CN115517773A

CN115517773A - Sterile box of pipe, pipe arm and neural operation robot that intervenes

Info

Publication number: CN115517773A
Application number: CN202211248515.4A
Authority: CN
Inventors: 黄韬; 解菁; 陈建坤; 杨贺
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2022-10-12
Filing date: 2022-10-12
Publication date: 2022-12-27

Abstract

The invention belongs to the technical field of minimally invasive vascular interventional surgery devices, and discloses a catheter sterile box, a catheter mechanical arm and a nerve interventional surgery robot, wherein the surgery robot comprises a movable base, a guide wire mechanical arm, a guide wire pushing mechanism, a catheter positioning and tracking camera assembly, a catheter mechanical arm and a catheter sterile box, the guide wire mechanical arm and the catheter positioning and tracking camera assembly are both fixed at the top end of the movable base, the guide wire pushing mechanism is fixed at the tail end of the guide wire mechanical arm, a mechanical arm body is detachably connected with the top end of the movable base, and the catheter mechanical arm is connected with the catheter sterile box. The robot can adapt to the use environments of various catheters, meet the requirements of different operations, and ensure the accuracy of operation control because the guide wire and the catheter can synchronously act; and the robot can freely move in the catheter chamber, has simple integral structure, light weight and good stability, adopts the modular structure design, has compact structure and small volume, and is very suitable for the operation environment.

Description

Sterile box of pipe, pipe arm and neural operation robot that intervenes

Technical Field

The invention relates to the technical field of minimally invasive vascular interventional surgery devices, in particular to a catheter sterile box, a catheter mechanical arm and a nerve interventional surgery robot.

Background

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.

The interventional operation has the following 2 problems, firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, and the life risk of a patient is caused. Second, the risk of prolonged ionizing radiation injury can greatly increase the risk of physicians developing leukemia, cancer and acute cataracts. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected. The problems can be effectively solved by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the harm of radiation to an interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. The cardiovascular and cerebrovascular interventional operation auxiliary robot is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present. In the nerve intervention operation, because the blood vessel of brain is thinner and more fragile, the operation consumptive material that uses is also more various, consequently, also higher to the control requirement of robot.

The existing nerve intervention operation robot also has the following problems:

(1) chinese patent document CN110811811a, named a disposable sterile box for an interventional surgical robot, wherein only a Y-type connection valve (for short, "Y valve", which is a medical product for cardiovascular and cerebrovascular therapy) can be installed, and an outer sheath (which is a medical product for cardiovascular and cerebrovascular angiography) cannot be installed, i.e., installation and control of various types of catheters cannot be achieved, so that the current neural robot cannot simultaneously complete two operations of angiography and therapy, and the application range of the neural robot is limited; in addition, different parts such as a Y valve and an outer sheath are different in use position, so that the robot cannot adapt to the use environment of various catheters at the same time, and the use convenience of the robot is reduced; in addition, in the prior art, the catheter driving assembly uses a group of driving and driven friction wheels, and the position of the driving and driven friction wheels is far away from the Y valve, so that the catheter is easy to slip in the propelling process, and the operation effect is influenced; moreover, although the conduit clamping chute can support the conduit to a certain extent, the top end of the chute is open, and the chute has no limit effect on the conduit, so that the conduit is dislocated and tilted in the moving process, and the conveying of the conduit is influenced.

(2) The existing robot cannot well control the actions of the guide wire and the catheter, and particularly after the catheter moves, the guide wire needs to be operated at the tail end of the catheter and needs to follow the catheter to act.

(3) The robot is large in size and complex in structure, and is not suitable for actual clinical operations.

(4) The robot is inconvenient to mount and dismount.

Therefore, how to provide a method for flexibly adjusting different parts and different positions by a doctor according to the operation requirement so that the robot can adapt to the use environment of various catheters and meet the requirements of different operations; can prevent the aseptic box of the pipe of skidding, dislocation of propelling movement pipe in-process and dismantle convenient pipe arm and seal wire and can follow the pipe synchronization action, improve the operation effect, and simple structure's neural intervention robot is the problem that the skilled person needs to solve urgently.

Disclosure of Invention

In view of the above, the invention provides a method which can be used by a doctor to flexibly adjust different parts and different positions according to the operation requirements, so that the robot can adapt to the use environments of various catheters and meet the requirements of different operations; can prevent the aseptic box of the pipe of skidding, dislocation of propelling movement pipe in-process and dismantle convenient pipe arm and seal wire and can follow pipe synchronization action, improve the operation effect, and simple structure's neural intervention robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

a catheter sterility cassette, comprising:

the sterile box body is detachably connected to a catheter propelling mechanism on the catheter mechanical arm;

the movable clamping jaw is arranged on one side face of the sterile box body and is used for clamping a Y valve or an outer sheath;

the pipe clamping and pushing assembly is fixed to the bottom end face of the sterile box body and connected with the pipe pushing mechanism to drive the pipe clamping and pushing assembly to drive the pipe to move.

According to the technical scheme, compared with the prior art, the invention discloses the sterile catheter box, the movable clamping jaw capable of clamping the Y valve or the outer sheath is arranged in the sterile catheter box, so that the sterile catheter box can be used for finishing two operations of radiography and treatment at the same time, the application range of the sterile catheter box is improved, the requirements of different operations are met, the automatic pushing and withdrawing of the catheter can be realized by the catheter clamping and pushing assembly, and the automatic control of the interventional operation catheter is realized.

Further, seted up first through hole on a side of aseptic box body, portable clamping jaw includes:

a second through hole is formed in a position, corresponding to the first through hole, on one side face of the fixed shell, the side face of the fixed shell is fixedly connected with the outer wall of one side of the sterile box body, and a guide hole is formed in the outer wall of the other side, far away from the sterile box body, of the fixed shell;

the movable toothed plate is slidably arranged in the fixed shell in a penetrating mode, a first meshing tooth surface is arranged on one side surface of the movable toothed plate, a long-strip-shaped guide hole is formed in the first meshing tooth surface, a connecting plate is vertically fixed at one end of the movable toothed plate, and a clamping jaw for clamping a Y valve or an outer sheath is fixed at the side end, away from the movable toothed plate, of the connecting plate;

a guide post is fixed on one side of the telescopic locking toothed plate, the guide post is arranged in the guide hole in a penetrating mode, a second meshing toothed surface is arranged on the other side, far away from the guide post, of the telescopic locking toothed plate, the second meshing toothed surface is in meshing connection with the first meshing toothed surface, a pushing lug is fixed on the second meshing toothed surface, and the pushing lug penetrates through the elongated guide hole, the second penetrating hole and the first penetrating hole to be connected with a catheter pushing mechanism on a catheter mechanical arm so as to push the pushing lug to move;

the first spring, first spring housing is established on the guide post, just first spring one end with one side butt of flexible locking pinion rack, the other end with the inside wall butt of fixed casing.

