CN114631890A

CN114631890A - Interventional operation robot cooperative equipment

Info

Publication number: CN114631890A
Application number: CN202210199735.6A
Authority: CN
Inventors: 解菁; 黄韬; 杨贺
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2022-03-02
Filing date: 2022-03-02
Publication date: 2022-06-17

Abstract

The invention relates to an interventional surgical robot cooperative device, comprising: a base located on one side of the conduit bed; the bottom of the cooperative device is fixed on the base and can linearly move along the X-axis direction, the Y-axis direction and the Z-axis direction of the guide pipe bed relative to the base; the clamping device is connected to the top of the cooperative device and is provided with a mounting and clamping position for mounting a slave end mechanism of the interventional operation robot; wherein the cooperating means, the holding means are controlled in an automatic and/or manual manner. The invention discloses an interventional operation robot cooperative device which is arranged on one side of a catheter bed, fixes an interventional operation robot slave end mechanism through a clamping device, and can linearly adjust the position along the X-axis, Y-axis and Z-axis directions of the catheter bed according to the operation condition, thereby solving a series of problems caused by the fact that an interventional operation robot slave end mechanical arm is fixed on the catheter bed, and prolonging the service life of the catheter bed.

Description

Interventional operation robot cooperative equipment

Technical Field

The invention relates to the technical field of interventional operations, in particular to a collaborative device of an interventional operation robot.

Background

At present, intervene surgical robot from the general fixed mounting of end mechanical arm on the pipe bed, not only occupy the space of operation table, caused the trouble of inconvenient use to actual clinical operation, the installation of mechanical arm is all more complicated with demolising moreover, and the cost time is many, is unfavorable for needing to be changed and shift. The general mechanical arm is heavy and is installed on the catheter bed for a long time, so that the catheter bed is easy to damage.

Therefore, how to provide an interventional operation robot cooperative device is a problem that needs to be solved urgently by those skilled in the art.

Disclosure of Invention

Therefore, the invention aims to provide an interventional operation robot cooperative device, which solves a series of problems caused by the fact that a slave end mechanical arm of an existing interventional operation robot is fixed on a catheter bed.

The invention provides an interventional operation robot cooperative device, which comprises:

a base located on one side of the conduit bed;

the bottom of the cooperative device is fixed on the base and can linearly move along the X-axis direction, the Y-axis direction and the Z-axis direction of the guide pipe bed relative to the base; and

the clamping device is connected to the top of the cooperative device and is provided with a mounting and clamping position for mounting a slave end mechanism of the interventional operation robot;

wherein the cooperating means, the gripping means are controlled in an automatic and/or manual way.

According to the technical scheme, compared with the prior art, the interventional operation robot cooperative equipment is arranged on one side of the guide pipe bed, the interventional operation robot slave end mechanism is fixed through the clamping device, the position can be linearly adjusted along the X-axis direction, the Y-axis direction and the Z-axis direction of the guide pipe bed according to the operation condition, a series of problems caused by the fact that the interventional operation robot slave end mechanical arm is fixed on the guide pipe bed are solved, and the service life of the guide pipe bed is prolonged.

Furthermore, the base is flat, and four groups of universal wheels for walking and four groups of telescopic supporting mechanisms for fixing the base are mounted at the bottom of the base.

Further, each set of the telescopic support mechanisms comprises:

the bottom of the fixed support frame can move up and down along a through hole arranged on the base;

the fixed lead screw motor assembly is fixed at the position, close to the through hole, of the base, a lead screw of the fixed lead screw motor assembly is in matched transmission with a first threaded hole formed in the top of the fixed support frame, and a first sliding block is fixed on the fixed lead screw motor assembly; the fixed lead screw motor assembly is connected with an automatic control and/or manual device;

the bottom of the fixed guide rail support is fixed near the fixed lead screw motor assembly, the side face of the fixed guide rail support faces the side of the first sliding block, a fixed linear guide rail is fixed on the fixed guide rail support, and the first sliding block and the fixed linear guide rail slide in a matched mode.

