CN116407280A

CN116407280A - Catheter delivery device of surgical robot and surgical robot system

Info

Publication number: CN116407280A
Application number: CN202111660507.6A
Authority: CN
Inventors: 李东靖; 汪四新; 张一�
Original assignee: Peijia Medical Technology Suzhou Co ltd
Current assignee: Zhicheng Medical Technology Jiaxing Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-07-11

Abstract

The invention discloses a catheter conveying device of a surgical robot and a surgical robot system. The catheter delivery device includes a base assembly, a delivery portion, a drive shaft assembly, a drive portion, and a pressure sensor. The delivery portion is for delivering a catheter, which is disposed to the base assembly. The conveying part comprises an active roller and a passive roller. The driving roller is configured to be movable relative to the base assembly along a conveying direction of the conduit, and an axial direction of the driving roller is not parallel to the conveying direction of the conduit. The passive roller is arranged opposite to the active roller so as to clamp the guide pipe together with the active roller. The drive shaft assembly is configured to move in synchronization with the drive roller relative to the base assembly in a conveying direction of the catheter. The driving part is arranged to the base assembly and comprises a motor for driving the driving shaft assembly to rotate, so that the driving roller is driven to rotate. The pressure sensor is used for sensing the force fed back to the driving roller by the guide pipe.

Description

Catheter delivery device of surgical robot and surgical robot system

Technical Field

The present invention relates generally to the technical field of surgical robots, and more particularly to a catheter delivery device of a surgical robot and a surgical robot system.

Background

At present, the aging of population is continuously aggravated, and the incidence rate of cardiovascular and cerebrovascular diseases is continuously improved, so that the life and health of people are seriously influenced. And the traditional chest opening craniotomy treatment has high trauma to the patient and long postoperative recovery period.

With the continuous development of science and technology, various cardiovascular minimally invasive implantation interventional operations appear. It features small wound and short recovery time after operation. The main operation method is that a doctor sends a bracket, a valve and the like to a lesion through a vascular channel of a human body through a guide wire and a catheter under the guidance of DSA real-time images for relevant treatment. However, current cardiovascular interventions have their limitations.

During the operation, DSA can emit X-rays, and lead protective clothing worn by doctors cannot completely protect the doctors, so that the doctors can easily generate diseases such as cancers after long-term radiation; on the other hand, lead protective clothing is heavier, and a doctor can also cause a certain load on the body after wearing for a long time, so that the operation is influenced. In addition, the operation of the partially implanted interventional operation (such as aortic valve replacement) is complex, and needs the cooperation operation of a plurality of doctors, and sometimes, doctors are more required to operate the operation by experience and feel, so that the operation difficulty is high and the risk is high.

In order to solve the problems of excessive X-ray radiation and operation, the interventional operation robot is raised in recent years, the remote accurate control of doctors is realized by adding a motion control device, the problems of radiation and operation of multiple persons in a cooperative manner are avoided, and the interventional operation robot has great clinical value.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the problems in the background art, a first aspect of the present invention provides a catheter delivery device of a surgical robot, comprising:

a base assembly;

a delivery portion for delivering a catheter, the delivery portion being provided to the base assembly, the delivery portion comprising:

a drive roller configured to be movable relative to the base assembly in a conveying direction of the conduit, an axial direction of the drive roller being non-parallel to the conveying direction of the conduit, and

The passive roller is arranged opposite to the active roller so as to clamp the guide pipe together with the active roller,

a drive shaft assembly for driving the drive roller to rotate, the drive shaft assembly being configured to move synchronously with the drive roller relative to the base assembly along a conveying direction of the catheter;

the driving part is used for driving the conveying part to work and is arranged on the base assembly, and the driving part comprises a motor which is used for driving the driving shaft assembly to rotate so as to drive the driving roller to rotate;

and the pressure sensor is used for sensing the force fed back to the driving roller by the guide pipe.

According to the catheter conveying device, the catheter is clamped by the driving roller and the driven roller together, and the driving roller is provided with driving force by the driving part and the driving shaft assembly so as to convey the catheter. Meanwhile, the driving roller is configured to be movable relative to the base assembly along the conveying direction of the catheter, and the pressure sensor is arranged, so that the pressure sensor reflects the resistance born by the catheter by sensing the force fed back to the driving roller by the catheter, and a doctor can correspondingly adjust according to the resistance born by the catheter in the operation process, so that the safety and smoothness of the operation process are ensured.

Optionally, the catheter delivery device further comprises:

a sensor compact for contacting the pressure sensor;

a first coupling assembly configured to be immovable relative to the base assembly in a direction of conveyance of the catheter,

a second link assembly configured to be movable relative to the base assembly in a conveying direction of the catheter and to be moved in synchronization with the driving roller relative to the base assembly in the conveying direction of the catheter,

wherein the sensor compact is configured to move in synchronization with one of the first and second connection assemblies in a transport direction of the catheter, and the pressure sensor is configured to move in synchronization with the other of the first and second connection assemblies in the transport direction of the catheter.

Further, the pressure sensor is disposed on a route along which the sensor compact moves in the conveying direction of the catheter, or the sensor compact is disposed on a route along which the pressure sensor moves in the conveying direction of the catheter.

Further, the pressure sensor is disposed behind the sensor compact.

According to the invention, the pressure applied to the pressure sensor by the sensor pressing block changes when the driving roller moves along the conveying direction of the guide pipe relative to the pressure sensor through the first connecting component and the second connecting component. The movement of the sensor compact relative to the pressure sensor is synchronized with the movement of the active roller relative to the base assembly, so that the value sensed by the pressure sensor can reflect the resistance experienced by the catheter.

Optionally, one of the first and second connection assemblies comprises a slide, the other of the first and second connection assemblies comprises a chute for receiving the slide, the chute extending in the conveying direction of the conduit, the slide being disposed in the chute and movable relative thereto.

According to the invention, the first connecting component and the second connecting component are simple in structure and stable in performance.

Optionally, the sensor press block is disposed on one of the first connection assembly and the second connection assembly, and the pressure sensor is disposed on the other of the first connection assembly and the second connection assembly; or alternatively

The sensor pressing block is arranged on one of the first connecting component and the base component, and the pressure sensor is arranged on the second connecting component; or alternatively

The sensor compact is disposed on the second connection assembly, and the pressure sensor is disposed on one of the first connection assembly and the base assembly.