The beneficial effects that adopt above-mentioned technical scheme to produce are that, when pipe advancing mechanism drives and promotes the lug and move to the outside, the second meshing profile of tooth face on the flexible locking pinion rack is disengaged from the first meshing profile of tooth face on the removal pinion rack, at this moment, the guide post outwards stretches out along the guiding hole, realize that flexible locking pinion rack separates with the removal pinion rack, at this moment, the doctor carries out position control through removing the removal pinion rack, after position control, use clamping jaw centre gripping Y valve or epitheca, realize the nimble regulation of different parts, different positions and press from both sides tightly, pipe advancing mechanism no longer drives and promotes the lug after clamping jaw presss from both sides tightly, at this moment, flexible locking pinion rack resets under the effect of first spring, make second meshing profile of tooth mesh with first meshing profile of tooth face meshing again, realize the locking of removal pinion rack and fix, at this moment, the removal pinion rack can not remove at will, realize the position that clamping jaw centre gripping Y valve or epitheca is fixed. Therefore, the aseptic box can adapt to the use environment of various catheters by adopting the movable toothed plate, the telescopic locking toothed plate, the first spring and the openable clamping jaw, and the requirements of different operations are met.

Further, the conduit gripping pusher assembly comprises:

the top end of the first mounting plate is fixed on the bottom end face of the sterile box body, a plurality of vertical driving shafts are connected to the first mounting plate in a rotating mode, a driving friction wheel is fixedly sleeved on each vertical driving shaft, and each vertical driving shaft is connected with a guide pipe propelling mechanism to drive the vertical driving shafts to rotate;

the top end of the second mounting plate is fixed on the bottom end face of the sterile box body and is arranged at intervals with the first mounting plate, and a plurality of transverse mounting columns are fixed on the side face, facing the first mounting plate, of the second mounting plate;

the movable plate penetrates through the transverse mounting columns, a plurality of vertical driven shafts are connected to the movable plate in a rotating mode, a driven friction wheel is fixedly sleeved on each vertical driven shaft, a guide pipe is clamped between the driving friction wheel and the driven friction wheel, and each vertical driven shaft is connected with a guide pipe pushing mechanism so as to drive the movable plate to move on the transverse mounting columns;

the second springs are multiple and are respectively sleeved on the corresponding transverse mounting columns, one end of each second spring is abutted to one side of the second mounting plate, and the other end of each second spring is abutted to one side of the moving plate.

The beneficial effect produced by adopting the technical scheme is that the driven friction wheel is matched with the driving friction wheel to clamp the guide pipe under the action of the second spring, the guide pipe pushing mechanism drives the vertical driving shaft to rotate, so that the driving friction wheel rotates and drives the driven friction wheel to rotate, and the guide pipe is pushed; when the guide pipe needs to be loosened, the guide pipe pushing mechanism drives the vertical driven shaft to move and compress the second spring, and the driven friction wheel is far away from the driving friction wheel at the moment, so that the guide pipe is loosened; in addition, the sterile box adopts a plurality of groups of driving friction wheels and driven friction wheels to push the catheter, and compared with the existing method of adopting a group of friction wheels, the sterile box can reduce the phenomenon that the catheter slips in the pushing process; in addition, the conduit clamping and pushing assembly is arranged on the bottom end face of the sterile box body, and the Y valve or the sheath is close to one side of the sterile box body, so that the distance between the conduit clamping and pushing assembly and the Y valve or the sheath is very short, and the problem of slippage in the conduit pushing process can be greatly and effectively solved.

Further, still include the spacing subassembly of pipe support, the spacing subassembly of pipe support includes:

the top end of the upper limiting plate of the first conduit is fixedly connected with one side of the bottom end of the sterile box body, the upper limiting plate of the first conduit is arranged opposite to the clamping jaw, the bottom end face of the upper limiting plate of the first conduit is provided with a first limiting groove, and the upper limiting plate of the first conduit is provided with a hinge hole;

support piece under the arc pipe, arc pipe support piece indent side is spacing to accept the face, and its one end integrated into one piece has transverse connection board, transverse connection board one side is fixed with the hinge post, the hinge post with the hinge hole is pegged graft, and the pipe is spacing be in first spacing groove with spacing between the face of accepting.

The beneficial effect who adopts above-mentioned technical scheme to produce is, when placing the pipe, upwards rotates arc pipe under bracing piece, places first spacing groove department with the pipe from the below, then downwards rotates arc pipe under bracing piece for the pipe is spacing between spacing accepting face and first spacing groove, realizes the ascending location support from top to bottom of pipe, prevents that the pipe from taking place the dislocation in removing, influences the operation effect.

Furthermore, a supporting plate is fixed to a position, below the hinge hole, of the limiting plate on the first guide pipe, a first magnet is arranged inside the supporting plate, a second magnet is arranged inside the transverse connecting plate, and the second magnet is connected with the first magnet in a magnetic attraction mode.

The beneficial effect who adopts above-mentioned technical scheme to produce is, after rotating arc pipe lower support piece to predetermined position downwards, first magnet adsorbs second magnet, realizes fixing between arc pipe lower support piece and the first pipe upper limit plate, avoids arc pipe lower support piece to appear not hard up problem after target in place.

The top end of the limiting plate on the second conduit is fixed on the other side of the bottom end of the sterile box body, a second limiting groove is formed in the bottom end face of the limiting plate on the second conduit, and the conduit is arranged in the second limiting groove.

The beneficial effect that adopts above-mentioned technical scheme to produce is that, the setting of limiting plate on the second pipe can improve the location support effect of pipe, avoids the problem that the pipe of Y valve or sheath entrance takes place dislocation or perk and influences the pipe and carry.

The invention provides a catheter mechanical arm which comprises a mechanical arm body, a catheter pushing mechanism and a catheter sterile box, wherein the catheter pushing mechanism is fixed at the tail end of the mechanical arm body, and the sterile box is detachably connected with the catheter pushing mechanism.

According to the technical scheme, compared with the prior art, the invention discloses the catheter mechanical arm, the catheter sterile box and the catheter pushing mechanism adopt the detachable connection structure, the catheter sterile box is the only part which is in contact with the catheter consumables used in the whole interventional operation robot and the operation, and the catheter sterile box is strictly sterilized, so that the sterile environment in the whole robot operation can be ensured, and the robot can be greatly conveniently sterilized by replacing the sterile box every time.

