed, under the torque action of the first elastic member 15 and the second elastic member 16, for example, the first fixing buckle 5 may rotate clockwise as shown in fig. 13, and when installed, the first fixing buckle 5 may generate a clamping force according to the structure of the corresponding combining member, and thereby the common fixation of the catheter rotating consumable a and the sterile protection sleeve B is realized under the action of the torque, wherein the second elastic member 16 and the second fixing buckle 12 are symmetrical with the structure of the other side, and the installation principle is consistent.

According to the embodiment of the disclosure, the arrangement mode of the catheter and the guide wire is close to the use habit of a doctor, such as the long sheath guiding sheath is at the outermost side, the catheter is in the middle, and the guide wire is at the innermost side, so that the replacement of the instrument is easier, and the integrated design realizes the movement of the catheter and the guide wire in a large range. In the medical auxiliary robot system, quick replacement of consumable is also an important problem, and in the design, a mode of a coupler is adopted, only tight insertion is needed, and the coupler part can be installed in a self-adaptive manner, so that a doctor can install the coupler conveniently. On aseptic isolation's design, the protective sheath all installs with the consumptive material is synchronous, facilitates the use.

Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.

While various embodiments of the present disclosure have been described in detail, the present disclosure is not limited to these specific embodiments, and various modifications and embodiments can be made by those skilled in the art on the basis of the concepts of the present disclosure, which modifications and modifications should fall within the scope of the claims of the present disclosure.

Claims (33)

1. An operating system for a guide wire, comprising a driving module assembly, a long sheath driving assembly, a first catheter moving assembly, a second catheter moving assembly and a guide wire moving assembly, wherein the long sheath driving assembly, the first catheter moving assembly, the second catheter moving assembly and the guide wire moving assembly are driven to move along a straight line direction by the driving module assembly, the guide wire moving assembly comprises a guide wire driving device and a guide wire moving device, and the guide wire moving assembly is characterized in that a catheter with the guide wire is combined with a catheter guiding sheath in the second catheter moving assembly, the combined catheter is separated from the catheter guiding sheath before the first catheter moving assembly, and is combined with the long sheath guiding sheath in the first catheter moving assembly, and the first catheter moving assembly and the second catheter moving assembly control the movement of the catheter; the first catheter movement assembly and the second catheter movement assembly are identical in structure;

the first catheter movement assembly comprises a base, a first gear base and a second gear base are arranged on the base, the first gear base and the base are mutually perpendicular, and the second gear base and the base are arranged in parallel; a first gear is arranged on the first gear base, a second gear is arranged on the second gear base, and the first gear and the second gear are meshed with each other; a first guide sheath supporting seat is arranged on a first side of the first gear base, a second guide sheath supporting seat is arranged on the base, and the second gear is positioned between the first guide sheath supporting seat and the second guide sheath supporting seat, wherein the first guide sheath supporting seat and the second guide sheath supporting seat are used for supporting the long sheath guide sheath; a guide sheath clamping ring is further arranged on the first side of the first gear base and used for clamping a catheter guide sheath;

The catheter is separated from the catheter guide sheath prior to entering the second guide sheath holder, the long sheath guide sheath extending from a first side of the first gear base to a second side of the first gear base and being coupled to the catheter in the second guide sheath holder;

the guide tube passes through the first gear on the first gear base and can rotate coaxially with the first gear.

2. The operating system of claim 1, wherein the drive module assembly comprises a stationary base on which a sliding base is disposed, the sliding base sliding in a straight line on the stationary base, the long sheath drive assembly, the first catheter movement assembly, the second catheter movement assembly, and the guidewire movement assembly being disposed on the sliding base.

3. The operating system of claim 2, wherein a mounting post is provided at an edge of the sliding base for securing the catheter guide sheath and the long sheath guide sheath.

4. The operating system of claim 3 wherein the catheter introducer sheath is connected at a forward end to the second catheter movement assembly and at a rearward end to a first mounting post, and wherein the elongate sheath introducer sheath is connected at a forward end to the first catheter movement assembly and at a rearward end to a second mounting post.

5. The operating system of claim 2, wherein the long sheath drive assembly and the first catheter movement assembly are disposed at a first end of the slide base, the second catheter movement assembly is disposed in a middle portion of the slide base, and the guidewire movement assembly is disposed at a second end of the slide base opposite the first end.

6. The operating system of claim 5, wherein the guidewire drive is disposed on the sliding base and moves in a linear direction relative to the sliding base.

7. The operating system of claim 2, wherein the slide base comprises a lower base plate and an upper base plate, the lower base plate moving in a straight line relative to the fixed base.

8. The operating system of claim 7, wherein a connection block is provided on the fixed base, and a first slide rail is provided on the lower base plate in a linear shape, the connection block being slidable on the first slide rail to adjust a relative position between the lower base plate of the slide base and the fixed base.

9. The operating system of claim 8, wherein a first feed motor and a first screw are provided on the lower substrate, the first feed motor providing power and delivering power to the first screw via a synchronous pulley to drive rotation of the first screw.

10. The operating system of claim 9, wherein a first bearing mount is provided at a first end of the first slide rail and a second bearing mount is provided at a second end of the first slide rail, the first lead screw being disposed between and protruding from the first bearing mount.

11. The operating system of claim 9, wherein a first lead screw nut is provided on the connection block, the first lead screw nut being sleeved on the first lead screw.