Further, the cooperation device comprises a Z-axis driving part fixed on the base, the top of the Z-axis driving part is linearly and slidably connected with an X-axis driving part, a Y-axis driving part is linearly and slidably connected above the X-axis driving part, the linear sliding direction of the Y-axis driving part is consistent with the length direction of the catheter bed, the clamping device is linearly slid on the Y-axis driving part, the Z-axis driving part, the X-axis driving part and the Y-axis driving part are all electrically connected with a manual control device and/or a workstation, the clamping device is also electrically connected with the manual control device and/or the workstation, and the workstation is used for processing data and sending instructions.

Further, the Z-axis driving part includes: the cross section of the upright post is in a convex shape, and two sides of the upright post are driven by two groups of Z-axis driving pieces which are symmetrically arranged and move up and down along the Z-axis direction; each group of Z-axis driving pieces is provided with a Z-axis guide rail bracket, a Z-axis linear guide rail and a Z-axis lead screw motor assembly; the bottom of the Z-axis guide rail support is fixed at the middle part of the base, a Z-axis linear guide rail is fixed on the inner side surface of the Z-axis guide rail, a second sliding block slides on the Z-axis linear guide rail, the second sliding block is fixed on the side surface of the upright post, a second threaded hole matched with a lead screw in the Z-axis lead screw motor assembly is formed in the rear side surface of the upright post, a bottom plate is fixed at the top of the upright post, and the Z-axis lead screw motor assembly is electrically connected with the manual control device and/or the workstation.

Furthermore, the X-axis driving part comprises a connecting plate, the connecting plate is arranged in parallel with the bottom plate, an X-axis lead screw motor assembly is arranged at the top of the bottom plate along the X-axis direction, and a lead screw in the X-axis lead screw motor assembly is in matched transmission with a third threaded hole arranged on the connecting plate; two sets of X-axis linear guide rails fixed at the top of the bottom plate are symmetrically arranged on two sides of the X-axis lead screw motor component, two third sliding blocks are fixed at the bottom of the connecting plate and slide in a matched manner with the two sets of X-axis linear guide rails, and the X-axis lead screw motor component is electrically connected with the manual control device and/or the workstation.

Further, the Y-axis driving part comprises a Y-axis lead screw motor assembly, the Y-axis lead screw motor assembly is arranged at the top end of the connecting plate along the Y-axis direction, and a lead screw of the Y-axis lead screw motor assembly is in matched transmission with a fourth threaded hole at the bottom of the clamping device; two sets of Y-axis linear guide rails fixed on the connecting plate are symmetrically arranged on two sides of the Y-axis lead screw motor component, each Y-axis linear guide rail is provided with a fourth sliding block in a sliding mode, the fourth sliding blocks are fixed at the bottom of the clamping device, and the Y-axis lead screw motor component is electrically connected with the manual control device and/or the workstation.

Furthermore, the clamping device comprises a clamping connecting plate, the bottom of the clamping connecting plate is fixed at the top of the Y-axis driving part and is rectangular plate-shaped, a supporting plate is vertically fixed on the top surface of the plate close to one side edge, two groups of clamping lead screw motor assemblies fixed on the clamping connecting plate are symmetrically arranged on two sides of the supporting plate, the two groups of clamping lead screw motor assemblies are correspondingly connected with two lead screw connecting pieces, each lead screw connecting piece is L-shaped, the L-shaped lead screw connecting piece is provided with a fifth threaded hole matched with a lead screw of the clamping lead screw motor assembly on the transverse end, the vertical end is attached to the side surface of the supporting plate, the top of the clamping connecting plate and two sides of the gantry-shaped pressing plate are connected through two clamping pressure sensors to form the installation clamping position, and the clamping pressure sensors are in communication connection with a workstation; the workstation is fixed in on the base or the centre gripping connecting plate, centre gripping lead screw motor element, with manual control device and/or workstation electric connection.