Further, aseptic box body top is uncovered, pipe advancing mechanism includes:

the top of the vertical connecting plate is fixed at the tail end of the mechanical arm body, an installing frame detachably connected to the inside of the sterile box body is fixed at the bottom of the vertical connecting plate, a transverse sliding rail is fixed at the top end of the installing frame, and a first sliding block is connected to the transverse sliding rail in a sliding manner;

the first motor is fixed on one side of the bottom of the vertical connecting plate, and a first screw rod is fixed at the driving end of the first motor;

the top of the pushing plate is fixedly connected with the first sliding block, a first threaded hole is formed in the pushing plate, the first lead screw is in threaded transmission connection with the first threaded hole, a plurality of shifting rods are fixed at intervals at the bottom end of the pushing plate, and the lower end of each shifting rod penetrates through the bottom end of the sterile box body and is inserted into an inserting hole at the upper end of the corresponding vertical driven shaft;

a plurality of second motors are fixed at the bottom of the vertical connecting plate, the driving end of each second motor penetrates through the bottom end of the sterile box body and is fixedly provided with a driving gear, a driven gear is fixed at the upper end of the vertical driving shaft, and the driving gear is in meshed connection with the driven gear;

the push-pull electromagnet is fixed on the mounting rack, and the telescopic end of the push-pull electromagnet is abutted to the pushing lug.

The technical scheme has the beneficial effects that the first motor drives the first lead screw to rotate so as to drive the pushing plate to move, so that the driving lever at the bottom end of the pushing plate can drive the vertical driven shaft to move, the driven friction wheel can move towards the direction close to or far away from the driving friction wheel, and the clamping and loosening actions of the guide pipe are further realized; the second motor drives the driving gear to rotate, the driving gear drives the vertical driving shaft to rotate through the driven gear, the rotation of the driving friction wheel is achieved, and then the forward pushing and backward movement of the guide pipe are achieved; and the flexible end of push-and-pull electro-magnet can promote the promotion lug and remove for the second meshing profile of tooth face on the flexible locking pinion rack takes off from the first meshing profile of tooth face on the movable pinion rack, and the guide post outwards stretches out along the guiding hole, realizes that flexible locking pinion rack separates with the movable pinion rack, is convenient for move the removal of movable pinion rack, and then realizes the lateral adjustment of clamping jaw position.

The invention provides a robot for a nerve interventional operation, which comprises a movable base, a guide wire mechanical arm, a guide wire pushing mechanism, a catheter positioning and tracking camera assembly and the catheter mechanical arm, wherein the guide wire mechanical arm and the catheter positioning and tracking camera assembly are fixed at the top end of the movable base, the guide wire pushing mechanism is fixed at the tail end of the guide wire mechanical arm, and a mechanical arm body is detachably connected with the top end of the movable base.

According to the technical scheme, compared with the prior art, the robot for the nerve intervention operation is used, the mechanical arm body is taken down from the moving base and installed on the position, close to the puncture opening, of the catheter bed, the robot is placed behind the catheter bed (the head direction of a patient is the front direction, the foot direction is the rear direction), then the guide wire mechanical arm is adjusted to the position of the Y-valve connector at the tail end of the catheter, after initial positioning is completed, the guide wire is installed on the guide wire pushing mechanism, the catheter is installed on the catheter pushing mechanism, then the angle of the catheter positioning tracking camera assembly is adjusted, the guide wire mechanical arm can see the catheter pushing mechanism, when the catheter pushing mechanism controls the catheter to advance or retreat, the guide wire mechanical arm receives catheter moving distance information sent by the catheter and synchronously acts, and the guide wire pushing mechanism and the tail end of the catheter are enabled to be relatively static at any time. When the catheter bed moves, the catheter positioning and tracking camera assembly can detect the moving direction and distance of the catheter pushing mechanism fixed with the catheter bed, then the guide wire mechanical arm synchronously moves with the catheter bed, the moving direction and the moving distance are synchronous, the guide wire can synchronously move along with the catheter, the operation effect is improved, if the catheter bed moves left and right, the guide wire mechanical arm extends or retracts like the front, and through corresponding matching actions, the catheter guide wire can be well controlled in the operation process, and the catheter is always in a linear state. After the operation is finished, the mechanical arm body is remounted on the movable base, and then the robot is moved to the corner of the operating room, so that the patient can get on or off the bed and can be transported without being influenced.

Further, the mobile base includes:

the bottom end of the bottom plate is uniformly and fixedly provided with a plurality of universal wheels, and the top end of the bottom plate is uniformly and fixedly provided with a plurality of first stand columns;

the device comprises a plurality of vertical guide rail brackets, wherein one end of each vertical guide rail bracket is fixed at the top end of the bottom plate, each vertical guide rail bracket is fixedly provided with a vertical slide rail, each vertical slide rail is provided with a second slide block in a sliding manner, each second slide block is fixedly provided with a support upright post, the lower end of each support upright post penetrates through the bottom plate to extend downwards, the upper ends of two adjacent support upright posts are fixedly provided with connecting cross posts, and the connecting cross posts are provided with second threaded holes;

a plurality of lifting motors are fixed at the top end of the bottom plate, a second screw rod is fixed at the driving end of each lifting motor, and the second screw rods are in threaded transmission connection with the second threaded holes;

the bottom end of the middle plate is fixedly connected with the upper ends of the first stand columns, the top end of the middle plate is fixedly provided with a plurality of second stand columns, and a power supply and a controller are placed at the top end of the middle plate;

the bottom end of the top plate is fixedly connected with the upper ends of the second stand columns, and the guide wire mechanical arm and the catheter positioning and tracking camera assembly are fixed to the top end of the top plate;

the bottom end of the mounting box body is fixedly connected with the top end of the top plate, a mounting hole is formed in the top end of the mounting box body, a mounting seat inserted into the mounting hole is fixed at the bottom end of the mechanical arm body, and two fixing transverse plates are fixed on one side of the mounting seat at intervals;

the bottom end of the vertical plate is fixed to the top end of the top plate and located on one side of the mounting box body, a pressing plate is hinged to the top end of the vertical plate and is in press connection with the fixed transverse plate, a telescopic handle (a reset spring is arranged on the handle) is connected to one side of the top end of the pressing plate, the telescopic handle is inserted into the opening in the side wall of the mounting box body, the telescopic handle is pulled outwards, the reset spring is compressed, the handle is pushed out of the opening, the handle is loosened, and the handle is inserted into the opening again under the action of the reset spring, so that the locking between the pressing plate and the mounting box body is realized;

the catheter position tracking camera assembly comprises:

the lower end of the third upright post is fixedly connected with the top end of the top plate, and the upper end of the third upright post is connected with a movable support;

and the positioning and tracking camera is connected with the movable support.