12. The operating system of claim 9, wherein the first screw is coupled to a screw shaft, a guide holder is disposed at a first end of the lower base plate, a release device is disposed on a first side of the guide holder, a spring is disposed between the guide holder and the release device, and a clutch is disposed on a second side of the guide holder, the clutch being disposed opposite the screw shaft and coupled to the screw shaft.

13. The operating system of claim 12, wherein a brake is provided on the screw shaft.

14. The operating system according to claim 7, wherein a second slide rail, a second screw rod and a second feeding motor are arranged on the side surface of the upper substrate, the second screw rod and the second feeding motor are fixed through a coupler, a second screw rod nut is arranged on the sliding block, the second screw rod nut is sleeved on the second screw rod, the sliding block is arranged on the second slide rail, the sliding block is connected with the guide wire driving device, the second screw rod rotates to drive the sliding block to move through the second screw rod nut, and therefore the second catheter moving assembly and the guide wire moving assembly move in the linear direction through the movement of the sliding block on the second slide rail.

15. The operating system of claim 14, wherein a third bearing seat and a fourth bearing seat are provided at both ends of the second slide rail, respectively, and the second screw is disposed between the third bearing seat and the fourth bearing seat.

16. The operating system of claim 14, wherein a gear pair is provided on the second screw, the second screw being connected to a redundancy check encoder by the gear pair.

17. The operating system of claim 14, wherein the guide wire driving device comprises a first mounting plate, a guide wire propulsion motor and a guide wire rotating motor, wherein a guide wire mounting plate is arranged at one end of the first mounting plate, and the guide wire mounting plate and the first mounting plate are arranged perpendicular to each other.

18. The operating system of claim 17 wherein the guidewire propulsion motor and the guidewire rotation motor are disposed outside the guidewire mounting plate and the second catheter movement assembly and the guidewire movement device of the guidewire movement assembly are disposed inside the guidewire mounting plate.

19. The operating system of claim 18, wherein the output shaft of the guidewire rotating motor is fixedly connected to one end of the first docking coupler and the output shaft of the guidewire propulsion motor is fixedly connected to one end of the second docking coupler.

20. The operating system of claim 19, wherein the first and second docking couplings are connected to a guidewire advance input shaft and a guidewire rotation input shaft, respectively.

21. The operating system of claim 17, wherein a third mounting plate is provided at an end of the other side of the first mounting plate, a duct drive motor is provided at the front side of the third mounting plate via a connector, a second mounting plate is provided at the back side of the first mounting plate, and a timing belt wheel set is provided on the second mounting plate.

22. The operating system of claim 21 wherein the output shaft of the catheter drive motor is connected to a first timing pulley in the timing pulley set, the first timing pulley being connected to a second timing pulley in the timing pulley set by a timing belt.

23. The operating system of claim 22 wherein the second timing pulley is coaxially fixed with a quick coupler coaxially connected with the input shaft of the first catheter movement assembly.

24. The operating system of claim 23 wherein a pull pressure sensor is further provided on said second mounting plate, one side of said pull pressure sensor being fixedly provided on said second mounting plate and the other side thereof being connected to said slide base.

25. The operating system of claim 21 wherein a mounting base is provided on a back side of the third mounting base, a first link and a third link are provided on the mounting base, and a second link is provided between the first link and the third link, wherein a parallelogram structure is formed between the first link, the second link, the third link, and the mounting base, and the catheter drive motor is fixedly coupled to the first link.

26. The operating system of claim 25, wherein a pull pressure sensor is provided on the mount, the pull pressure sensor being secured to the mount on one side and to the guidewire mounting plate on one side.

27. The operating system of claim 1, wherein the first guide sheath holder is provided with a recess for supporting the first guide sheath and the second guide sheath holder is provided with a through hole for passing the long sheath guide sheath.

28. An operating system according to claim 1, characterized in that an isolating coupling and a gear shaft are provided on the base, one end of the gear shaft being fixedly connected to the isolating coupling and the other end being coaxially connected to the second gear.

29. The operating system of claim 28 wherein a first bearing and a second bearing are provided on the first gear base, the first bearing and the second bearing for supporting the first gear and providing rotational freedom of the first gear relative to the first gear base; and a third bearing and a fourth bearing are arranged on the second gear base, and the third bearing and the fourth bearing are sleeved on the gear shaft and are used for supporting the second gear and providing the rotational freedom degree of the second gear relative to the second gear base.

30. The operating system according to claim 1, wherein engaging portions are provided on both sides of the second gear base, respectively, and the second gear base is capable of being engaged and fixed on the base by the engaging portions.

31. The operating system according to claim 1, wherein a first protrusion and a second protrusion are provided on both sides of the second gear base, and a first fixing groove and a second fixing groove are provided on the first protrusion and the second protrusion, the first protrusion and the second protrusion being connected to a first fixing button and a second fixing button through a first elastic member and a second elastic member, respectively; one end of the first elastic piece is connected with the first fixing groove, the other end of the first elastic piece is connected with the first fixing buckle, one end of the second elastic piece is connected with the second fixing groove, and the other end of the second elastic piece is connected with the second fixing buckle.

32. The operating system according to claim 1, characterized in that a lower conduit clamping ring is fixedly arranged on the first gear, an upper conduit clamping ring is connected to the lower conduit clamping ring, and the conduit is arranged between the lower conduit clamping ring and the upper conduit clamping ring and is clamped to the conduit.

33. A surgical robot comprising the operating system of any one of claims 1-32.

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