Furthermore, the manual control device is fixed on the clamping connecting plate, is provided with a supporting frame in a bench structure shape, is provided with a plurality of function keys for controlling operation, and is also provided with a display screen for displaying and an emergency stop button.

Further, a detection device for detecting the real-time position of the catheter bed is also included, the detection device comprising: the device comprises an elastic connecting piece, a position sensor and a fixing clamp; one end of the elastic connecting piece is connected with the cooperative device, the other end of the elastic connecting piece is connected with the fixing clamp which is clamped on the conduit bed, a position sensor used for detecting the real-time position of the conduit bed is arranged at the joint of the fixing clamp and the elastic connecting piece, and the position sensor is connected with a workstation of cooperative equipment.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an interventional surgical robot cooperative apparatus provided by the present invention;

FIG. 2 is an exploded view of an interventional surgical robotic collaboration device in accordance with the present invention;

FIG. 3 is a schematic structural diagram of a base of a cooperative device of an interventional surgical robot according to the present invention;

FIG. 4 is an exploded view of FIG. 3;

FIG. 5 is a schematic structural diagram of a cooperative apparatus of a cooperative device of an interventional surgical robot apparatus according to the present invention;

FIG. 6 is an exploded view of FIG. 5;

FIG. 7 is a schematic structural diagram of a clamping device of an interventional surgical robot cooperative apparatus provided by the present invention;

FIG. 8 is an exploded view of FIG. 7;

fig. 9 is a schematic working diagram of the cooperative device of the interventional operation robot provided by the invention and the interventional operation robot matched in the catheter chamber from the end.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Because the traditional slave manipulator of the interventional operation robot is generally fixedly arranged on a catheter bed, the space of the operation bed is occupied, the installation and the removal of the manipulator are complex, the time is spent, and the replacement and the transfer are difficult. The mechanical arm is heavy and is installed on the conduit bed for a long time, so that the conduit bed is easily damaged.

Accordingly, one embodiment of the present invention discloses an interventional surgical robotic coordination device, referring to fig. 9, located on one side of a catheter bed 600, comprising: the device comprises a base 100, a cooperating device 200 and a clamping device 300, wherein the bottom of the cooperating device 200 is fixed on the base 100 and can linearly move along the X-axis direction, the Y-axis direction and the Z-axis direction of a catheter bed 600 relative to the base 100; the clamping device 300 is connected to the top of the cooperating device 200, and has a mounting and clamping position for mounting the slave mechanism 500 of the interventional surgical robot, wherein the cooperating device 200 and the clamping device 300 are controlled automatically and/or manually.

Therefore, the cooperative equipment is arranged on one side of the catheter bed, the auxiliary end mechanism of the interventional surgical robot is fixed through the clamping device, the position can be linearly adjusted along the X-axis direction, the Y-axis direction and the Z-axis direction of the catheter bed according to the surgical condition, the catheter bed cannot be influenced, a series of problems caused by the fact that the auxiliary end mechanical arm of the interventional surgical robot is fixed on the catheter bed are solved, and the service life of the catheter bed is prolonged.

In the embodiments of the present invention, a mode combining manual control and automatic control of each device is adopted below, and other modes are not described herein again.

Advantageously, referring to fig. 1 and 2, the base 100 is a flat plate, and four sets of universal wheels 107 for walking and four sets of telescopic supporting mechanisms for fixing the base 100 are mounted at the bottom of the flat plate; therefore, in the moving process, the four universal wheels 107 are in contact with the ground to be conveniently moved; when the universal wheel moves to a proper position, the four groups of telescopic supporting mechanisms are lowered until the universal wheel leaves the ground, and the purpose of fixing is achieved.