The beneficial effect who adopts above-mentioned technical scheme to produce is, with the robot removal back that targets in place, elevator motor accessible second lead screw drives the lower extreme of support post and passes the bottom plate and support subaerial for the universal wheel leaves ground, makes the robot support by support post, can lie the complete fixed position of robot like this, can not take place to remove. When the pipe mechanical arm is installed on the movable base, the installation base at the bottom end of the mechanical arm body is inserted into the installation hole in the installation box body, then the pressing plate is pressed on the transverse plate, the transverse plate is pressed and fixed on the installation box body, and then the telescopic handle is inserted into the opening to realize fixation; when the pipe arm is taken off from the robot as required, the telescopic handle is pulled out from the opening at first, then the pressing plate is turned upwards, the pipe arm can be taken out from the mounting box body, the effect of quick assembly and disassembly of the pipe arm and the robot is realized, and the operation of doctors is convenient. The positioning and tracking camera can adjust the angle through the movable support, so that the positioning and tracking camera can adjust the position according to the position of the catheter pushing mechanism, the positioning and tracking camera can see the catheter pushing mechanism, the tracking of the position of the catheter pushing mechanism is realized, the controller synchronously controls the action of the guide wire mechanical arm according to the feedback information of the positioning and tracking camera, and the synchronous action of the guide wire and the catheter is realized.

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 an overall front view of a catheter sterility cassette clamping Y valve.

Fig. 2 is an overall rear view of the catheter sterility cassette clamp Y valve.

FIG. 3 is a schematic bottom view of the entire catheter sterility cassette clamping Y valve.

FIG. 4 is an overall front view of a catheter sterility case retaining sheath.

FIG. 5 is a schematic view of a catheter sterility case unsupported by a catheter.

Fig. 6 is a schematic view of a catheter sterility case supporting a catheter.

Fig. 7 is an exploded view of a catheter support and retention assembly on a catheter sterility case.

FIG. 8 is a schematic view of a movable clamping jaw on a catheter sterility case clamping.

FIG. 9 is a schematic view of a catheter sterility case with the movable jaw disengaged.

Fig. 10 is a front exploded view of a movable jaw on a catheter sterility case.

Fig. 11 is a schematic diagram of a back-exploded view of a movable jaw on a catheter sterility case.

FIG. 12 is a schematic view of the driving and driven friction wheels on the catheter sterility case loosening a catheter.

FIG. 13 is a schematic view of the driving and driven friction wheels on the catheter sterility case gripping a catheter.

FIG. 14 is a schematic view of a catheter clamping and advancing assembly on a catheter sterilization cassette.

Fig. 15 is an exploded view of a catheter clamp pusher assembly on a catheter sterilization cassette.

Fig. 16 is an overall front view of the neuro-interventional surgical robot.

Fig. 17 is an overall rear view of the neuro-interventional surgical robot.

Figure 18 is a schematic view of the placement of the catheter robot on the mobile base.

Figure 19 is a schematic view of the catheter robot arm being moved away from the motion base.

Figure 20 is an enlarged view of the catheter robot arm off the motion base.

Fig. 21 is a schematic view of the overall structure of the catheter robot.

Fig. 22 is a schematic structural view of a catheter advancing mechanism.

Fig. 23 is an exploded view of the catheter advancement mechanism.

Fig. 24 is a schematic view of the structure of the mobile base portion.

Fig. 25 is an exploded view of the moving base section.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-15, an embodiment of the present invention discloses a catheter sterility case, comprising:

the sterile box body 1 is detachably connected to a catheter propelling mechanism 7 on a catheter mechanical arm;

a movable clamping jaw 2, wherein the movable clamping jaw 2 is arranged on one side surface of the sterile box body 1 and is used for clamping the Y valve 100 or the sheath 200;

the guide pipe clamping and pushing assembly 3 is fixed on the bottom end face of the sterile box body 1, and the guide pipe clamping and pushing assembly 3 is connected with the guide pipe pushing mechanism 7 so as to drive the guide pipe clamping and pushing assembly 3 to drive the guide pipe 300 to move.

Specifically, seted up first through hole 101 on the side of aseptic box body 1, portable clamping jaw 2 includes:

a fixed shell 21, wherein a second through hole 2101 is arranged on one side surface of the fixed shell 21 corresponding to the first through hole 101, the side surface is fixedly connected with the outer wall of one side of the sterile box body 1, and a guide hole 2102 is arranged on the outer wall of the other side of the fixed shell 21 away from the sterile box body 1;

the movable toothed plate 22 is arranged in the fixed shell 21 in a sliding mode in a penetrating mode, a first meshing toothed surface 2201 is formed in one side face of the movable toothed plate 22, a long-strip-shaped guide hole 2202 is formed in the first meshing toothed surface 2201, a connecting plate 23 is vertically fixed to one end of the movable toothed plate 22, a clamping jaw 24 used for clamping the Y valve 100 or the outer sheath 200 is fixed to the side end, far away from the movable toothed plate 22, of the connecting plate 23, the clamping jaw 24 is a spring type clamping jaw capable of being opened and closed, a soft silica gel layer is adhered to the clamping surface of the inner side of the clamping jaw, the movable toothed plate 22 can be better suitable for objects with different diameters, and slipping can be effectively prevented;

a guide post 26 is fixed on one side of the telescopic locking toothed plate 25, the guide post 26 is arranged in the guide hole 2102 in a penetrating manner, a second meshing toothed surface 2501 is arranged on the other side, far away from the guide post 26, of the telescopic locking toothed plate 25, the second meshing toothed surface 2501 is in meshing connection with the first meshing toothed surface 2201, a pushing lug 27 is fixed on the second meshing toothed surface 2501, and the pushing lug 27 penetrates through the elongated guide hole 2202, the second penetrating hole 2101 and the first penetrating hole 101 to be connected with a catheter pushing mechanism 7 on the catheter mechanical arm so as to push the pushing lug 27 to move;

the first spring 28, the first spring 28 cover is established on the guide post 26, and first spring 28 one end and flexible locking toothed plate 25's one side butt, the other end and fixed casing 21's inside wall butt.

Therefore, in the practical use of a doctor, the positions of the clamping jaws can be adjusted through the movement of the movable toothed plate according to the requirements, so that different parts and different positions of the Y valve or the outer sheath can be flexibly clamped, the sterile box can adapt to the use environments of various catheters, and the requirements of different operations are met.

