CN117064544A - Interventional operation robot operating device and interventional operation robot - Google Patents

Abstract

The disclosure provides an interventional operation robot operating device and an interventional operation robot, and relates to the technical field of medical instruments. The interventional operation robot operating device comprises a fixed frame, a movable part, a connecting piece, an operating piece, a first steering engine and a second steering engine. The movable piece is rotationally connected to the fixed frame; the power input end of the connecting piece is rotationally connected with one end of the movable piece; the operation piece is rotationally connected to one end of the movable piece, which is far away from the connecting piece, and is used for controlling the rotation of the intervention consumable when the operation piece rotates, controlling the movement of the intervention consumable when the operation piece swings, driving the movable piece to swing when the operation piece swings, and controlling the movement of the intervention consumable; the first steering engine is used for providing a rotation resisting moment for the movable part through the connecting part; the second steering engine is used for providing rotation resistance moment for the movable part through the first steering engine. The present disclosure can provide force feedback for an operator in the process of interventional consumable intervention in a vessel in a patient, avoiding unnecessary injury to the patient.

Description

Interventional operation robot operating device and interventional operation robot

Technical Field

The disclosure relates to the technical field of medical instruments, in particular to an interventional operation robot operating device and an interventional operation robot.

Background

In the process of interventional therapy by the vascular interventional operation robot, the interventional operation robot is arranged to drive the interventional consumable to act so as to realize accurate therapy on a patient by controlling the interventional consumable. In the process of controlling intervention consumable to treat the part of the patient needing treatment, in order to reduce the damage of the radiation generated by medical equipment to medical staff, the intervention operation robot can control the action of the intervention consumable by arranging an operating device and is arranged outside an operating room, so that the medical staff can control the intervention consumable through the remote operating device.

In a related manipulator, the manipulator may control the movement of the interventional consumable in the patient via a joystick. The current operation robot of intervenes in the control intervenes the consumable and intervenes the internal in-process of patient, because controlling means is weak feedback effect, medical staff can't make reasonable and accurate judgement to the motion state and the atress condition of intervene the consumable, just probably has the risk of intervene the excessive extrusion vascular wall of intervention end of consumable when the vascular route is not smooth and easy, causes unnecessary injury to the patient.

Disclosure of Invention

An object of the present disclosure is to overcome at least one of the disadvantages of the related art, and to provide an interventional surgical robot operating device and an interventional surgical robot, which can provide force feedback for an operator in the process of controlling an interventional consumable to be inserted into a patient body by the interventional surgical robot, so as to avoid unnecessary injury to the patient.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

According to one aspect of the present disclosure, there is provided an interventional surgical robotic manipulation device comprising:

a fixing frame;

the movable piece is rotationally connected to the fixed frame;

the power input end of the connecting piece is rotationally connected with one end of the movable piece;

the operation piece is rotationally connected to one end of the movable piece, which is far away from the connecting piece, and is used for controlling the rotation of the intervention consumable when the operation piece rotates, controlling the movement of the intervention consumable when the operation piece swings, driving the movable piece to swing when the operation piece swings, and controlling the movement of the intervention consumable;

the power output end of the connecting piece is fixedly arranged on an output shaft of the first steering engine, and the first steering engine is used for providing rotation resistance moment for the movable piece through the connecting piece;

the second steering engine is fixedly arranged on the fixing frame, one side of the first steering engine is fixedly arranged on an output shaft of the second steering engine, the second steering engine is used for providing rotation resistance moment for the movable part through the first steering engine, and the axis of the output shaft of the second steering engine is intersected with the axis of the output shaft of the first steering engine.

In an exemplary embodiment of the disclosure, the plurality of connecting pieces includes a first connecting piece and a second connecting piece, one end of the first connecting piece is rotationally connected to one end of the movable piece away from the operating piece, the other end of the first connecting piece is rotationally connected to one end of the second connecting piece, and the other end of the second connecting piece is fixedly arranged on an output shaft of the first steering engine.