In a further embodiment, referring to fig. 3 and 4, each set of telescoping support mechanisms comprises: the bottom of the fixed support frame 105 can move up and down along a through hole arranged on the base 100, the through hole can be a round hole, a square hole and the like, the cross section of the fixed support frame 105 is matched with the through hole, and the top of the fixed support frame is provided with a silica gel pad; the fixed lead screw motor assembly 106 is fixed at the position, close to the through hole, of the base 100, a lead screw of the fixed lead screw motor assembly 106 is in matched transmission with a first threaded hole formed in the top of the fixed support frame 105, and a first sliding block is fixed on the lead screw; and the bottom of the fixed guide rail bracket 103 is fixed near the fixed lead screw motor assembly 106, the side surface of the fixed guide rail bracket 103 faces the first sliding block side, a fixed linear guide rail 104 is fixed, and the first sliding block and the fixed linear guide rail 104 slide in a matched mode. The fixed lead screw motor assemblies 106 are connected with the workstation and the manual control device 400, and the motors in the four groups of fixed lead screw motor assemblies 106 synchronously control the movement through the workstation.

When the cooperation device is in a working state, after a motor switch button can be pressed down, the motor can drive the screw rod to rotate, so that the 4 groups of fixed support frames 105 move downwards until the universal wheels under the vehicle body leave the ground. So that the entire vehicle body is stationary relative to the ground. After the work is accomplished, click the button, the motor can drive the lead screw and carry out the antiport for 4 fixed stay frames 105 rebound, until fixed stay frame 105 to initial position, the universal wheel contacts with ground again, at this moment, whole device can remove in a flexible way. This step can generally be controlled manually.

In other embodiments of the present invention, the cooperative apparatus 200 includes a Z-axis driving component fixed on the base 100, an X-axis driving component is linearly slidably connected to the top of the Z-axis driving component, a Y-axis driving component is linearly slidably connected to the top of the X-axis driving component, the linear sliding direction of the Y-axis driving component is the same as the length direction of the catheter bed 600, the clamping apparatus 300 is linearly slidably connected to the Y-axis driving component, the Z-axis driving component, the X-axis driving component and the Y-axis driving component are all electrically connected to the manual control apparatus 400 and the workstation G, and the clamping apparatus 300 is also electrically connected to the manual control apparatus 400 and the workstation G; therefore, the relative position of the interventional operation robot on the catheter bed can be adjusted by controlling the manual control device, and the adjustment can also be automatically controlled by the workstation.

Referring to fig. 5 and 6, the Z-axis driving part includes: the cross section of the upright column 203 is in a convex shape, and two sides of the upright column 203 are driven by two groups of Z-axis driving pieces which are symmetrically arranged and move up and down along the Z-axis direction; each group of Z-axis driving pieces is provided with Z-axis

guide rail brackets

201 and 206, Z-axis

linear guide rails

202 and 205 and a Z-axis lead screw motor component 204; the bottom of the Z-axis

guide rail bracket

201 and 206 is fixed in the middle of the base 100, the inner side surface of the Z-axis guide rail bracket is fixed with a Z-axis

linear guide rail

202 and 205, a second sliding block slides on the Z-axis

linear guide rail

202 and 205, the second sliding block is fixed in the side surface of the upright column 203, the rear side surface of the upright column 203 is provided with a second threaded hole matched with a screw rod in the Z-axis screw rod motor component 204, the top of the upright column 203 is fixed with a bottom plate 207, and the Z-axis screw rod motor component 204 is electrically connected with the manual control device 400 and the workstation G. Under the drive of the Z-axis lead screw motor component 204, the upright column 203 can move up and down, so that the interventional robot is driven to move up and down along the Z-axis direction.