Wherein the conduit gripping and pushing assembly 3 comprises:

the top end of the first mounting plate 31 is fixed on the bottom end face of the sterile box body 1, two vertical driving shafts 32 are rotatably connected to the first mounting plate 31, a driving friction wheel 33 is fixedly sleeved on each vertical driving shaft 32, and each vertical driving shaft 32 is connected with the guide pipe propelling mechanism 7 so as to drive the vertical driving shafts 32 to rotate;

a second mounting plate 34, the top end of the second mounting plate 34 is fixed on the bottom end face of the sterile box body 1 and is arranged at intervals with the first mounting plate 31, and four transverse mounting columns 35 are fixed on the side face of the second mounting plate 34 facing the first mounting plate 31;

the moving plate 36 penetrates through the transverse mounting columns 35, two vertical driven shafts 37 are connected to the moving plate 36 in a rotating mode, a driven friction wheel 38 is fixedly sleeved on each vertical driven shaft 37, the guide pipe 300 is clamped between the driving friction wheel 33 and the driven friction wheel 38, and each vertical driven shaft 37 is connected with the guide pipe pushing mechanism 7 so as to drive the moving plate 36 to move on the transverse mounting columns 35;

and four second springs 39 are arranged, and are respectively sleeved on the corresponding transverse mounting columns 35, one end of each second spring 39 is abutted with one side of the second mounting plate 34, and the other end of each second spring 39 is abutted with one side of the moving plate 36.

In order to position and support the catheter and prevent the problems of dislocation, tilting and the like in the moving process of the catheter, the other embodiment of the sterile catheter box disclosed by the invention further comprises a catheter supporting and limiting component 4, wherein the catheter supporting and limiting component 4 comprises:

the top end of the first guide tube upper limiting plate 41 is fixedly connected with one side of the bottom end of the sterile box body 1, the first guide tube upper limiting plate 41 is arranged opposite to the clamping jaw 24, the bottom end face of the first guide tube upper limiting plate 41 is provided with a first limiting bevel 4101, and the first guide tube upper limiting plate 41 is provided with a hinge hole 4102;

the concave side surface of the arc-shaped lower conduit supporting part 42 is a limiting bearing surface 4201, one end of the arc-shaped lower conduit supporting part 42 is integrally formed with a transverse connecting plate 43, one side of the transverse connecting plate 43 is fixed with a hinge column, the hinge column is inserted into the hinge hole 4102, and the conduit 300 is limited between the first limiting bevel 4101 and the limiting bearing surface 4201.

Specifically, a supporting plate 44 is fixed to a position, below the hinge hole, of the limiting plate 41 on the first conduit, a first magnet is arranged inside the supporting plate 44, a second magnet is arranged inside the transverse connecting plate 43, and the second magnet is magnetically attracted to the first magnet.

The sterile catheter box further comprises a second catheter upper limiting plate 5, the top end of the second catheter upper limiting plate 5 is fixed to the other side of the bottom end of the sterile box body 1, a second limiting groove 501 is formed in the bottom end face of the second catheter upper limiting plate 5, and the catheter 300 is placed in the second limiting groove 501.

Therefore, when placing the pipe, support piece upwards rotates under the arc pipe, expose first spacing groove, then place first spacing groove department with the pipe from the below, then support piece downwards rotates under the arc pipe, first magnet adsorbs second magnet, realize support piece under the arc pipe and first pipe on the spacing board fixed, the pipe is then stable spacing between spacing face of accepting and first spacing groove, realize the ascending location support in pipe upper and lower direction, in addition, the pipe of Y valve or sheath entrance also can be arranged in the spacing groove of second, thereby effectively prevented that the pipe from taking place the dislocation in the removal, the perk and the problem that influences the operation effect.

Referring to fig. 16-25, the present invention further provides a catheter mechanical arm, which comprises a mechanical arm body 6, a catheter pushing mechanism 7 and the above-mentioned catheter sterile box, wherein the catheter pushing mechanism 7 is fixed at the end of the mechanical arm body 6 (the mechanical arm body can adopt any kind of 6-axis mechanical arm, or the end arm of the mechanical arm adopts a gas spring, which can be used for adjusting the mechanical arm up and down), and the sterile box 1 is detachably connected with the catheter pushing mechanism 7.

Specifically, referring to fig. 22 and 23, the sterile box 1 is open at the top end, and the catheter advancing mechanism 7 includes:

on the vertical connecting plate 71, the top of the vertical connecting plate 71 is fixed at the tail end of the mechanical arm body 6, an installation frame 72 detachably connected inside the sterile box body 1 is fixed at the bottom of the vertical connecting plate 71, a transverse slide rail 73 is fixed at the top end of the installation frame 72, and a first slide block 74 is slidably connected on the transverse slide rail 73; mounting bracket 72 can be connected with aseptic box body adoption plug's mode, and is concrete, has joint interface (not shown) on aseptic box body, has joint arch (not shown) on the relevant position on the mounting bracket, joint arch and joint interface adaptation joint.

The first motor 75 is fixed on one side of the bottom of the vertical connecting plate 71, and a first screw rod 76 is fixed at the driving end of the first motor 75;

the top of the pushing plate 77 is fixedly connected with the first sliding block 74, a first threaded hole 7701 is formed in the pushing plate 77, the first lead screw 76 is in threaded transmission connection with the first threaded hole 7701, two shift levers 78 are fixed at the bottom end of the pushing plate 77 at intervals, and the lower end of each shift lever 78 penetrates through the bottom end of the sterile box body 1 and is inserted into an insertion hole 3701 at the upper end of the corresponding vertical driven shaft 37;

the two second motors 79 are fixed at the bottom of the vertical connecting plate 71, the driving end of each second motor 79 penetrates through the bottom end of the sterile box body 1 and is fixed with a driving gear (not shown), the upper end of the vertical driving shaft 32 is fixed with a driven gear 3201, and the driving gear is meshed with the driven gear 3201;

and the push-pull electromagnet 80, wherein the push-pull electromagnet 80 is fixed on the mounting frame 72, and the telescopic end of the push-pull electromagnet 80 is abutted against the pushing lug 27.