According to the invention, the arrangement positions of the sensor pressing block and the pressure sensor are selected in various ways.

Optionally, the driving shaft assembly comprises a driving shaft, and the driving shaft can drive the driving roller to rotate under the driving of the motor.

According to the present invention, the driving force of the motor is transmitted to the driving roller through the driving shaft.

Optionally, the drive shaft assembly includes:

a drive roller power shaft for driving the drive roller to rotate, the drive roller power shaft configured to move synchronously with the drive roller relative to the base assembly along a conveying direction of the conduit; and

a power transmission shaft which is in butt joint with the power shaft of the driving roller and synchronously moves with the power shaft of the driving roller in a connection state,

the motor is used for driving the power transmission shaft to rotate, so that the driving roller power shaft is driven to rotate.

According to the invention, the drive shaft comprises two segments that are in abutment with each other.

Optionally, the base assembly includes a first side, a second side opposite the first side, and a drive shaft through hole extending from the first side to the second side, wherein the conveying portion is disposed at the first side, the driving portion is disposed at the second side, and the first connection assembly is fixed to the base assembly.

Further, the drive shaft through hole is configured as a long hole having a dimension in the conveying direction of the catheter larger than a diameter of the drive shaft assembly so that the drive shaft assembly can move within the long hole in the conveying direction of the catheter.

According to the invention, the conveying part and the driving part are respectively arranged at two sides of the base assembly, so that the area of the driving assembly can be reduced, thereby reducing the size of the equipment and saving materials.

Optionally, the first connector assembly includes a second connector secured to the base assembly at the first side and a third connector secured to the base assembly at the second side;

the second connection assembly includes a first connection configured to move in synchronization with the active roller relative to the base assembly in a direction of conveyance of the conduit and a fourth connection configured to move in synchronization with the power transmission shaft relative to the base assembly in the direction of conveyance of the conduit.

Further, one of the first and second connection members includes the slider, and the other of the first and second connection members includes the chute; or alternatively

One of the third connecting piece and the fourth connecting piece comprises the sliding block, and the other of the third connecting piece and the fourth connecting piece comprises the sliding groove.

According to the present invention, since the driving shaft is divided into two parts, in order to smoothly move both parts of the driving shaft with the driving roller with respect to the base assembly, the first and second coupling assemblies each comprise two parts, forming two sets of slide rail assemblies, one set of slide rail assemblies being used to make the first part of driving shaft (driving roller power shaft) movable with respect to the base assembly and the other set of slide rail assemblies being used to make the second part of driving shaft (power transmission shaft) movable with respect to the base assembly

Optionally, the base assembly includes:

a first connection plate located at the first side, the second connection member being fixed to the first connection plate, and

a second connection plate located at the second side, the third connection member being fixed to the second connection plate,

Wherein the first connection plate is detachably attached to the second connection plate.

Further, the driving shaft through hole comprises a first driving shaft through hole arranged on the first connecting plate and a second driving shaft through hole arranged on the second connecting plate.

According to the invention, the delivery part is detachably connected to the drive part, so that the delivery part can be presented in the form of a surgical consumable, which is advantageous for controlling infections.

Optionally, one of the first and second connection plates includes a connection pin, and the other of the first and second connection plates includes a connection hole for receiving the connection pin.

According to the invention, the method for installing and detaching the consumable is simple.

Optionally, the sensor compact is fixed to the fourth connector, and the pressure sensor is fixed to the second connection plate or the third connector; or alternatively

The pressure sensor is fixed to the fourth connection member, and the sensor press block is fixed to the second connection plate or the third connection member.

Further, the sensor compact is fixed to the fourth connection member, and the pressure sensor is fixed to the second connection plate.

According to the invention, the sensor pressing block and the pressure sensor do not belong to consumable materials, can be used for multiple times, and saves consumable material cost.

Optionally, the conveying part further includes:

the driven wheel seat is provided with a driven roller; and

and a compression device for compressing the catheter, the compression device being configured to be connected to the passive wheel mount.

According to the invention, the guide tube can be clamped by the pressing device, namely the driving roller and the driven roller.

Optionally, the compressing device includes:

a compression mount secured to the base assembly,

a movable seat disposed opposite to the pressing seat, the movable seat being configured to move synchronously with the passive roller with respect to the base assembly in a second direction perpendicular to an axial direction of the active roller, and

and the elastic component extends along the second direction, the first end of the elastic component abuts against the pressing seat, and the second end of the elastic component abuts against the moving seat.

According to the invention, the pressing device is connected to the driven wheel seat, and the driven wheel is close to the driving wheel by utilizing the elasticity of the elastic component.

Optionally, the elastic component is a spring, and the second direction is perpendicular to the conveying direction of the catheter.

According to the invention, the elastic component has simple structure and stable performance.

Optionally, the compression seat includes:

a first threaded through hole having an internal thread, wherein the spring is disposed in the first threaded through hole,

the adjusting bolt comprises an external thread matched with the internal thread of the first threaded through hole, and the adjusting bolt is arranged at one end, far away from the movable seat, of the first threaded through hole.

Further, the moving seat includes:

a movable seat body connected to the driven wheel seat,

a boss provided at a side of the movable seat body facing the pressing seat and protruding from the movable seat body for entering the first screw through hole from an end thereof facing the movable seat to abut against a second end of the spring, the boss protruding outwardly from the movable seat body by a first length, and

the second threaded hole is formed in one side, facing the compression seat, of the movable seat body, and comprises an internal thread;

The pressing seat comprises a second through hole, and the second through hole is arranged corresponding to the second threaded hole;

the compressing device also comprises a guide bolt, the guide bolt at least comprises an external thread matched with the internal thread of the second threaded hole at the head end, the outer diameter of the tail end of the guide bolt is larger than the inner diameter of the second through hole, the head end of the guide bolt passes through the second through hole and then enters the second threaded hole,

the sum of the pressing height of the spring and the first length is greater than or equal to the length of the first threaded through hole.

According to the invention, the compacting device is compact. When the depth of the adjusting bolt into the first threaded hole increases, the spring tends to be compressed, so that the elastic force applied to the boss by the spring increases, thereby pushing the movable seat toward the active roller, so that the distance between the active roller and the passive roller decreases, and the catheter is clamped. When the depth of the adjusting bolt into the first threaded hole is reduced, the opposite effect is produced.