The X-axis driving component comprises a connecting plate 213, the connecting plate 213 is arranged in parallel with the bottom plate 207, an X-axis lead screw motor assembly 217 is arranged at the top of the bottom plate 207 along the X-axis direction, and a lead screw in the X-axis lead screw motor assembly 217 is in fit transmission with a third threaded hole arranged on the connecting plate 213; two sets of X-axis

linear guide rails

216, 211 fixed at the top of the bottom plate 207 are symmetrically arranged on two sides of the X-axis lead screw motor assembly 217, two third sliding blocks are fixed at the bottom of the connecting plate 213 and slide in a matching manner with the two sets of X-axis

linear guide rails

216, 211, wherein the X-axis lead screw motor assembly 217 is electrically connected with the manual control device 400 and the workstation G. Under the drive of the X-axis lead screw motor assembly 217, the connecting plate 213 can move back and forth, so as to drive the interventional robot to move back and forth along the X axis.

The Y-axis driving part comprises a Y-axis lead screw motor assembly 214, the Y-axis lead screw motor assembly 214 is arranged at the top end of the connecting plate 213 along the Y-axis direction, and a lead screw of the Y-axis lead screw motor assembly is in fit transmission with a fourth threaded hole at the bottom of the clamping device 300; two sets of Y-axis

linear guide rails

215 and 212 fixed on a connecting plate 213 are symmetrically arranged on two sides of the Y-axis lead screw motor component 214, a fourth sliding block slides on each Y-axis

linear guide rail

215 and 212, the fourth sliding blocks are fixed at the bottom of the clamping device 300, and the Y-axis lead screw motor component 214 is electrically connected with the manual control device 400 and the workstation G. Under the drive of the Y-axis lead screw motor assembly 214, the clamping device 300 can move left and right along the Y-axis, so as to drive the interventional robot to move left and right along the Y-axis.

Referring to fig. 7 and 8, in another embodiment of the present invention, the clamping device 300 includes a clamping connection plate 301, the bottom of the clamping connection plate 301 is fixed on the top of the Y-axis driving component, the clamping connection plate is rectangular plate-shaped, a support plate 309 is vertically fixed on the top surface of the plate near one side edge, two sets of clamping screw motor assemblies 302, 307 fixed on the clamping connection plate 301 are symmetrically arranged on both sides of the support plate 309, two sets of clamping screw motor assemblies 302, 307 are correspondingly connected with two screw rod connecting members 303, 306, each screw rod connecting member 303, 306 is L-shaped, the transverse end of the L-shaped screw rod connecting member 303, 306 has a fifth threaded hole matched with the screw rod of the clamping screw rod motor assembly 302, 307, the vertical end is attached to the side surface of the support plate 309, the top of the L-shaped pressure plate 305 is connected with two sides of the gantry-shaped pressure plate 304 through two clamping pressure sensors 304, and the installation clamping position is formed, one side of the upper ends of the screw rod connecting pieces 303 and 306 is upwards formed into a first protruding piece, one end of the clamping pressure sensor 304 is fixed outside the first protruding piece, the bottom of the pressure plate is provided with a second protruding piece which is arranged in a staggered manner with the first protruding piece and is downwards, and the other end of the clamping pressure sensor is connected with the outer surface of the protruding piece.

The clamping pressure sensor 304 is in communication connection with a workstation G; the workstation G is fixed on the base 100 or the clamping connection plate 301, the clamping lead

screw motor assemblies

302 and 307 are electrically connected with the manual control device 400 and the workstation G, and the workstation G is used for processing data and sending control instructions.

In other embodiments of the present invention, the manual control device 400 is fixed on the clamping connection plate 301, is a part for manually controlling the equipment, and has a support frame in the shape of a bench structure, on which a plurality of buttons are arranged to manually control the motors, a small display screen for displaying system information, an emergency stop switch for performing emergency braking, an on/off button, a function button, and the like.

When the clamping is needed, the pressing plate 305 can move downwards under the action of the clamping lead

screw motor assemblies

302 and 307 through key control on the manual control device, and after the fixing piece of the interventional robot is pressed, the clamping pressure sensor can detect the stress, so that the clamping is stopped to continue to be clamped, and then the automatic fixing of the interventional robot is completed. When the interventional robot needs to be loosened, the key is clicked, and the pressing plate 305 can move upwards under the action of the clamping lead

screw motor assemblies

302 and 307, so that the loosening action is completed. Because the pressing plate structure that this equipment adopted can adapt to the intervention robot of each model, consequently be the equipment of a general type, increased the application scope of equipment.