Therefore, the first motor drives the first screw rod to rotate so as to drive the pushing plate to move, so that the shifting lever at the bottom end of the pushing plate can drive the vertical driven shaft to move, the driven friction wheel moves towards the direction close to or away from the driving friction wheel, and the clamping and loosening actions of the guide pipe are further realized; the second motor drives the driving gear to rotate, the driving gear drives the vertical driving shaft to rotate through the driven gear, the rotation of the driving friction wheel is achieved, and then the forward pushing and backward movement of the guide pipe are achieved; and the flexible end of push-and-pull electro-magnet can promote the promotion lug and remove, make the second meshing profile of tooth face on the flexible locking pinion rack take off from the first meshing profile of tooth face on the movable pinion rack, and the guide post outwards stretches out along the guiding hole, play the guide effect, thereby realize flexible locking pinion rack and the separation of movable pinion rack, be convenient for at this moment remove the removal of pinion rack, and then realize the lateral adjustment of clamping jaw position, make the clamping jaw can the different positions of centre gripping different parts (such as Y valve or sheath), thereby make the robot can adapt to the service environment of various pipes.

The invention also provides a robot for the nerve interventional surgery, which comprises a movable base 8, a guide wire mechanical arm 9, a guide wire pushing mechanism 10 (the specific structure of the guide wire pushing mechanism refers to the guide wire pushing mechanism in 202011185437.9, which is used for pushing and rotating a guide wire, a balloon or stent catheter and controlling the rotation of the catheter), a catheter positioning and tracking camera assembly 11 and the catheter mechanical arm, wherein the guide wire mechanical arm 9 (a molded product, which can be any type of 6-axis mechanical arm, and selects UR series mechanical arms in the invention) and the catheter positioning and tracking camera assembly 11 are both fixed at the top end of the movable base 8, the guide wire pushing mechanism 10 is fixed at the tail end of the guide wire mechanical arm 9, and the mechanical arm body 6 is detachably connected with the top end of the movable base 8.

Specifically, the movable base 8 includes:

the bottom of the bottom plate 81 is uniformly provided with a plurality of universal wheels 82, and the top of the bottom plate 81 is uniformly provided with a plurality of first upright posts 83;

the structure comprises a plurality of vertical guide rail brackets 84, wherein one end of each of the vertical guide rail brackets 84 is fixed at the top end of the bottom plate 81, each vertical guide rail bracket 84 is fixed with a vertical slide rail 85, each vertical slide rail 85 is provided with a second slide block 86 in a sliding manner, each second slide block 86 is fixed with a support upright post 87, the lower end of each support upright post 87 penetrates through the bottom plate 81 to extend downwards, the upper ends of two adjacent support upright posts 87 are fixed with connecting cross posts 88, and the connecting cross posts 88 are provided with second threaded holes 8801;

a plurality of lifting motors 89 are fixed at the top end of the bottom plate 81, a second screw rod 90 is fixed at the driving end of each lifting motor 89, and the second screw rods 90 are in threaded transmission connection with the second threaded holes 8801;

the bottom end of the middle plate 91 is fixedly connected with the upper ends of the first upright columns 83, the top end of the middle plate 91 is fixedly provided with a plurality of second upright columns 92, and the top end of the middle plate 91 is provided with a power supply 93 for supplying power to the robot and a controller 94 for controlling the robot;

the bottom end of the top plate 95 is fixedly connected with the upper ends of the second upright posts 92, and the guide wire mechanical arm 9 and the catheter positioning and tracking camera assembly 11 are fixed at the top end of the top plate 95;

the bottom end of the mounting box body 96 is fixedly connected with the top end of the top plate 95, a mounting hole 9601 is formed in the top end of the mounting box body 96, a mounting seat 61 inserted into the mounting hole 9601 is fixed at the bottom end of the mechanical arm body 6, and two fixing transverse plates 62 are fixed on one side of the mounting seat 61 at intervals;

the bottom end of the vertical plate 97 is fixed at the top end of the top plate 95 and is positioned on one side of the mounting box body 96, the top end of the vertical plate 97 is hinged with a pressing plate 98, the pressing plate 98 is pressed on the fixed transverse plate 62, one side of the top end of the pressing plate 98 is connected with a telescopic handle 99, and the telescopic handle 99 is inserted into an opening 9602 in the side wall of the mounting box body 96;

the catheter positioning tracking camera assembly 11 includes:

the lower end of the third upright column 111 is fixedly connected with the top end of the top plate 95, and the upper end of the third upright column 111 is connected with a movable support 112;

the positioning and tracking camera 113 is connected with the movable support 112 (position adjustment in the horizontal and vertical directions can be performed), a positioning target (not shown) used for real-time tracking of the positioning and tracking camera is installed on the sterile box body, so that the positioning and tracking camera can be positioned at the real-time position of the catheter advancing mechanism, position information can be fed back to the controller in real time, the controller can indicate the guide wire mechanical arm to act, and synchronous following action is performed after the catheter bed or the catheter moves.

Therefore, the whole robot device can move in an interventional operation catheter chamber under the push of manpower, and the control operation of the guide wire catheter in the operation is completed. Wherein, pipe advancing mechanism, seal wire arm, location track camera all with controller wireless communication, can carry out the cooperation operation. In normal use, the nerve robot moves to one side of the catheter bed, the catheter mechanical arm is taken down from the robot and is installed at a position, close to a puncture port, on the catheter bed, the nerve robot is placed behind the catheter bed (the head direction of a patient is the front, and the foot direction is the rear), and the position of the guide wire mechanical arm is adjusted to the position of a Y-valve connector at the tail end of the catheter. After the initial positioning is completed, the catheter sterile box is installed on the catheter pushing mechanism, and the angle of the positioning tracking camera is adjusted to enable the positioning tracking camera to see the positioning target object on the catheter sterile box. The guide wire and catheter are then mounted to the guide wire advancing mechanism and catheter advancing mechanism, respectively, such that the catheter is as straight as possible. After the preparation is finished, the doctor operates the robot in the control room through the remote control handle to finish the operation. When the catheter is controlled to move forwards or backwards, the controller can receive the catheter moving distance information sent by the catheter and automatically control the guide wire mechanical arm to move, so that the guide wire pushing mechanism and the tail end of the catheter are constantly ensured to be in a relatively static state. When the catheter bed moves, the positioning tracking camera can detect the moving direction and the moving distance of the catheter pushing mechanism fixed with the catheter bed, then the controller controls the guide wire mechanical arm to synchronously move in the same way as the catheter bed, and the moving direction and the moving distance of the guide wire mechanical arm and the catheter bed are synchronous. For example, as the catheter bed moves left and right, the guide wire robot extends or retracts forward. Through the mutual cooperation action, can realize the good control to the pipe seal wire in the operation process, make the pipe be in rectilinear state all the time. The guide wire pushing mechanism and the catheter pushing mechanism are simultaneously matched to operate, and the control of the pushing and rotating actions of the guide wire and the catheter is completed. In the operation, can also be according to the operation process, use behind the different pipes, carry out the position control to the arm, install the operation consumptive material again on aseptic box, continue to control the operation. After the operation is completed, the sterile box is subjected to unified recovery processing, the catheter mechanical arm is placed on the installation box body and fixed, the whole robot is moved to the corner of an operating room, and the operation of getting on and off a bed and transferring of a patient are not influenced.