Optionally, the conveying part further includes a compression release device disposed at the base assembly, the compression release device configured to act on the movable seat for moving the movable seat in the second direction toward the compression seat.

According to the present invention, the passive roller can be moved away from the active roller by the pinch release means, thereby easily installing or removing the catheter.

Optionally, the base assembly includes a first release slot, a second release slot, and a first release shaft mounting through hole,

the compression release device includes:

a release lever movably disposed at the base assembly, the release lever including a second release shaft mounting through hole,

a release handle disposed at a first end of the release lever and extending into the first release slot,

a release pin disposed at a second end of the release lever, the release pin extending into the second release slot,

a release shaft extending through the first and second release shaft mounting through holes to connect the release lever to the base member such that when the release handle moves in the first release slot, the release lever rotates with respect to the base member about the release shaft and drives the release pin to move in the second release slot,

wherein the pressing release device is configured such that when the release pin moves in the second release long hole, the release pin moves the moving seat toward the pressing seat.

According to the invention, the compression release device has compact structure and convenient operation.

Optionally, the conveying part further comprises a conduit supporting device, wherein the conduit supporting device is arranged on the base assembly and is positioned in front of and/or behind the driving roller.

According to the invention, the catheter support device straightens the catheter, facilitating delivery of the catheter into the blood vessel.

Optionally, the catheter support device comprises:

a first support fixedly connected to the base assembly, the first support including a first groove extending along a conveying direction of the catheter; and

a second support portion for interfacing with the first support portion, the second support portion including a second groove extending along a conveying direction of the catheter,

wherein at least one of the first support portion and the second support portion includes a magnet, the first groove and the second groove are butted for clamping the catheter when the first support portion and the second support portion are butted, and the first support portion and the second support portion are in adsorptive contact.

According to the invention, the catheter supporting device has compact structure, and the attraction force of the magnet can enable the first supporting part and the second supporting part to be stably butted, so that the catheter is stably supported and straightened.

Optionally, the axial direction of the driving roller is perpendicular to the conveying direction of the guide pipe.

According to the invention, the axial direction of the driving roller is perpendicular to the conveying direction of the guide pipe, so that the conveying efficiency can be maximized.

A second aspect of the present invention provides a surgical robotic system comprising the catheter delivery device described above and a control device, wherein the control device is configured to control the operation of the catheter delivery device in accordance with the sensing signal of the pressure sensor.

According to the surgical robot system of the present invention, the catheter is clamped by the active roller and the passive roller together, and the driving force is provided to the active roller by the driving part and the driving shaft assembly to convey the catheter. Meanwhile, the driving roller is configured to be movable relative to the base assembly along the conveying direction of the catheter, and the pressure sensor is arranged, so that the pressure sensor reflects the resistance born by the catheter by sensing the force fed back to the driving roller by the catheter, and a doctor can correspondingly adjust according to the resistance born by the catheter in the operation process, so that the safety and smoothness of the operation process are ensured.

Drawings

The following drawings are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

In the accompanying drawings:

FIG. 1 is a perspective view of a slave end effector of a surgical robotic system according to a preferred embodiment of the present invention;

fig. 2 is a perspective view of a catheter delivery device according to a first embodiment of the present invention;

FIG. 3 is a perspective view of a delivery portion of the catheter delivery device shown in FIG. 2;

fig. 4 to 6 are exploded views of the conveying part shown in fig. 3;

fig. 7 and 8 are perspective views of the compression release device of the conveying part shown in fig. 3;

FIG. 9 is a perspective view of the catheter support device of the delivery section shown in FIG. 3;

FIG. 10 is a perspective view of a drive section of the catheter delivery device shown in FIG. 2;

fig. 11 is an exploded view of the driving part shown in fig. 10;

FIG. 12 is an exploded view of a catheter delivery device according to a second embodiment of the present invention;

fig. 13 is a perspective view of a catheter delivery device according to a third embodiment of the present invention;

fig. 14 is an exploded view of the catheter delivery device shown in fig. 13.

Reference numerals illustrate:

1: screw motor

2: screw rod

3: guide rail

4: instrument operation unit

5: guide wire conveying part

6: catheter tube

7: guide wire

8: catheter delivery device

9: movable sliding table

9a: screw through hole

9b: guide rail through hole

10: base assembly

11: first side

12: second side

13: first connecting plate

14: second connecting plate

15: drive shaft through hole

15a: first drive shaft through hole

15b: second drive shaft through hole

18: connecting pin

19: connecting hole

20: conveying part

21: driving roller

22: passive roller

23: driving wheel seat

24: driven wheel seat

25: driving wheel axle

26: driven wheel axle

27: driving wheel bearing

28: driven wheel bearing

30: drive shaft assembly

31: driving shaft

32: driving roller power shaft

33: power transmission shaft

34/34a/34b/34c: transmission gear

35a/35b: driving gear

40: drive unit

41: motor with a motor housing

43: driving connecting plate

50: first connecting assembly

52: second connecting piece

53: third connecting piece

58a/59a: sliding block

58b/59b: sliding chute

60: second connecting assembly

61: first connecting piece

64: fourth connecting piece

68: sensor briquetting

69: pressure sensor

70: compacting device

71: compressing seat

72: movable seat

72a: movable seat body

72b: raised portion

73: elastic component

73a: spring first end

73b: second end of spring

74: first threaded through hole

75: adjusting bolt

76: guide bolt

78: second threaded hole

79: second through hole

80: compression release device

81: release lever

82: release handle

83: release pin

84: releasing rotary shaft

85: first release slot

86: second release long hole

87: first release pivot installation through-hole

88: second release shaft mounting through hole

90: catheter support device

91: a first support part

91a: first groove

92: a second supporting part

92a: second groove

93: channel

94: magnet

95: holding part

96: pivot shaft

110/120/130: catheter delivery device

200: slave end operation device

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the embodiments of the invention.

In order that the embodiments of the invention may be fully understood, a detailed process will be presented in the following description. It will be apparent that embodiments of the invention may be practiced without limitation to the specific details that are set forth by those skilled in the art.