All lead screw motor assemblies mentioned in the present invention include: servo motor, lead screw and relevant connecting piece.

In other embodiments of the present invention, referring to fig. 6, a detection device for detecting the real-time position of the catheter bed 600 is further included on the basis of the above embodiments, and the detection device includes: an elastic connecting piece 210, a position sensor 209 and a fixing clip 208; one end of the elastic connecting piece 210 is connected with the cooperation device 200, the other end of the elastic connecting piece is connected with the fixing clamp 208 clamped on the conduit bed 600, the elastic connecting piece 210 can be a spring wire and is used for meeting the wire length from the cooperation device to a guide rail of the conduit bed, a position sensor 209 for detecting the real-time position of the conduit bed 600 is arranged at the joint of the fixing clamp 208 and the elastic connecting piece 210, the position sensor 209 is connected with a workstation G of the cooperation device, the position sensor 209 can detect the position information of 3 directions of an X axis, a Y axis and a Z axis and transmit the data to the workstation in real time, the workstation is electrically connected with a plurality of motors, and the workstation G processes the data and transmits operation instructions to the motors. After the catheter bed moves, the position sensor 209 detects the variation, and after the workstation analyzes and processes, the corresponding motor is controlled to act, so that the cooperative equipment and the catheter bed move at the same position, and the cooperative equipment and the catheter bed keep relatively static, so that the robot and the patient are relatively static, and the operation safety when the catheter bed is moved is ensured.

The position sensor 209 used in the present invention is a non-contact sensor, also called a space tracking locator or a three-dimensional airborne sensor, which is capable of detecting in real time the value of the position of a moving object in six degrees of freedom relative to a fixed object, i.e., the position in X, Y, Z coordinates, and the rotation around axis X, Y, Z. Low frequency magnetic field type and ultrasonic type sensors can be used, for example, a low frequency magnetic field type sensor, the low frequency magnetic field of which is generated by a magnetic field transmitter of the sensor, the transmitter consists of three orthogonal antennas, an orthogonal antenna is also arranged in a receiver and is arranged on a moving object at a remote place, the position and the direction of the receiver relative to the transmitter can be calculated according to the magnetic field received by the receiver, and the data is transmitted to a main computer through a communication cable.

During installation, the device is pushed to the side of the catheter bed, clamping the position sensor 209 to the guide rails on the side of the catheter bed 600, thus completing the installation of the entire device. Since the entire interventional robot slave end mechanism 500 is mounted on a general-purpose interventional surgical robot, there is no effect on the catheter bed. After the operation is finished, the whole device can be easily pushed away only by opening the fixing clamp 208 of the position sensor 209. Is convenient for clinical use and cleaning and disinfection of the catheter bed.

The cooperative device mainly controls equipment to move along with the catheter bed in a working state, and has 3-dimensional movement, namely, front-back movement, left-right movement and up-down movement. The motion of 3 dimensions on the structure is realized by adopting a mode that a lead screw motor drives a linear guide rail. The position sensor is fixed together with a guide rail of the conduit bed through the clamp and used for acquiring displacement information of the conduit bed, transmitting collected data to the workstation, converting the collected data into rotation instructions of each motor after processing, and then controlling the motors to act so that the equipment and the conduit bed can do the same action.

The clamping device is used for fixing a slave end executing mechanism of the interventional robot, so that the equipment and the interventional robot are connected. The connection process can be automatically completed through the pressure sensor. The control device is a control panel capable of operating the equipment, most actions of the working trolley are automatically carried out, and the device can also be manually adjusted for safety. The keys in the control device include manual control of various movements, power on and off keys, status display, operation keys, emergency stop, etc.