The nerve intervention surgical robot has the following advantages:

1. aseptic box and pipe arm adopt the mode of inserting and sowing to be connected, and aseptic box of pipe is disposable operation consumptive material, and it has been through the ethylene oxide sterilization, and every operation uses one, takes off aseptic box of pipe after the operation and unifies the recovery, consequently, through the aseptic box of pipe of at every turn renewing, can simplify the disinfection work of robot, makes things convenient for clinical use.

2. The movable clamping jaws on the catheter sterile box can clamp the Y valve or the sheath, the universality is high, the installation of different catheters is realized, and the Y valve or the sheath is clamped by the openable clamping jaws, so that the disassembly and the assembly are simple, and the use and the operation of the clamping jaws are convenient; in addition, the sterile box can automatically adjust the clamping degree of the conduit through the conduit clamping and pushing assembly, and the conduit is positioned and supported by the conduit supporting and limiting assembly, so that the problems of slipping, dislocation and the like in the conduit pushing process can be avoided.

3. The catheter is compact in sterile structure, the size and the weight of the sterile box are greatly reduced, so that the operation can be more flexible in the nerve interventional operation, and the real operation environment requirement can be well met.

4. The installation box body on pipe arm and the robot adopts the mode of crimping to be connected for on the pipe arm can be quick take off from the robot and quick installation robot, the doctor's of being convenient for dismouting operation, it is convenient to use.

5. The robot adopts the positioning and tracking camera as the visual positioning of the catheter pushing mechanism, and can ensure the synchronous action of the guide wire pushing mechanism and the catheter bed, so that the guide wire and the catheter act synchronously, and the accuracy of operation control is ensured.

6. The robot of the invention can move freely in the catheter chamber, has simple integral structure, light weight and good stability, adopts modular structure design, has compact structure and small volume, and is very suitable for operation environment.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A catheter sterility cassette, comprising:

the sterile box body (1), the said sterile box body (1) connects to pipe propulsion mechanism (7) on the mechanical arm of the pipe removably;

a movable clamping jaw (2), wherein the movable clamping jaw (2) is arranged on one side surface of the sterile box body (1) and is used for clamping a Y valve (100) or an outer sheath (200);

pipe centre gripping push assembly (3), pipe centre gripping push assembly (3) are fixed on aseptic box body (1) bottom end face, pipe centre gripping push assembly (3) with pipe advancing mechanism (7) are connected, in order to drive pipe centre gripping push assembly (3) drive pipe (300) and remove.

2. The sterile catheter cassette as claimed in claim 1, wherein a first through hole (101) is provided on one side of the sterile cassette body (1), and the movable clamping jaw (2) comprises:

a fixed shell (21), wherein a second through hole (2101) is formed in a position, corresponding to the first through hole (101), on one side surface of the fixed shell (21), the side surface of the fixed shell is fixedly connected with the outer wall of one side of the sterile box body (1), and a guide hole (2102) is formed in the outer wall of the other side, far away from the sterile box body (1), of the fixed shell (21);

the movable toothed plate (22) is slidably arranged in the fixed shell (21) in a penetrating mode, a first meshing toothed surface (2201) is arranged on one side face of the movable toothed plate (22), a long-strip-shaped guide hole (2202) is formed in the first meshing toothed surface (2201), a connecting plate (23) is vertically fixed to one end of the movable toothed plate (22), and a clamping jaw (24) used for clamping the Y valve (100) or the outer sheath (200) is fixed to the side end, far away from the movable toothed plate (22), of the connecting plate (23);

a guide post (26) is fixed on one side of the telescopic locking toothed plate (25), the guide post (26) is arranged in the guide hole (2102) in a penetrating mode, a second meshing toothed surface (2501) is arranged on the other side, far away from the guide post (26), of the telescopic locking toothed plate (25), the second meshing toothed surface (2501) is in meshing connection with the first meshing toothed surface (2201), a pushing lug (27) is fixed on the second meshing toothed surface (2501), and the pushing lug (27) penetrates through the elongated guide hole (2202), the second through hole (2101) and the first through hole (101) to be connected with a catheter pushing mechanism (7) on a catheter mechanical arm so as to push the pushing lug (27) to move;

first spring (28), first spring (28) cover is established on guide post (26), just first spring (28) one end with one side butt of flexible locking pinion rack (25), the other end with the inside wall butt of fixed casing (21).

3. A catheter sterility cassette according to claim 2, wherein said catheter grip pusher assembly (3) comprises:

the top end of the first mounting plate (31) is fixed on the bottom end face of the sterile box body (1), the first mounting plate (31) is connected with a plurality of vertical driving shafts (32) in a rotating mode, each vertical driving shaft (32) is fixedly sleeved with a driving friction wheel (33), and each vertical driving shaft (32) is connected with a guide pipe propelling mechanism (7) to drive the vertical driving shaft (32) to rotate;

the top end of the second mounting plate (34) is fixed on the bottom end face of the sterile box body (1) and is arranged at a distance from the first mounting plate (31), and a plurality of transverse mounting columns (35) are fixed on the side face, facing the first mounting plate (31), of the second mounting plate (34);

the moving plate (36) is arranged on the transverse mounting columns (35) in a penetrating mode, a plurality of vertical driven shafts (37) are connected to the moving plate (36) in a rotating mode, a driven friction wheel (38) is fixedly sleeved on each vertical driven shaft (37), a guide pipe (300) is clamped between the driving friction wheel (33) and the driven friction wheel (38), and each vertical driven shaft (37) is connected with a guide pipe pushing mechanism (7) to drive the moving plate (36) to move on the transverse mounting columns (35);

second spring (39), second spring (39) are a plurality of, and establish respectively and correspond on horizontal mounting post (35), second spring (39) one end with second mounting panel (34) one side butt, the other end with movable plate (36) one side butt.