To solve the technical problems set forth in the background art, the present invention provides a catheter delivery device of a surgical robot and a surgical robot system, wherein the surgical robot system according to the present invention comprises the catheter delivery device according to the present invention.

In a preferred embodiment, the surgical robotic system according to the present invention includes a slave end effector 200 (shown in fig. 1) and a tele-manipulation system (not shown). The slave end effector 200 is used to deliver interventional instruments into a blood vessel. Preferably, the slave end effector 200 is used to deliver the equipment of a cardiovascular interventional procedure into a blood vessel. When in use, the slave end operation device 200 is placed beside an operation bed, the remote control system (comprising the control device) is placed in the control room, and a doctor remotely controls the slave end operation device 200 by operating the remote control system in the control room, so that the doctor can avoid receiving radiation of radioactive rays in the operation room.

As shown in fig. 1, the catheter feeding device 110 according to the present invention is preferably provided from the front end of the end effector 200 for feeding the catheter 6. An instrument operation portion 4 and a guide wire feeding portion 5 are provided from the rear end of the end operation device 200, the instrument operation portion 4 being used for operating the catheter feeder 8, for example, and the guide wire feeding portion 5 being used for feeding the guide wire 7. Thus, the catheter 6 extends between the catheter delivery device 110 and the instrument operation portion 4 (specifically, the catheter feeder 8), and the guidewire 7 extends between the catheter delivery device 110 and the guidewire delivery portion 5. In the present application, the direction of conveyance of the catheter 6 is also referred to as the anterior-posterior direction, wherein the direction of entry of the catheter 6 into the blood vessel is anterior or anterior, and the direction opposite to anterior is posterior and posterior.

Preferably, the slave end operating device 200 further includes a moving slide 9, a guide rail 3, and a lead screw 2. The lead screw 2 and the guide rail 3 extend between the front end and the rear end of the slave end operation device 200, and are parallel to each other. The moving slide 9 includes a screw through hole 9a and a rail through hole 9b that allow the screw 2 and the rail 3 to pass through, respectively, wherein the screw through hole 9a includes a screw nut (not shown). The rear end of the screw 2 is connected to a screw motor 41. When the screw motor 41 operates, the screw 2 rotates in synchronization with the output shaft of the screw motor 41. The movable slide 9 is movable in the front-rear direction by the guide rail 3 and the lead screw nut. The instrument operation section 4 and the guidewire delivery section 5 are both fixed to a moving slide 9. When the movable slide 9 moves forward, the catheter feeding device 110 feeds the catheter 6 forward, and the catheter 6 is introduced into the blood vessel. Wherein the movement of the moving slide 9 and the operation of the catheter conveying device 110 are uniformly coordinated by the control device, so that the movement amplitude of the moving slide 9 is consistent with the length of the catheter 6 conveyed by the catheter conveying device 110, and the catheter 6 is kept straight. At the same time, the control device also coordinates the operation of the guide wire feeding portion 5 synchronously so that the guide wire 7 remains straight for better support of the catheter 6.

As shown in fig. 2, in the first embodiment, a catheter delivery device 110 according to the present invention includes a base assembly 10, a delivery section 20, a drive shaft assembly 30, a drive section 40, and a pressure sensor 69. A delivery portion 20 is provided to the base assembly 10 for delivering the catheter 6. The conveying section 20 includes an active roller 21 and a passive roller 22. The driving roller 21 and the driven roller 22 are disposed opposite to each other to clamp the guide tube 6 together (the guide tube 6 is located in the gap between the driving roller 21 and the driven roller 22). The axial direction of the active roller 21 is parallel to the axial direction of the passive roller 22. The axial direction of the driving roller 21 is not parallel to the conveying direction of the guide tube 6. The axial direction of the driving roller 21 is perpendicular to the conveying direction of the guide tube 6. The driving shaft assembly 30 is used for driving the driving roller 21 to rotate. The drive shaft assembly 30 is configured to move synchronously with the drive roller 21 relative to the base assembly 10 in the direction of conveyance of the catheter 6. The driving part 40 is provided to the base assembly 10 for driving the conveying part 20 to operate. The driving part 40 includes a motor 41, and the motor 41 is used for driving the driving shaft assembly 30 to rotate, thereby driving the driving roller 21 to rotate. The pressure sensor 69 is used to sense the force fed back by the catheter 6 to the active roller 21.

As shown in fig. 3-6, the base assembly 10 includes a first connection plate 13. The conveying section 20 includes a driving wheel seat 23. The driving wheel seat 23 is provided to the first connection plate 13. The drive wheel mount 23 may house a drive wheel bearing 27. The drive wheel axle 25 is arranged in the drive wheel seat 23 via a drive wheel bearing 27. The driving roller 21 is coaxially installed on the outer circumferential surface of the driving wheel shaft 25 and rotates synchronously with the driving wheel shaft 25. The drive roller power shaft 32 is configured to move synchronously with the drive roller 21 relative to the base assembly 10 in the conveying direction of the catheter 6.

The driveshaft assembly 30 is disposed below the caster mount 23. The drive shaft assembly 30 includes a plurality of intermeshing transfer gears 34 and a drive roller power shaft 32. One of the plurality of drive gears 34 is connected to the drive roller power shaft 32 and rotates in synchronization with the drive roller power shaft 32. The other transmission gears 34 are connected to the driving wheel shaft 25 and rotate in synchronization with the driving wheel shaft 25. When the driving roller power shaft 32 rotates, it drives the plurality of transmission gears 34 to rotate, and finally drives the driving roller 21 to synchronously rotate.

The conveyor 20 also includes a driven wheel mount 24. The driven wheel base 24 is provided to the first connection plate 13. The driven wheel mount 24 may receive a driven wheel bearing 28 therein. The driven wheel axle 26 is disposed in the driven wheel mount 24 by a driven wheel bearing 28. The driven roller 22 is sleeved on the outer peripheral surface of the driven roller shaft 26. The driven roller 22 is coaxially connected with the driven roller shaft 26 and rotates synchronously with the driven roller shaft 26.

Preferably, the conveying section 20 includes two active rollers 21 and two passive rollers 22.