In one exemplary embodiment of the present disclosure, the interventional surgical robotic manipulation device further includes:

and the third steering engine is arranged between the movable part and the operating part and is used for providing rotation resistance moment for the operating part.

In one exemplary embodiment of the present disclosure, one side of the fixing frame is provided with a notch;

the movable member includes:

the movable section is rotatably clamped in the notch;

the connecting section comprises a first connecting section and a second connecting section, the first connecting section and the second connecting section are respectively arranged on two sides of the movable section, one end, away from the movable section, of the first connecting section is connected with the third steering engine, and one end, away from the movable section, of the second connecting section is connected with the first connecting piece.

In one exemplary embodiment of the present disclosure, the center of the movable segment is located on the axis of the output shaft of the second steering engine.

In one exemplary embodiment of the present disclosure, the axis of the output shaft of the second steering engine is perpendicular to the axis of the operating member when in the initial state;

the axis of the output shaft of the first steering engine is perpendicular to the axis of the operating piece in the initial state and perpendicular to the axis of the output shaft of the second steering engine;

the extending direction of the first connecting piece is parallel to the axis of the output shaft of the second steering engine.

In one exemplary embodiment of the present disclosure, the line connecting the center point of the movable segment, the two end points of the first connecting piece, and the intersection point of the axis of the output shaft of the first steering engine and the axis of the output shaft of the second steering engine is a parallelogram.

In one exemplary embodiment of the present disclosure, the interventional surgical robotic manipulation device further includes:

the inner side wall of the fixed ring is a spherical surface;

the movable section is a sphere, the notch on one side of the fixing frame is a sphere, the sphere diameter of the fixing ring and the sphere diameter of the notch are equal to the diameter of the movable section, and the movable section can be clamped in the notch and the fixing ring in a multi-direction rotating manner.

In an exemplary embodiment of the present disclosure, the movable member further includes:

and the gyroscope is arranged on one side of the second connecting section and is used for measuring the inclination angle of the movable piece.

In an exemplary embodiment of the disclosure, the first steering engine and the second steering engine are used for generating corresponding rotation-resisting current according to the resistance information received when the interventional consumable moves, and providing corresponding rotation-resisting moment for the movable part;

the third steering engine is used for generating corresponding rotation-resisting current according to the received resistance information received when the interventional consumable rotates and providing corresponding rotation-resisting moment for the operating piece.

According to one aspect of the present disclosure, there is provided an interventional surgical robot comprising a manipulation box and an interventional surgical robot manipulator;

the interventional operation robot operating device part is positioned in the operating box, one end of the operating piece penetrates through the side wall of the operating box and is positioned outside the operating box;

the control box is provided with a control panel which is used for displaying the simulation image of the interventional consumable interventional human body movement.

The invention discloses an interventional operation robot operating device and an interventional operation robot, and relates to the technical field of medical instruments. The interventional operation robot operating device comprises a fixed frame, a movable part, a connecting piece, an operating piece, a first steering engine and a second steering engine. The movable piece is rotationally connected to the fixed frame; the power input end of the connecting piece is rotationally connected with one end of the movable piece; the operation piece is rotationally connected to one end of the movable piece, which is far away from the connecting piece, and is used for controlling the rotation of the intervention consumable when the operation piece rotates, controlling the movement of the intervention consumable when the operation piece swings, driving the movable piece to swing when the operation piece swings, and controlling the movement of the intervention consumable; the first steering engine is used for providing a rotation resisting moment for the movable part through the connecting part; the second steering engine is used for providing rotation resistance moment for the movable part through the first steering engine. The interventional operation robot operating device and the interventional operation robot can provide force feedback for an operator in the process that the interventional operation robot controls interventional consumable materials to be inserted into a patient, and unnecessary damage to the patient is avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

Fig. 1 is a schematic structural view of an interventional surgical robotic manipulator of the present disclosure.

