CN115590624A

CN115590624A - Guide wire catheter conveying device for endovascular intervention operation robot

Info

Publication number: CN115590624A
Application number: CN202110779822.4A
Authority: CN
Inventors: 肖卫平; 钱磊; 刘道志; 刘奕琨
Original assignee: Shanghai Aopeng Medical Technology Co ltd
Current assignee: Shanghai Aopeng Medical Technology Co ltd
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2023-01-13

Abstract

The invention relates to a guide wire and catheter conveying device for a vascular cavity interventional operation robot in the technical field of vascular interventional operation auxiliary equipment, which comprises a base, a guide wire and catheter, a feeding mechanism and a twisting mechanism, wherein the guide wire and catheter conveying device comprises a conveying mechanism and a twisting mechanism; the feeding mechanism and the twisting mechanism are arranged on the base and operate independently; one end of the guide wire catheter sequentially penetrates through the twisting mechanism and the feeding mechanism, the twisting mechanism is used for radial rotation of the guide wire catheter, and the feeding mechanism is used for axial movement of the guide wire catheter. The invention realizes the synchronous operation of the radial direction and the axial direction of the guide wire catheter by the feeding mechanism and the twisting mechanism, and improves the working efficiency.

Description

Guide wire catheter conveying device for endovascular intervention operation robot

Technical Field

The invention relates to the technical field of auxiliary equipment for vascular intervention operations, in particular to a guide wire catheter conveying device for a vascular cavity interventional operation robot.

Background

Minimally invasive surgery is a procedure that is performed by a surgeon without causing significant trauma to the patient, primarily through endoscopy and various imaging techniques. In a Minimally Invasive vascular intervention (MIS) (mainly for cardiovascular and cerebrovascular diseases), under the guidance of imaging equipment such as CT, doctors manually intervene instruments such as guide wires, catheters, air bags and the like into blood vessels of a human body to reach a diseased position along the blood vessels, and then perform surgical treatment on the diseased position.

With the rapid development of minimally invasive vascular interventional surgery, interventional surgical robots are also rapidly developed. The working environment is special, the reliability requirement is high, and the design and control requirements of the mechanism are high. Blood vessels in a human body are complicated and complicated, the wall thickness and the branches are more, great difficulty is added to delivery work, so that the operation is required to be flexible and the action is reliable, the process is manually operated, high requirements are provided for the technique of an operator, the hand vibration is difficult to avoid, the fatigue of the operator for a long time is caused, and the operation reliability is greatly reduced. Therefore, on the basis of the research of the ancestors, the problem of more reliable robot and intelligent control is researched, the real operability of the whole system of the robot is improved, and the method is an important target for the development and progress of the interventional operation robot. However, the currently used robot for endovascular intervention operation mostly focuses on high-precision implementation of push-pull and torsion operation actions and detection of push resistance, force feedback cannot be timely performed in the feeding and twisting processes, misjudgment may occur when a doctor judges the position of a guide wire catheter, and the robot cannot meet the clamping force requirements of different guide wire catheters.

The retrieval of the prior art finds that the Chinese utility model patent publication No. CN208693445U discloses a guide wire/catheter operation torque detection device of a vascular cavity interventional surgical robot, a transmission gear which is arranged on the torque detection device and is used for realizing the torsion operation of the guide wire/catheter is fixedly connected with a spring ring on the inner circumferential surface of the transmission gear; the spring ring is connected through four spring leafs by concentric outer lane and inner circle and forms, and four spring leafs form the cruciform structure along spring ring circumference evenly distributed, and four resistance strain gauges are fixed respectively on four spring pieces, and four resistance strain gauges connect for full-bridge circuit, full-bridge circuit is connected with outside output signal circuit through electrically conductive sliding ring. The patented technology suffers from the problems associated with it as described above.

Disclosure of Invention

In view of the shortcomings in the prior art, it is an object of the present invention to provide a guide wire catheter delivery device for an endovascular interventional surgical robot.