When the driving roller 21 and the driven roller 22 clamp the guide tube 6 at the same time, the driving roller 21 rotates under the driving of the driving roller power shaft 32, the guide tube 6 moves in the sequential direction through the friction force between the driving roller 21, and the driven roller 22 rotates through the friction force between the guide tube 6. In order to enable the active roller 21 and the passive roller 22 to grip the catheter 6, the conveying section 20 is further provided with a pressing device 70.

As shown in fig. 4 and 6, the pressing device 70 is connected to the driven wheel base 24. Specifically, the pressing device 70 includes a pressing seat 71, a moving seat 72, and an elastic member 73. The pressing seat 71 is fixed to the first connection plate 13 of the base assembly 10. The movable seat 72 is disposed opposite to the pressing seat 71. The moving seat 72 and the driving roller 21 are disposed on the same side of the pressing seat 71 along a second direction, wherein the second direction is a direction perpendicular to the axial direction of the driving roller 21, and the second direction is a direction perpendicular to the conveying direction of the catheter 6. The elastic member 73 extends in the second direction. The first end of the elastic member 73 abuts against the pressing seat 71, and the second end of the elastic member 73 abuts against the moving seat 72, so that the elastic member 73 pushes the moving seat 72 away from the pressing seat 71 in the second direction, that is, pushes the moving seat 72 toward the driving roller 21. The movable seat 72 is configured to move synchronously with the driven roller 22 relative to the base assembly 10 in the second direction (specifically, the driven roller seat 24 is fixedly connected with the movable seat 72), such that the elastic member 73 pushes the driven roller 22 toward the driving roller 21 in the second direction, and thus the driving roller 21 and the driven roller 22 can clamp the catheter 6.

Specifically, as shown in fig. 6, the elastic member 73 is a spring. The compression seat 71 includes a first threaded through hole 74 and an adjustment bolt 75. The first threaded through hole 74 has an internal thread. The spring is disposed in the first threaded through hole 74. The adjustment bolt 75 includes external threads that mate with the internal threads of the first threaded through bore 74. An adjusting bolt 75 is provided at an end of the first threaded through hole 74 remote from the movable seat 72. Accordingly, the adjusting bolt 75 blocks the first end 73a of the spring at the end of the first threaded through hole 74 remote from the movable seat 72, and the depth of the adjusting bolt 75 into the first threaded through hole 74 can change the distance of the spring from the movable seat 72.

The movable seat 72 includes a movable seat body 72a, a boss 72b, and a second threaded hole 78. A boss 72b is provided on a side of the moving seat body 72a for facing the pressing seat 71 and protrudes from the moving seat body 72a for entering the first screw through hole 74 from one end of the first screw through hole 74 for facing the moving seat 72 to abut against the second end 73b of the spring. The boss 72b protrudes outwardly from the movable housing body 72a by a first length (i.e., the boss 72b protrudes from the movable housing body 72a by a first length). A second screw hole 78 is provided at a side of the moving seat body 72a for facing the pressing seat 71, the second screw hole 78 including an internal screw thread.

The pressing seat 71 further includes a second through hole 79, and the second through hole 79 is disposed corresponding to the second threaded hole 78. The compression device 70 also includes a guide bolt 76. The guide bolt 76 includes external threads at least at the head end that mate with the internal threads of the second threaded bore 78. The outer diameter of the tail end of the guide bolt 76 is larger than the inner diameter of the second through hole 79. The head end of the guide bolt 76 passes through the second through hole 79 and then enters the second threaded hole 78, thereby connecting the pressing seat 71 with the moving seat 72.

Wherein the spring has a pressing height less than the length of the first threaded through hole 74, the sum of the pressing height of the spring and the first length being greater than or equal to the length of the first threaded through hole 74 such that the spring is compressed in the first threaded through hole 74 and the second end 73b of the spring abuts against the boss 72b of the moving seat 72. As the depth of the adjusting bolt 75 into the first threaded hole increases, the spring tends to be compressed, so that the elastic force applied to the boss 72b by the spring increases, thereby pushing the movable seat 72 toward the active roller 21, so that the distance between the active roller 21 and the passive roller 22 decreases, and the guide tube 6 is clamped. The opposite effect occurs when the depth of the adjustment bolt 75 into the first threaded bore is reduced.

To facilitate the user in taking and placing the catheter 6, the delivery section 20 is also provided with a pinch release 80. As shown in fig. 3 and 4, the compression release device 80 is provided at the first connection plate 13 of the base assembly 10. The pinch release 80 is configured to act on the movable seat 72 for moving the movable seat 72 in a second direction toward the pinch seat 71 to move the passive roller 22 in the second direction away from the active roller 21.

Specifically, as shown in fig. 4, 7 and 8, the first connection plate 13 of the base assembly 10 includes a first release long hole 85, a second release long hole 86 and a first release shaft mounting through hole 87. The hold-down release 80 includes a release lever 81, a release handle 82, a release pin 83, and a release shaft 84. The release lever 81 is movably disposed at the first connection plate 13 of the base assembly 10, and the release lever 81 includes a second release shaft mounting through hole 88. The release handle 82 is provided at a first end of the release lever 81 and extends into the first release slot 85. A release pin 83 is provided at a second end of the release lever 81 and extends into the second release slot 86. The release shaft 84 extends through the first and second release shaft mounting through

holes

87 and 88 to connect the release lever 81 to the first connection plate 13 of the base assembly 10 such that when the release handle 82 moves in the first release long hole 85, the release lever 81 rotates with respect to the base assembly 10 about the release shaft 84 and moves the release pin 83 in the second release long hole 86.

The pressing release 80 is configured such that when the release pin 83 moves in the second release slot 86, the release pin 83 moves the moving seat 72 toward the pressing seat 71. Specifically, the second release long hole 86 is configured to extend in the second direction. The movable seat 72 is configured such that, when viewed in the axial direction of the driving roller 21, the movable seat 72 covers a portion of the second release long hole 86 such that the release pin 83 protrudes from the second release long hole 86 from the middle of the movable seat 72 and the driving roller seat 23. When the release handle 82 moves, the release pin 83 moves away from the driving wheel seat 23 in the second release long hole 86, thereby pushing the moving seat 72 away from the driving wheel seat 23, and increasing the distance between the driving roller 21 and the driven roller 22.

Preferably, the moving seat body 72a is configured to contact the first connection plate 13, and the moving seat body 72a slides on the first connection plate 13 during movement of the moving seat 72 in the second direction.