Fig. 2 is an exploded view of fig. 1.

Fig. 3 is a front view of fig. 1.

Fig. 4 is a side view of fig. 1.

Fig. 5 is a cross-sectional view of the interventional surgical robotic manipulator of fig. 3 taken along A-A.

Fig. 6 is a schematic structural view of the interventional surgical robot of the present disclosure.

Fig. 7 is a front view of fig. 6.

Fig. 8 is a top view of fig. 6.

The main element reference numerals in the drawings are explained as follows:

1. an interventional surgical robotic manipulator;

2. an interventional surgical robot; 21. a control box; 211. a control panel;

11. a fixing frame; 12. a movable member; 13. a connecting piece; 14. an operating member; 15. the first steering engine; 16. the second steering engine; 17. the third steering engine; 18. a fixing ring;

111. A notch;

121. a movable section; 122. a connection section; 123. a gyroscope; 1221. a first connection section; 1222. a second connection section;

131. a first connector; 132. and a second connecting piece.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted. Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale.

Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification for convenience only, such as in terms of the orientation of the examples in the drawings. It will be appreciated that if the device of the icon is flipped upside down, the recited "up" component will become the "down" component. When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

The terms "a," "an," "the," "at least one," and "the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. in addition to the listed elements/components/etc.; the terms "first" and "second" are used merely as labels, and do not limit the number of their objects.

The embodiment of the disclosure provides an interventional operation robot operating device, which comprises a fixed frame, a movable part, a connecting piece, an operating part, a first steering engine and a second steering engine. The movable part is rotationally connected to the fixed frame, the power input end of the connecting part is rotationally connected to one end of the movable part, the power output end of the connecting part is fixedly arranged on an output shaft of the first steering engine, one side of the first steering engine is fixedly arranged on an output shaft of the second steering engine, the second steering engine is fixedly arranged on the fixed frame, and the operating part is rotationally connected to one end of the movable part, which is far away from the connecting part.

The operation piece is used for controlling the rotation of intervene the consumptive material when rotatory, is used for controlling the removal of intervene the consumptive material and can drive the moving part swing when the operation piece swings. When intervention consumptive material removal is hindered, first steering wheel is used for providing and hinders the commentaries on classics moment for the moving part through the connecting piece, and the second steering wheel is used for providing and hinder changeing the moment for the moving part through first steering wheel to hinder to intervene the consumptive material and continue to remove. The interventional operation robot operating device can provide force feedback for an operator in the process that the interventional operation robot controls interventional consumable materials to be inserted into a patient, and unnecessary damage to the patient is avoided.

Because the doctor needs to resort to the imaging device in the interventional operation process, the physical health of the doctor can be influenced by the radiation generated by the imaging device, and the doctor can consume a great deal of energy for operating the interventional consumable to treat the part of the patient. Therefore, in the operation process of a doctor, the doctor can perform the intervention operation on the part of the patient to be treated through the intervention operation robot without the doctor in the operating room by arranging the intervention operation robot operating device outside the operating room so as to operate the intervention operation robot operating device.

As a doctor performs an interventional procedure on a patient by manipulating an interventional procedure robot. On the one hand, the doctor can be prevented from being radiated by part of medical instruments in the operation process, and the damage of the radiation to the doctor is reduced. On the other hand, the doctor does not need to directly operate the intervention consumable, and only needs to control the intervention operation robot by operating the intervention operation robot operating device, so that the operation of the intervention consumable can be realized, the physical labor of the doctor can be lightened, the working intensity of the doctor is lightened, the doctor can keep full spirit and physical strength in the operation process of the patient, and the doctor can concentrate on the treatment of the patient more for the spirit, thereby improving the treatment effect of the patient.