The invention provides a guide wire and catheter conveying device for a vascular cavity interventional surgical robot, which comprises a base, a guide wire and catheter, a feeding mechanism and a twisting mechanism, wherein the guide wire and catheter are arranged on the base;

the feeding mechanism and the twisting mechanism are arranged on the base and operate independently;

one end of the guide wire catheter sequentially penetrates through the twisting mechanism and the feeding mechanism, the twisting mechanism is used for radial rotation of the guide wire catheter, and the feeding mechanism is used for axial movement of the guide wire catheter.

In some embodiments, the feeding mechanism includes a first sliding table motor, a first sliding assembly and a roller assembly, the first sliding assembly includes a first transmission gear, a first positive and negative threaded lead screw and a first lead screw nut slider, two sets of the first lead screw nut sliders are respectively and rotatably connected to an orthodontic area and a contra-dental area of the first positive and negative threaded lead screw, the roller assembly includes a power roller and a feeding motor, and two sets of the power rollers are respectively mounted on the two sets of the first lead screw nut sliders;

first slip table motor passes through a drive gear drives first positive and negative tooth lead screw rotates, is located two sets of on the first lead screw nut slider power cylinder is close to each other and centre gripping the seal wire pipe, the pay-off motor drive is two sets of one of the power cylinder rotates or two rotates simultaneously and realizes moving seal wire pipe axial displacement.

In some embodiments, the feeding mechanism further includes a first guide shaft, the first guide shaft penetrates through the two sets of first lead screw nut sliders and is connected in a sliding manner, and the first guide shaft is parallel to the first positive and negative lead screw.

In some embodiments, the feeding mechanism further includes a first sensing assembly, the first sensing assembly includes a first force sensor and a first slider, the first slider is rotatably connected to one end of the first positive and negative threaded rod, two axial ends of the first force sensor are respectively in contact with opposite end faces of the first slider and the first lead screw nut slider, and the first force sensor obtains the resistance of the axial movement of the guide wire guide pipe by detecting the reaction force of the guide wire guide pipe on the first lead screw nut slider in contact with the first force sensor.

In some embodiments, the first lead screw nut slide is an L-shaped structural plate.

In some embodiments, the feeding mechanism further includes first baffles, each of the first baffles is an L-shaped structural plate, the two first baffles are arranged on two sides of the first positive and negative lead screw in an inverted manner, the two groups of power rollers are located between the two first baffles when clamping the guide wire duct, and the two first baffles are used for supporting the guide wire duct and limiting deflection of the power rollers during rotation.

In some embodiments, the twisting mechanism includes a second sliding table motor, a second sliding assembly and a twisting assembly, the second sliding assembly includes a second transmission gear, a second positive and negative threaded screw and a second screw nut slider, two sets of the second screw nut sliders are respectively rotatably connected to a positive tooth area and a negative tooth area of the second positive and negative threaded screw, the twisting assembly includes a twisting motor, a guide rail and a twisting plate, one end of the guide rail is fixed on the second screw nut slider, the twisting plate is slidably connected with the guide rail, and the twisting plate slides up and down along the guide rail through the twisting motor;

the two sets of twisting assemblies are symmetrically arranged on the two sets of second lead screw nut sliding blocks and move axially along with the second lead screw nut sliding blocks, and the two sets of twisting plates clamp the guide wire guide pipe and drive the guide wire guide pipe to rotate radially in an up-down opposite movement mode.

In some embodiments, the twisting mechanism further includes a second guide shaft, the second guide shaft sequentially passes through the two second lead screw nut sliders and is slidably connected to the two second lead screw nut sliders, and the second guide shaft and the second lead screw nut sliders are arranged in parallel.

In some embodiments, the twisting mechanism further includes a second sensing assembly, the second sensing assembly includes a second force sensor and a second slider, the second slider is rotatably connected to one end of the second positive and negative lead screw, two axial ends of the second force sensor respectively contact with opposite end surfaces of the second slider and the second lead screw nut slider, and the second force sensor obtains resistance to radial rotation of the guide wire guide tube by detecting a reaction force of the guide wire guide tube on the second lead screw nut slider in contact therewith.

In some embodiments, the twisting mechanism further includes a second baffle, the second baffle is an L-shaped structural plate, the two second baffles are respectively arranged on two sides of the second positive and negative tooth lead screw in an inverted manner, when the guide wire guide tube is clamped by the two sets of rubbing plates, the two sets of guide rails are located between the two baffles, and the two baffles are used for supporting the guide wire guide tube and maintaining linear motion of the two sets of guide rails.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention realizes the synchronous operation of the radial direction and the axial direction of the guide wire catheter by the feeding mechanism and the twisting mechanism, and improves the working efficiency.