As shown in fig. 3 and 4, the delivery part 20 is further provided with a catheter support device 90 for keeping the catheter 6 straight. The catheter support device 90 is arranged in front of and/or behind the active roller 21. Preferably, the catheter support device 90 is disposed both in front of and behind the active roller 21.

Specifically, as shown in fig. 9, the catheter support device 90 includes a first support portion 91 and a second support portion 92. The first supporting portion 91 is fixedly connected to the first connection plate 13 of the base assembly 10. The first support 91 includes a first groove 91a extending in the conveying direction of the catheter 6. The second support portion 92 is configured to interface with the first support portion 91, and the second support portion 92 includes a second groove 92a extending in the conveying direction of the catheter 6. At least one of the first supporting portion 91 and the second supporting portion 92 includes a magnet 94. When the first support portion 91 is abutted with the second support portion 92, the first groove 91a is abutted with the second groove 92a for forming a passage 93 (as shown in fig. 3 and 4) for holding the catheter 6, and the first support portion 91 is in suction contact with the second support portion 92. It will be appreciated that the channel 93 is collinear with the gap between the active roller 21 and the passive roller 22, thereby straightening the conduit 6.

Preferably, the first support portion 91 is pivotally connected to the second support portion 92 by a pivot shaft 96, such that the first support portion 91 pivotally interfaces with the second support portion 92. The second support 92 further includes a grip 95, the grip 95 being disposed on a side of the second support 92 opposite the pivot axis 96. The user can pivot the second support portion 92 by holding the grip portion 95 by hand, thereby covering the second support portion 92 to the first support portion 91, or opening the second support portion 92 from the first support portion 91. Preferably, a lubricant sleeve made of, for example, polytetrafluoroethylene (PTFE) material may be bonded in the first groove 91a and the second groove 92a to protect the catheter 6 and facilitate the forward and backward movement of the catheter 6.

As shown in fig. 10 and 11, the driving force of the driving roller power shaft 32 comes from the power transmission shaft 33. The drive shaft assembly 30 includes a power transmission shaft 33, and the power transmission shaft 33 is abutted with the driving roller power shaft 32 and moves in synchronization with the driving roller power shaft 32 in a connected state. The power of the power transmission shaft 33 is from the motor 41. The motor 41 is used for driving the power transmission shaft 33 to rotate, so as to drive the driving roller power shaft 32 to rotate. Specifically, the motor 41 is disposed at the second connection plate 14 of the base assembly 10. The motor 41 is fixed to the drive connection plate 43. The output shaft of the motor 41 is connected to the power transmission shaft 33 through two mutually meshed 45-degree angle bevel drive gears 35a and 35 b. Wherein the drive gear 35a is connected to the output shaft of the motor 41, the drive gear 35a is mounted to the drive connection plate 43. Thus, the motor 41, the drive gears 35a and 35b, the power transmission shaft 33, and the drive connection plate 43 are integrated and synchronously moved in the conveying direction of the guide pipe 6.

The first connection plate 13 includes a first drive shaft through hole 15a (as shown in fig. 4), and the second connection plate 14 includes a second drive shaft through hole 15b, and the driving roller power shaft 32 and the power transmission shaft 33 are butted through the first drive shaft through hole 15a and the second drive shaft through hole 15 b. The first drive shaft through hole 15a and the second drive shaft through hole 15b may also be collectively referred to as drive shaft through holes 15.

The first web 13 is located on the first side 11 of the base assembly 10 and the second web 14 is located on the second side 12 of the base assembly 10. The first side 11 is opposite the second side 12. The drive shaft 31 through hole 15 extends from the first side 11 to the second side 12. The conveying portion 20 is disposed on the first side 11 (e.g., the first connection plate 13), and the driving portion 40 is disposed on the second side 12 (e.g., the second connection plate 14). One of the first connection plate 13 and the second connection plate 14 comprises a connection pin 18, and the other of the first connection plate 13 and the second connection plate 14 comprises a connection hole 19 for receiving the connection pin 18. For example, the first connection plate 13 includes a connection hole 19 (shown in fig. 3), and the second connection plate 14 includes a connection pin 18 (shown in fig. 10), so that the first connection plate 13 is detachably connected to the second connection plate 14. The direction in which the driving roller power shaft 32 and the power transmission shaft 33 are connected is identical to the direction in which the connection pin 18 and the connection hole 19 are connected, so that the user can complete the assembly of the upper and lower portions of the catheter feeding device 110 through one operation.

During the process of the catheter 6 entering the blood vessel, the catheter 6 can be subjected to resistance, and a doctor can correspondingly adjust according to the resistance to which the catheter 6 is subjected, so that the operation process is safe and smooth. Since the guide tube 6 is in close contact with the driving roller 21, when the resistance force applied to the guide tube 6 is changed, the force fed back to the driving roller 21 by the guide tube 6 is changed. To reflect the resistance experienced by the catheter 6, the active roller 21 is configured to be movable relative to the base assembly 10 along the direction of conveyance of the catheter 6; the catheter delivery device 110 is provided with a pressure sensor 69 for sensing the force fed back by the catheter 6 to the active roller 21; at the same time, the catheter delivery device 110 is also provided with a sensor compact 68 for contacting the pressure sensor 69.

Specifically, catheter delivery device 110 includes a first connection assembly 50 and a second connection assembly 60. The first connection assembly 50 is configured to be immovable relative to the base assembly 10 in the conveying direction of the catheter 6, and the second connection assembly 60 is configured to be movable relative to the base assembly 10 in the conveying direction of the catheter 6 and to move in synchronization with the driving roller 21 relative to the base assembly 10 in the conveying direction of the catheter 6. The sensor block 68 is configured to move in synchronization with one of the first and second connection assemblies 50 and 60 in the conveying direction of the catheter 6, and the pressure sensor 69 is configured to move in synchronization with the other of the first and second connection assemblies 50 and 60 in the conveying direction of the catheter 6. The pressure sensor 69 is disposed on a route of movement of the sensor block 68 in the conveying direction of the catheter 6, or the sensor block 68 is disposed on a route of movement of the pressure sensor 69 in the conveying direction of the catheter 6.