4. A catheter sterility cassette according to claim 3, further comprising a catheter support and stop assembly (4), the catheter support and stop assembly (4) comprising:

the top end of the first guide pipe upper limiting plate (41) is fixedly connected with one side of the bottom end of the sterile box body (1), the first guide pipe upper limiting plate (41) is arranged opposite to the clamping jaw (24), the bottom end face of the first guide pipe upper limiting plate (41) is provided with a first limiting groove (4101), and the first guide pipe upper limiting plate (41) is provided with a hinge hole (4102);

the arc-shaped lower conduit supporting piece (42) is characterized in that the concave side surface of the arc-shaped lower conduit supporting piece (42) is a limiting bearing surface (4201), one end of the arc-shaped lower conduit supporting piece is integrally formed with a transverse connecting plate (43), one side of the transverse connecting plate (43) is fixedly provided with a hinge column, the hinge column is spliced with the hinge hole (4102), and the conduit (300) is limited between the first limiting bevel (4101) and the limiting bearing surface (4201).

5. The sterile catheter box as claimed in claim 4, wherein a support plate (44) is fixed on the first catheter upper limiting plate (41) at a position below the hinge hole, a first magnet is arranged inside the support plate (44), and a second magnet is arranged inside the transverse connecting plate (43) and is magnetically connected with the first magnet.

6. The sterile box of conduit according to claim 4, further comprising a second upper limiting plate (5) of conduit, wherein the top end of the second upper limiting plate (5) of conduit is fixed on the other side of the bottom end of the sterile box body (1), the bottom end face of the second upper limiting plate (5) of conduit has a second limiting bevel (501), and the conduit (300) is placed in the second limiting bevel (501).

7. Catheter robot arm, characterized in that it comprises a robot arm body (6), a catheter advancement mechanism (7) and a sterile catheter cassette according to any of claims 1-6, said catheter advancement mechanism (7) being fixed to the end of said robot arm body (6), said sterile cassette (1) being detachably connected to said catheter advancement mechanism (7).

8. The catheter mechanical arm as claimed in claim 7, wherein the sterile box (1) is open at the top end, and the catheter advancing mechanism (7) comprises:

the top of the vertical connecting plate (71) is fixed at the tail end of the mechanical arm body (6), an installing frame (72) detachably connected inside the sterile box body (1) is fixed at the bottom of the vertical connecting plate (71), a transverse sliding rail (73) is fixed at the top end of the installing frame (72), and a first sliding block (74) is connected onto the transverse sliding rail (73) in a sliding manner;

the first motor (75) is fixed on one side of the bottom of the vertical connecting plate (71), and a first screw rod (76) is fixed at the driving end of the first motor (75);

the top of the pushing plate (77) is fixedly connected with the first sliding block (74), a first threaded hole (7701) is formed in the pushing plate (77), the first lead screw (76) is in threaded transmission connection with the first threaded hole (7701), a plurality of shifting rods (78) are fixed at the bottom end of the pushing plate (77) at intervals, and the lower end of each shifting rod (78) penetrates through the bottom end of the sterile box body (1) to be inserted into an inserting hole (3701) at the upper end of the corresponding vertical driven shaft (37);

a plurality of second motors (79), wherein the second motors (79) are all fixed at the bottom of the vertical connecting plate (71), the driving end of each second motor (79) penetrates through the bottom end of the sterile box body (1) and is fixedly provided with a driving gear, a driven gear (3201) is fixed at the upper end of the vertical driving shaft (32), and the driving gear is in meshed connection with the driven gear (3201);

the push-pull electromagnet (80) is fixed on the mounting rack (72), and the telescopic end of the push-pull electromagnet (80) is abutted to the pushing bump (27).

9. A robot for nerve interventional surgery, which is characterized by comprising a movable base (8), a guide wire mechanical arm (9), a guide wire propulsion mechanism (10), a catheter positioning and tracking camera assembly (11) and the catheter mechanical arm as claimed in any one of claims 7 to 8, wherein the guide wire mechanical arm (9) and the catheter positioning and tracking camera assembly (11) are both fixed at the top end of the movable base (8), the guide wire propulsion mechanism (10) is fixed at the tail end of the guide wire mechanical arm (9), and the mechanical arm body (6) is detachably connected with the top end of the movable base (8).

10. A robot for neuro-interventional surgery according to claim 9, characterized in that the mobile base (8) comprises:

the device comprises a bottom plate (81), wherein a plurality of universal wheels (82) are uniformly distributed and fixed at the bottom end of the bottom plate (81), and a plurality of first upright posts (83) are uniformly distributed and fixed at the top end of the bottom plate (81);

the device comprises a plurality of vertical guide rail brackets (84), one end of each vertical guide rail bracket (84) is fixed to the top end of the bottom plate (81), each vertical guide rail bracket (84) is fixed with a vertical slide rail (85), each vertical slide rail (85) is provided with a second slide block (86) in a sliding manner, each second slide block (86) is fixed with a support upright post (87), the lower end of each support upright post (87) penetrates through the bottom plate (81) to extend downwards, the upper ends of two adjacent support upright posts (87) are fixed with connecting cross posts (88), and the connecting cross posts (88) are provided with second threaded holes (8801);

a plurality of lifting motors (89) are fixed at the top end of the bottom plate (81), a second screw rod (90) is fixed at the driving end of each lifting motor (89), and the second screw rods (90) are in threaded transmission connection with the second threaded holes (8801);

the bottom end of the middle plate (91) is fixedly connected with the upper ends of the first upright columns (83), a plurality of second upright columns (92) are fixed at the top end of the middle plate (91), and a power supply (93) and a controller (94) are placed at the top end of the middle plate (91);

the bottom end of the top plate (95) is fixedly connected with the upper ends of the second upright columns (92), and the guide wire mechanical arm (9) and the catheter positioning and tracking camera assembly (11) are fixed to the top end of the top plate (95);

the bottom end of the mounting box body (96) is fixedly connected with the top end of the top plate (95), a mounting hole (9601) is formed in the top end of the mounting box body (96), a mounting seat (61) inserted into the mounting hole (9601) is fixed at the bottom end of the mechanical arm body (6), and two fixing transverse plates (62) are fixed on one side of the mounting seat (61) at intervals;

the bottom end of the vertical plate (97) is fixed to the top end of the top plate (95) and located on one side of the installation box body (96), a pressing plate (98) is hinged to the top end of the vertical plate (97), the pressing plate (98) is pressed on the fixed transverse plate (62), one side of the top end of the pressing plate (98) is connected with a telescopic handle (99), and the telescopic handle (99) is inserted into an opening (9602) in the side wall of the installation box body (96);

the catheter position tracking camera assembly (11) comprises:

the lower end of the third upright post (111) is fixedly connected with the top end of the top plate (95), and the upper end of the third upright post (111) is connected with a movable support (112);

and the positioning and tracking camera (113), wherein the positioning and tracking camera (113) is connected with the movable bracket (112).