2. The invention can obtain the feedback function of the moving and rotating resistance of the guide wire catheter by arranging the detection component of the clamping force of the guide wire catheter in the feeding mechanism and the twisting mechanism, and improve the operation precision of the interventional operation robot in the vascular cavity.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the feeding mechanism of the present invention;

FIG. 3 is a schematic structural view of the twisting mechanism of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

Example 1

The invention provides a guide wire and catheter conveying device for a robot for endovascular intervention surgery, which comprises a base 1, a feeding mechanism 3 and a twisting mechanism 4 which are arranged on the base 1, and a guide wire and catheter 2 which is clamped and conveyed by the feeding mechanism 3 and the twisting mechanism 4, as shown in figures 1-3.

The feeding mechanism 3 comprises a first sliding table motor 31, a first sliding assembly 32 and a roller assembly 33, the first sliding table motor 31 and the first sliding assembly 32 are in transmission connection and can be connected with the base 1 through a transverse T-shaped supporting plate, and the roller assembly 33 is connected with the first sliding assembly 32. First slip subassembly 32 sets up in T type backup pad, including first drive gear 321, first positive and negative tooth lead screw 322 and first screw nut slider 323, first slip table motor 31 connects first drive gear 321 through shaft drive, first drive gear 321 rotates with first positive and negative tooth lead screw 322 to be connected, two sets of first screw nut sliders 323 rotate respectively to be connected on first positive and negative tooth lead screw 322's orthodontia region and anti-tooth region, make two sets of first screw nut sliders 323 be close to each other or keep away from each other through first positive and negative tooth lead screw 322's rotation. Preferably, the first lead screw nut slider 323 is an L-shaped plate, and the first lead screw nut slider 323 with the L-shaped structure is rotatably connected to the first positive and negative lead screw 322 in an inverted manner with two horizontal plates facing away from each other. The roller assembly 33 comprises power rollers 331 and feeding motors 332, the two groups of power rollers 331 are respectively and rotationally connected to the horizontal plates of the two groups of first lead screw nut sliders 323 and are symmetrically arranged, and the feeding motors 332 are used for driving any one or two of the two groups of power rollers 332 to rotate simultaneously, so that the guide wire guide tube 2 can axially move. Preferably, the feeding mechanism 3 further includes a first guide shaft 34 for improving the axial movement straightness of the first lead screw nut slider 323, the first guide shaft 34 penetrates through the two first lead screw nut sliders 323 and then is fixedly connected to the corresponding structure at two ends thereof, the first guide shaft 34 and the two first lead screw nut sliders 323 are both in sliding connection, the first guide shaft 34 and the first positive and negative tooth lead screw 322 are arranged in parallel, and the straightness of the first lead screw nut slider 323 in the movement process is improved through the first guide shaft 34. The first guide shafts 34 may be multiple, preferably 2, and are arranged on both sides of the first positive and negative lead screw 322. Further preferably, the feeding mechanism 3 is further provided with a first baffle plate 36, the first baffle plate 36 is preferably of an L-shaped structure, and the two first baffle plates 36 are respectively arranged on two sides of the first positive and negative lead screws 322 in an inverted manner. A channel for the power roller 331 to move back and forth is arranged between the two first baffle plates 36, the horizontal plates of the first baffle plates 36 face towards the inner side relatively, and the gap between the horizontal plates of the two first baffle plates 36 is slightly larger than the outer diameter of the power roller 331, so that the first baffle plates 36 can effectively limit the deflection phenomenon in the rotation process of the power roller 331 when being used as a support for the movement of the guide wire catheter 2.