When the resistance to the catheter 6 changes, the force is fed back to the active roller 21, causing the active roller 21 to move relative to the base assembly 10 in the direction of conveyance of the catheter 6. With the first and second connection assemblies 50 and 60, as the driving roller 21 moves, the sensor compact 68 moves relative to the pressure sensor 69 along the conveying direction of the catheter 6 such that the pressure applied by the sensor compact 68 to the pressure sensor 69 changes. The movement of the sensor compact 68 relative to the pressure sensor 69 is synchronized with the movement of the active roller 21 relative to the base assembly 10, so that the value sensed by the pressure sensor 69 is reflective of the resistance experienced by the catheter 6.

For example, one of the first and second connection assemblies 50 and 60 includes a slide 58a, the other of the first and second connection assemblies 50 and 60 includes a slide groove 58b for accommodating the slide 58a, the slide groove 58b extends in the conveying direction of the guide tube 6, and the slide 58a is provided in the slide groove 58b and movable relative to the slide groove 58 b. A sensor compact 68 is provided on one of the first and second connection assemblies 50 and 60, and a pressure sensor 69 is provided on the other of the first and second connection assemblies 50 and 60. Alternatively, a sensor compact 68 is provided on one of the first coupling assembly 50 and the base assembly 10, and a pressure sensor 69 is provided on the second coupling assembly 60. Alternatively, a sensor compact 68 is provided on the second coupling assembly 60 and a pressure sensor 69 is provided on one of the first coupling assembly 50 and the base assembly 10.

Specifically, in catheter delivery device 110, first connector assembly 50 includes a second connector 52 and a third connector 53, second connector 52 being secured to base assembly 10 (e.g., to first connector plate 13) on first side 11 and third connector 53 being secured to base assembly 10 (e.g., to second connector plate 14) on second side 12; the second connection assembly 60 comprises a first connection member 61 and a fourth connection member 64, the first connection member 61 being configured to move synchronously with respect to the base assembly 10 and the driving roller 21 in the conveying direction of the catheter 6, the fourth connection member 64 being configured to move synchronously with respect to the base assembly 10 and the power transmission shaft 33 in the conveying direction of the catheter 6 (the driving roller 21 being connected with the power transmission shaft 33 via the driving roller power shaft 32, the driving roller 21, the driving roller power shaft 32 and the power transmission shaft 33 moving synchronously with respect to the base assembly 10 in the conveying direction of the catheter 6).

One of the first and second links 61, 52 includes a slider 58a as described above, and the other of the first and second links 61, 52 includes a chute 58b as described above. As shown in fig. 5, the first connecting member 61 is fixed to the driving wheel seat 23. The first connector 61 includes a slider 58a. As shown in fig. 3-5, the second connector 52 is secured to the first connector plate 13. The second connector 52 includes a chute 58b for receiving the slider 58a. So that the driving wheel seat 23 is hooked on the second connection member 52 and movable relative to the second connection member 52 in the conveying direction of the guide tube 6, so that the driving roller 21 and the driving roller power shaft 32 are movable relative to the base assembly 10 in the conveying direction of the guide tube 6.

One of the third link 53 and the fourth link 64 includes the slider 58a as described above, and the other of the third link 53 and the fourth link 64 includes the slide groove 58b as described above. As shown in fig. 11, the third connecting member 53 is fixed to the second connecting plate 14. The third link 53 includes a slider 58a. The fourth connecting member 64 is fixed to the drive connection plate 43 so as to move in synchronization with the power transmission shaft 33 in the conveying direction of the catheter 6. The fourth connector 64 includes a chute 58b that receives the slider 58a. Thus, the power transmission shaft 33 is movable relative to the base assembly 10 in the conveying direction of the catheter 6.

It will be appreciated that the first and second link assemblies 50, 60 may also be relatively movable by other arrangements, such as cross roller tracks 3, relatively slidable axles and sleeves, etc.

It will be appreciated that since the driving roller power shaft 32 and the power transmission shaft 33 (which may also be collectively referred to as the drive shaft 31) are movable relative to the base assembly 10 in the conveying direction of the guide tube 6, the drive shaft 31 through-hole 15 (including the first drive shaft 31 through-hole 15a and the second drive shaft 31 through-hole 15 b) is configured as a long hole having a dimension in the conveying direction of the guide tube 6 larger than the diameter of the drive shaft assembly 30 (specifically, the drive shaft 31) so that the drive shaft assembly 30 can move within the long hole in the conveying direction of the guide tube 6.

To make the sensor block 68 movable in the conveying direction of the catheter 6 relative to the pressure sensor 69, the sensor block 68 is fixed to the fourth connection piece and the pressure sensor 69 is fixed to the second connection plate 14 or the third connection piece 53. Alternatively, the pressure sensor 69 is fixed to the fourth connection member, and the sensor press block 68 is fixed to the second connection plate 14 or the third connection member 53. Specifically, as shown in fig. 11, a sensor press block 68 is fixed to the fourth link, and a pressure sensor 69 is fixed to the second link plate 14. The pressure sensor 69 is disposed behind the sensor compact 68.

In the second embodiment shown in fig. 12, the catheter feeding device 120 replaces the driving roller power shaft 32 and the power transmission shaft 33 of the catheter feeding device 110 with an integral driving shaft 31, thereby reinforcing the strength of the driving shaft 31. Other structures and features of catheter delivery device 120 remain identical to catheter delivery device 110.

In the third embodiment shown in fig. 13 and 14, the catheter delivery device 130 replaces the active roller power shaft 32 and the power transmission shaft 33 of the catheter delivery device 110 with a single integral drive shaft 31 and further simplifies the first and second connection assemblies 50 and 60. In the first embodiment, since the driving shaft 31 is divided into the upper and lower parts, in order to smoothly move both the upper and lower parts of the driving shaft 31 with the driving roller 21 relative to the base assembly 10, the first and second link assemblies 50 and 60 each comprise two parts, forming two sets of slide rail assemblies, one set of slide rail assemblies being used to make the upper part of the driving shaft 31 movable relative to the base assembly 10 and the other set of slide rail assemblies being used to make the lower part of the driving shaft 31 movable relative to the base assembly 10. In the third embodiment, the upper and lower drive shafts 31 are integrated, so the first and second coupling assemblies 50 and 60 respectively need only include one piece, i.e., the third and fourth coupling members 53 and 52 remain, and the first and second coupling members 61 and 52 are omitted. In the catheter delivery device 130, the drive shaft 31 not only drives the active roller 21 to roll, but also provides support for the active roller 21. Other structures and features of catheter delivery device 130 remain identical to catheter delivery device 110.