The invention solves the problem of fixing the slave end propelling mechanism of the existing interventional operation robot. Fix the arm on the pipe bed, will bring the installation and demolish inconveniently, occupy the great space of pipe bed, influence the normal operation of doctor, can be to the great scheduling problem of pipe bed pressure for a long time.

The invention adopts the design of mobile equipment, and can flexibly and freely move the mounting bracket. After the operation is finished, the device can be placed in the corner without occupying the space of the catheter bed. The whole structure is simple, the disassembly and assembly are simple and convenient, and the structure is compact. The device and the position sensor for the guide pipe bed can lead the device and the guide pipe bed to be relatively static and can ensure the normal requirement of the robot in the operation. The invention can realize automatic control by setting the workstation, has simple operation and easy operation, is particularly suitable for clinical use, and can adopt a manual control device for control when necessary.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. An interventional surgical robotic collaboration apparatus, comprising:

a base (100), the base (100) being located on one side of a conduit bed (600);

the bottom of the cooperative device (200) is fixed on the base (100) and can linearly move along the X-axis, the Y-axis and the Z-axis directions of the catheter bed (600) relative to the base (100); and

the clamping device (300) is connected to the top of the cooperative device (200), and is provided with a mounting and clamping position for mounting a slave end mechanism (500) of the interventional operation robot;

wherein the cooperating means (200), the gripping means (300) are controlled in an automatic and/or manual way.

2. An interventional surgical robotic collaboration apparatus as claimed in claim 1, wherein the base (100) is flat plate-shaped, and four sets of universal wheels (107) for walking and four sets of telescopic support mechanisms for fixing the base (100) are mounted at the bottom thereof.

3. An interventional surgical robotic coordination device according to claim 2, wherein each set of said telescoping support mechanisms comprises:

the bottom of the fixed support frame (105) can move up and down along a through hole arranged on the base (100);

the fixed lead screw motor assembly (106) is fixed at the position, close to the through hole, of the base (100), a lead screw of the fixed lead screw motor assembly (106) is in matched transmission with a first threaded hole formed in the top of the fixed support frame (105), and a first sliding block is fixed on the fixed lead screw motor assembly; the fixed lead screw motor assembly (106) is connected with an automatic control and/or manual device;

the bottom of the fixed guide rail bracket (103) is fixed near the fixed lead screw motor assembly (106), the side surface of the fixed guide rail bracket (103) faces the first sliding block side, a fixed linear guide rail (104) is fixed, and the first sliding block and the fixed linear guide rail (104) slide in a matched mode.

4. An interventional surgical robotic collaboration device as claimed in claim 1, the cooperating means (200) comprises a Z-axis drive member secured to the base (100), the top of the Z-axis driving part is linearly and slidably connected with an X-axis driving part, the upper part of the X-axis driving part is linearly and slidably connected with a Y-axis driving part, the linear sliding direction of the Y-axis driving part is consistent with the length direction of the conduit bed (600), the clamping device (300) slides on the Y-axis driving part linearly, the Z-axis driving part, the X-axis driving part and the Y-axis driving part are all electrically connected with a manual control device (400) and/or a work station (G), the gripping device (300) is also electrically connected to the manual control device (400) and/or to a workstation (G) for processing data and sending commands.

5. An interventional surgical robotic coordination device according to claim 4, wherein said Z-axis drive component comprises: the cross section of the upright column (203) is in a convex shape, and two sides of the upright column (203) are driven by two groups of Z-axis driving pieces which are symmetrically arranged and move up and down along the Z-axis direction; each group of Z-axis driving pieces are provided with a Z-axis guide rail bracket (201, 206), a Z-axis linear guide rail (202, 205) and a Z-axis lead screw motor component (204); z axle guide rail support (201, 206) bottom is fixed in base (100) middle part, and its inside face is fixed with Z axle linear guide (202, 205), it has the second slider to slide on Z axle linear guide (202, 205), the second slider is fixed in stand (203) side, stand (203) rear side have with screw complex second screw hole in Z axle screw motor element (204), stand (203) top is fixed with bottom plate (207), wherein Z axle screw motor element (204) with manual control device (400) and/or workstation (G) electric connection.