The twisting mechanism 4 includes a second sliding table motor 41, a second sliding assembly 42 and a twisting assembly 43, and the second sliding table motor 41 and the second sliding assembly 42 can also be connected to the base 1 through a transverse T-shaped support plate. The second sliding assembly comprises a second transmission gear 421, a second positive and negative screw 422 and a second screw nut slide 423, and the twisting assembly 43 comprises a twisting motor 431, a guide rail 432 and a twisting plate 433. The second sliding table motor 41 is in transmission connection with a second transmission gear 421, the second positive and negative tooth lead screw 422 is in rotation connection with the second transmission gear 421, the two second lead screw nut sliding blocks 423 are respectively in rotation connection with the positive tooth area and the negative tooth area of the second positive and negative tooth lead screw 422, and the two second lead screw nut sliding blocks 423 are driven to be close to or away from each other through rotation of the second positive and negative tooth lead screw 422. The guide rails 432 are preferably of a channel steel type structure, the two groups of guide rails 321 are symmetrically arranged on the second lead screw nut slide block 423, the rubbing boards 433 are slidably connected in the slide grooves of the guide rails 432, and the twisting motor 431 is in transmission connection with the rubbing boards 433 and drives the rubbing boards 433 to slide up and down along the guide rails 432. The two sets of twisting assemblies 43 approach to each other and clamp the guide wire duct 2 through axial movement of the two sets of second lead screw nut sliders 423, the twisting motor 431 drives the two sets of rubbing plates 433 to slide in the vertical opposite directions, and then the two sets of rubbing plates 433 with the vertical opposite directions drive the radial rotation of the guide wire duct 2. Preferably, the twisting mechanism 4 further includes a second guide shaft 44, the second guide shaft 44 sequentially penetrates through the two second lead screw nut sliders 423 and then is fixedly connected with the corresponding structure at two ends thereof, the second guide shaft 44 is slidably connected with the two second lead screw nut sliders 423, and the second guide shaft 44 and the second positive and negative tooth lead screw 422 are arranged in parallel. The second guide shaft 44 can improve the linearity of the axial movement of the second lead screw nut block 423. Preferably, the number of the second guiding shafts 44 is multiple, preferably 2, and 2 second guiding shafts 44 are respectively arranged on both sides of the second right and left threaded rods 422. Further preferably, the guide wire guide tube 2 further comprises a second baffle 46, the second baffle 46 is preferably an L-shaped structural plate, two second baffles 46 are respectively arranged on two sides of the second positive and negative tooth lead screw 422 in an inverted manner, preferably, the horizontal plates of the two second baffles 46 are oppositely arranged and positioned at the inner side, a channel between the two horizontal plates is used for moving the guide rail 432, and similarly, the second baffles 46 are used for supporting the guide wire guide tube 2 to move and simultaneously can be used for placing the offset in the axial movement process of the guide rail 432.

The working principle of the invention is as follows: the feeding mechanism 3 and the twisting mechanism 4 are preferably fixed on the base 1 in a side-by-side manner, the feeding mechanism 3 and the twisting mechanism 4 are coaxial with each other for a clamping channel through which the guide wire guide tube 2 passes, after the end of the guide wire guide tube 2 sequentially passes through a channel between the two rubbing plates 433 and a channel between the two power rollers 331, the guide wire guide tube 2 is clamped between the two power rollers 331 and the two rubbing plates 433 by controlling the first sliding table motor 31 and the second sliding table motor 41, respectively, the feeding motor 322 drives the two power rollers 331 to rotate and then drives the guide wire guide tube 2 to move axially, and simultaneously, the twisting motor 431 drives the two rubbing plates 433 to move up and down so that the guide wire guide tube 2 rotates radially, thereby realizing synchronous operation of the guide wire guide tube in the radial direction and the axial direction through the feeding mechanism and the twisting mechanism, and improving the working efficiency.

Example 2

The embodiment 2 is formed on the basis of the embodiment 1, and the feeding mechanism and the twisting mechanism are provided with the guide wire catheter clamping force detection assembly, so that the feedback function of the movement and rotation resistance of the guide wire catheter can be obtained, and the operation precision of the endovascular interventional surgical robot is improved. Specifically, the method comprises the following steps:

as shown in fig. 1 to 3, a first sensing assembly 35 is further disposed in the feeding mechanism 3, the first sensing assembly 35 includes a first force sensor 351 and a first slider 352, the first slider 352 is rotatably connected to one end of the orthodontic area or the anti-dentition area of the first positive and negative dentition lead screw 322, and the first slider 352 moves axially in synchronization with the first lead screw nut slider 323 along with the rotation of the first positive and negative dentition lead screw 322. The first force sensor 351 is provided between the first slider 352 and the first lead screw nut slider 323 adjacent to the first slider 352, and both ends of the first force sensor 351 are in contact with the opposing end surfaces of the first slider 352 and the first lead screw nut slider 323, respectively. When the two first lead screw nut sliders 323 approach to each other and move to corresponding positions, the surfaces of the two power rollers 331 contact and clamp the guide wire guide pipe 2, the first positive and negative tooth lead screws 322 continue to rotate, the two power rollers 331 continue to approach to each other and increase clamping force on the guide wire guide pipe 2, due to the resistance effect of the guide wire guide pipe 2, the first lead screw nut sliders 323 contacting with the first force sensor 351 transfer the resistance of the guide wire guide pipe 2 to the first force sensor 351, and then the resistance of the axial movement of the guide wire guide pipe 2 is obtained according to the relation between acting force and reacting force.

Similarly, the twisting mechanism 4 is provided with a second sensing assembly 45, the second sensing assembly 45 includes a second force sensor 451 and a second slider 452, the second slider 452 is rotatably connected to one end of the orthodontic area or the anti-orthodontic area of the second front and back tooth screw 422, and the second slider 452 moves axially in synchronization with the second screw nut slider 423 in accordance with the rotation of the second front and back tooth screw 433. The second force sensor 451 is disposed between the second slider 452 and the second lead screw nut slider 423 adjacent to the second slider 452, and both ends of the second force sensor 451 are in contact with the end surfaces of the second slider 452 and the second lead screw nut slider 423 that face each other. When the two second lead screw nut sliding blocks 423 approach to each other and move to corresponding positions, the two washboards 433 contact and clamp the guide wire guide pipe 2, the second positive and negative screw 422 is continuously rotated, the two washboards 433 continue to approach to each other and increase clamping force on the guide wire guide pipe 2, due to the resistance action of the guide wire guide pipe 2, the second lead screw nut sliding blocks 423 in contact with the second force sensor 451 transfer the resistance of the guide wire guide pipe 2 to the second force sensor 451, and then the radial rotating resistance of the guide wire guide pipe 2 is obtained according to the relation between the acting force and the reacting force.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A guide wire catheter conveying device for a vascular cavity interventional surgical robot is characterized by comprising a base (1), a guide wire catheter (2), a feeding mechanism (3) and a twisting mechanism (4);

the feeding mechanism (3) and the twisting mechanism (4) are arranged on the base (1), and the feeding mechanism (3) and the twisting mechanism (4) operate independently;

one end of the guide wire catheter (2) sequentially penetrates through the twisting mechanism (4) and the feeding mechanism (3), the twisting mechanism (4) is used for radial rotation of the guide wire catheter (2), and the feeding mechanism (3) is used for axial movement of the guide wire catheter (2).

2. The guide wire catheter conveying device for the endovascular intervention surgical robot is characterized in that the feeding mechanism (3) comprises a first sliding table motor (31), a first sliding assembly (32) and a roller assembly (33), the first sliding assembly (32) comprises a first transmission gear (321), a first positive and negative lead screw (322) and a first lead screw nut slider (323), two groups of the first lead screw nut sliders (323) are respectively and rotatably connected to a positive tooth area and a negative tooth area of the first positive and negative lead screw (322), the roller assembly (33) comprises a power roller (331) and a feeding motor (332), and two groups of the power rollers (331) are respectively mounted on the two groups of the first lead screw nut sliders (323);

first slip table motor (31) pass through first drive gear (321) drives first positive and negative tooth lead screw (322) rotate, are located two sets of on first lead screw nut slider (323) power cylinder (331) are close to and centre gripping each other wire guide pipe (2), pay-off motor (332) drive is two sets of rotation or two rotate simultaneously in power cylinder (331) realize moving wire guide pipe (2) axial displacement.

3. The guide wire catheter delivery device for the endovascular interventional surgery robot as defined in claim 2, characterized in that the feeding mechanism (3) further comprises a first guide shaft (34), the first guide shaft (34) passes through and is slidably connected with the two sets of first lead screw nut sliders (323), and the first guide shaft (34) is parallel to the first positive and negative lead screw (322).