According to the catheter feeding device of the present invention, the catheter 6 is held by the driving roller 21 and the driven roller 22 together, and the driving roller 21 is provided with a driving force by the driving section 40 and the driving shaft assembly 30 to feed the catheter 6. Meanwhile, the driving roller 21 is configured to be movable relative to the base assembly 10 along the conveying direction of the catheter 6, and the pressure sensor 69 is provided, so that the pressure sensor 69 reflects the resistance force applied to the catheter 6 by sensing the force fed back to the driving roller 21 by the catheter 6, and a doctor can correspondingly adjust according to the resistance force applied to the catheter 6 during the operation process, so that the operation process is ensured to be safe and smooth.

In a specific embodiment, the control device of the surgical robotic system is coupled to the pressure sensor 69 and controls the operation of the catheter delivery device based on the sensing signal of the pressure sensor 69. The surgical robotic system according to the invention comprises the catheter delivery device according to the invention and thus also all features and effects of the catheter delivery device according to the invention.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed.

Claims

1. A catheter delivery device for a surgical robot, comprising:

a base assembly;

2. The catheter delivery device of claim 1, further comprising:

a sensor compact for contacting the pressure sensor;

3. The catheter transport device of claim 2, wherein the pressure sensor is disposed on a route of movement of the sensor compact in a transport direction of the catheter or the sensor compact is disposed on a route of movement of the pressure sensor in a transport direction of the catheter.

4. A catheter delivery device as in claim 3, wherein the pressure sensor is disposed behind the sensor compact.

5. The catheter delivery device of claim 4, wherein one of the first and second connection assemblies comprises a slider, the other of the first and second connection assemblies comprises a chute for receiving the slider, the chute extending in a delivery direction of the catheter, the slider being disposed in and movable relative to the chute.

6. The catheter delivery device of claim 5, wherein,

the sensor pressing block is arranged on one of the first connecting component and the second connecting component, and the pressure sensor is arranged on the other of the first connecting component and the second connecting component; or alternatively

7. The catheter delivery device of claim 5, wherein the drive shaft assembly comprises a drive shaft capable of driving the drive roller in rotation under the drive of the motor.

8. The catheter delivery device of claim 5, wherein the drive shaft assembly comprises:

9. The catheter delivery device of claim 7 or 8, wherein the base assembly comprises a first side, a second side opposite the first side, and a drive shaft throughbore extending from the first side to the second side, wherein the delivery portion is disposed on the first side, the drive portion is disposed on the second side, and the first connection assembly is secured to the base assembly.

10. The catheter delivery device of claim 9, wherein the drive shaft throughbore is configured as a slot having a dimension in the delivery direction of the catheter that is greater than a diameter of the drive shaft assembly such that the drive shaft assembly is movable within the slot in the delivery direction of the catheter.

11. The catheter delivery device of claim 9, wherein the catheter is configured to deliver,

the first connector assembly includes a second connector secured to the base assembly on the first side and a third connector secured to the base assembly on the second side;

12. The catheter delivery device of claim 11, wherein,

one of the first connecting piece and the second connecting piece comprises the sliding block, and the other of the first connecting piece and the second connecting piece comprises the sliding groove; or alternatively

13. The catheter delivery device of claim 11, wherein the base assembly comprises:

14. The catheter delivery device of claim 13, wherein the drive shaft throughbore comprises a first drive shaft throughbore disposed in the first connector plate and a second drive shaft throughbore disposed in the second connector plate.

15. The catheter delivery device of claim 13, wherein the catheter is configured to deliver,

one of the first and second connection plates includes a connection pin, and the other of the first and second connection plates includes a connection hole for receiving the connection pin.

16. The catheter delivery device of claim 13, wherein the catheter is configured to deliver,

the sensor press block is fixed to the fourth connecting piece, and the pressure sensor is fixed to the second connecting plate or the third connecting piece; or alternatively

17. The catheter delivery device of claim 16, wherein the sensor compact is secured to the fourth connector and the pressure sensor is secured to the second connector plate.

18. The catheter delivery device of any one of claims 1-8, wherein the delivery section further comprises:

the driven wheel seat is provided with a driven roller; and

19. The catheter delivery device of claim 18, wherein the compression device comprises:

a compression mount secured to the base assembly,

20. The catheter delivery device of claim 19, wherein the resilient member is a spring and the second direction is perpendicular to the direction of delivery of the catheter.

21. The catheter delivery device of claim 20, wherein the compression hub comprises:

22. The catheter delivery device of claim 21, wherein the catheter is configured to deliver,

the movable seat comprises:

a movable seat body connected to the driven wheel seat,

the pressing seat comprises a second through hole, and the second through hole is arranged corresponding to the second threaded hole; the compressing device also comprises a guide bolt, the guide bolt at least comprises an external thread matched with the internal thread of the second threaded hole at the head end, the outer diameter of the tail end of the guide bolt is larger than the inner diameter of the second through hole, the head end of the guide bolt passes through the second through hole and then enters the second threaded hole,

23. The catheter delivery device of claim 19, wherein the delivery section further comprises a compression release device disposed on the base assembly, the compression release device configured to act on the movable mount for moving the movable mount in the second direction toward the compression mount.

24. The catheter delivery device of claim 23, wherein the catheter is configured to deliver,

the base assembly includes a first release slot, a second release slot and a first release shaft mounting through hole,

the compression release device includes:

25. Catheter delivery device according to any of claims 1-8, wherein the delivery section further comprises a catheter support device arranged in front of and/or behind the active roller, the catheter support device being arranged in the base assembly.

26. The catheter delivery device of claim 25, wherein the catheter support device comprises:

27. Catheter delivery device according to any of claims 1-8, wherein the axial direction of the active roller is perpendicular to the delivery direction of the catheter.

28. A surgical robotic system comprising the catheter delivery device of any one of claims 1-27 and a control device, wherein the control device is configured to control operation of the catheter delivery device in accordance with a sensing signal of the pressure sensor.