6. The cooperative equipment as claimed in claim 5, wherein the X-axis driving component comprises a connecting plate (213), the connecting plate (213) is arranged in parallel with the base plate (207), an X-axis lead screw motor assembly (217) is arranged on the top of the base plate (207) along the X-axis direction, and a lead screw in the X-axis lead screw motor assembly (217) is in transmission fit with a third threaded hole arranged on the connecting plate (213); two sets of X axle linear guide (216, 211) that X axle lead screw motor element (217) both sides symmetrical arrangement fixed bottom plate (207) top, two third sliders are fixed in connecting plate (213) bottom, and with two sets of X axle linear guide (216, 211) cooperation slip, wherein X axle lead screw motor element (217) with manual control device (400) and/or workstation (G) electric connection.

7. An interventional surgical robotic coordination device according to claim 6, wherein said Y-axis driving member comprises a Y-axis screw motor assembly (214), said Y-axis screw motor assembly (214) is disposed on top of said connection plate (213) along the Y-axis direction, its screw is driven in cooperation with a fourth threaded hole on the bottom of said clamping device (300); two sets of Y axle linear guide (215, 212) of fixing on connecting plate (213) are arranged to Y axle lead screw motor element (214) bilateral symmetry, each all slide on Y axle linear guide (215, 212) has the fourth slider, the fourth slider is fixed in clamping device (300) bottom, wherein Y axle lead screw motor element (214) with manual control device (400) and/or workstation (G) electric connection.

8. The cooperative equipment of the interventional operation robot as claimed in claim 4, wherein the clamping device (300) comprises a clamping connecting plate (301), the bottom of the clamping connecting plate (301) is fixed on the top of the Y-axis driving component and has a rectangular plate shape, a supporting plate (309) is vertically fixed on the top surface of the plate near one side edge, two groups of clamping lead screw motor assemblies (302, 307) fixed on the clamping connecting plate (301) are symmetrically arranged on two sides of the supporting plate (309), the two groups of clamping lead screw motor assemblies (302, 307) are correspondingly connected with two lead screw connecting pieces (303, 306), each lead screw connecting piece (303, 306) has an L shape, the transverse end of each L-shaped lead screw connecting piece (303, 306) is provided with a fifth threaded hole matched with a lead screw of the clamping lead screw motor assembly (302, 307), and the vertical end is attached to the side surface of the supporting plate (309), the top of the device is connected with two sides of a gantry-shaped pressing plate (305) through two clamping pressure sensors (304) to form the installation clamping position, and the clamping pressure sensors (304) are in communication connection with a workstation (G); the workstation (G) is fixed on the base (100) or the clamping connection plate (301), and the clamping lead screw motor assemblies (302, 307) are electrically connected with the manual control device (400) and/or the workstation (G).

9. An interventional surgical robotic collaboration apparatus as claimed in claim 8, wherein the manual control device (400) is fixed to the clamping connection plate (301) and has a support frame in the shape of a bench structure on which a plurality of function keys are arranged for control operations, a display screen for display, and an emergency stop button.

10. An interventional surgical robotic coordination device according to any of claims 1-9, further comprising a detection means for detecting a real-time position of the catheter bed (600), said detection means comprising: an elastic connecting piece (210), a position sensor (209) and a fixing clamp (208); one end of the elastic connecting piece (210) is connected with the cooperation device (200), the other end of the elastic connecting piece is connected with the fixing clamp (208) clamped on the catheter bed (600), a position sensor (209) used for detecting the real-time position of the catheter bed (600) is arranged at the joint of the fixing clamp (208) and the elastic connecting piece (210), and the position sensor (209) is connected with a workstation (G) of the cooperation device.