4. The guide wire catheter delivery device for the endovascular intervention surgical robot as claimed in claim 2 or 3, wherein the feeding mechanism (3) further comprises a first sensing assembly (35), the first sensing assembly (35) comprises a first force sensor (351) and a first slider (352), the first slider (352) is rotatably connected to one end of the first reversible threaded screw (322), two axial ends of the first force sensor (351) are respectively in contact with the first slider (352) and an opposite end face of the first lead screw nut slider (323), and the first force sensor (351) obtains the resistance of the guide wire catheter (2) to axial movement by detecting the reaction force of the guide wire catheter (2) on the first lead screw nut slider (323) in contact with the first force sensor.

5. The guide wire catheter delivery device for an endovascular interventional surgical robot according to claim 4, wherein the first lead screw nut slider (323) is an L-shaped structural plate.

6. The guide wire catheter conveying device for the endovascular intervention surgical robot is characterized in that the feeding mechanism (3) further comprises a first baffle plate (36), the first baffle plate (36) is an L-shaped structural plate, the two first baffle plates (36) are respectively arranged on two sides of the first positive and negative lead screw (352) in an inverted mode, the two groups of power rollers (331) are located between the two first baffle plates (36) when clamping the guide wire catheter (2), and the two first baffle plates (36) are used for supporting the guide wire catheter (2) and limiting deflection of the power rollers (331) in a rotating process.

7. The guide wire catheter delivery device for the endovascular interventional surgery robot according to any one of claims 1 to 3 or 5 to 6, wherein the twisting mechanism (4) comprises a second sliding table motor (41), a second sliding assembly (42) and a twisting assembly (43), the second sliding assembly (42) comprises a second transmission gear (421), a second positive and negative threaded screw (422) and a second screw nut slider (423), two sets of the second screw nut slider (423) are respectively and rotatably connected to a positive threaded area and a negative threaded area of the second positive and negative threaded screw (422), the twisting assembly (43) comprises a twisting motor (431), a guide rail (432) and a twisting plate (433), one end of the guide rail (432) is fixed on the second screw nut slider (423), the twisting plate (433) is slidably connected with the guide rail (432), and the twisting plate (433) slides up and down along the guide rail (432) through the twisting motor (431);

the two sets of twisting components (43) are symmetrically arranged on the two sets of second lead screw nut sliding blocks (423) and move axially along with the second lead screw nut sliding blocks (423), and the two sets of twisting plates (433) clamp the guide wire guide pipe (2) and drive the guide wire guide pipe (2) to rotate radially in an up-down opposite movement mode.

8. The guide wire catheter delivery device for the endovascular intervention surgical robot as claimed in claim 7, wherein the twisting mechanism (4) further comprises a second guide shaft (44), the second guide shaft (44) sequentially passes through the two second lead screw nut sliders (423) and is connected in a sliding manner, and the second guide shaft (44) and the second lead screw nut sliders (423) are arranged in parallel.

9. The guide wire catheter delivery device for the endovascular interventional surgical robot as claimed in claim 7, wherein the twisting mechanism (4) further comprises a second sensing assembly (45), the second sensing assembly (45) comprises a second force sensor (451) and a second slider (452), the second slider (452) is rotatably connected to one end of the second reversible threaded screw (422), two axial ends of the second force sensor (451) are respectively in contact with opposite end faces of the second slider (452) and the second screw nut slider (423), and the second force sensor (451) obtains the resistance of the guide wire catheter (2) to radial rotation by detecting the reaction force of the guide wire catheter (2) on the second screw nut slider (423) in contact therewith.

10. The guide wire catheter delivery device for the endovascular intervention surgical robot as claimed in claim 8 or 9, wherein the twisting mechanism (4) further comprises a second baffle plate (46), the second baffle plate (46) is an L-shaped structural plate, the two second baffle plates (46) are respectively arranged on two sides of the second positive and negative threaded screw (422) in an inverted manner, when the guide wire catheter (2) is clamped by the two sets of washboards (433), the two sets of guide rails (5) are located between the two baffle plates (46), and the two baffle plates (46) are used for supporting the guide wire catheter (2) and maintaining the linear motion of the two sets of guide rails (5).