In addition, the slight gap on the treatment part of the patient can influence various aspects such as the treatment effect of the patient, the perception of the patient to pain, the time required for rehabilitation after operation and the like, the operation is carried out on the part of the patient needing to be treated through the traditional doctor direct operation intervention consumable, and the doctor can be influenced by various factors such as the concentration degree of the doctor, the mental state, the shake of the hand holding intervention consumable and the like in the process of operating the intervention consumable due to the randomness of the part of the patient needing to be treated, so that the accuracy of the doctor operation intervention consumable on the part of the patient needing to be treated is influenced.

Through the interventional operation robot, a doctor operates the interventional operation robot operating device to treat the part of the patient to be treated, and the corresponding operation can be performed on the part of the patient to be treated only by sending a corresponding control instruction to the interventional operation robot. The interventional consumable arranged on the interventional operation robot can be accurately aligned to the part of the patient to be treated by controlling the interventional operation robot, so that accurate treatment on the patient is realized. Meanwhile, the interventional operation robot can be controlled, and the interventional consumable is accurately aligned to the part which is difficult to align to be treated when a doctor operates the interventional consumable, so that the surgical operation of the doctor is facilitated.

It should be noted that the vascular intervention operation robot includes a robot body, a mechanical arm, a driving mechanism and a consumable box. The robot body is used as the main body structure of the vascular intervention operation robot, and the vascular intervention operation robot can conveniently intervene in the part of the patient to be treated by adjusting the position between the robot body and the patient, so that the robot body can be adaptively adjusted according to different treatment parts of different patients, and the operation of doctors is facilitated.

The driving mechanism is arranged on one side of the robot body and connected with the robot body and the consumable box, and can be used as a power mechanism of the vascular intervention surgical robot, and the communication of the robot body and the consumable box can be realized through the driving mechanism, so that the consumable box moves relative to the robot body through the movement of the driving mechanism, and the intervention consumable on the consumable box moves to the part of a patient needing treatment.

The mechanical arm is connected to the robot body, the vascular intervention operation robot is fixed on an operating table in the process of intervention treatment positions of a patient, and the posture of the mechanical arm is adjusted, so that the robot body is driven to face the positions of the patient to be treated, and the robot body is subjected to first position adjustment. Under actuating mechanism's drive, drive the consumable box motion to make the intervention consumptive material on the consumable box intervene patient's treatment position according to the demand, intervene the consumable in the consumable box and carry out the second time position adjustment, realize intervene the operation treatment to patient's blood vessel, thereby improve the accuracy of treatment. After the vascular intervention operation robot finishes the operation on a patient, the disposable consumables such as the consumable box and the intervention consumable are removed, so that bacteria and viruses are prevented from polluting the vascular intervention operation robot, and in addition, the vascular intervention operation robot can be placed in a storage area through the disassembly mechanical arm, so that a doctor can conveniently use the operation table normally.

According to one aspect of the present disclosure, there is provided an interventional surgical robotic manipulator 1 comprising a stationary frame 11, a moveable member 12, a connecting member 13, an operating member 14, a first steering engine 15 and a second steering engine 16. As shown in fig. 1 and 2, the fixing frame 11 is used as a supporting structure of the interventional operation robot operating device 1 and is used for directly supporting and fixing the movable part 12 and the second steering engine 16, and since the movable part 12, the second steering engine 16, the connecting part 13, the operating part 14 and the first steering engine 15 are movably connected, the fixing frame 11 can indirectly support and fix the connecting part 13, the operating part 14 and the first steering engine 15 by directly supporting and fixing the movable part 12 and the second steering engine 16, so that other parts in the interventional operation robot operating device 1 can be supported and fixed by the fixing frame 11, and the interventional operation robot operating device 1 can work normally under the supporting action of the fixing frame 11.

Wherein, moving part 12 rotates to be connected in mount 11, and the power input of connecting piece 13 rotates to be connected in the one end of moving part 12, and the power output of connecting piece 13 is fixed to be set up on the output shaft of first steering wheel 15, and one side of first steering wheel 15 is fixed to be set up on the output shaft of second steering wheel 16, and second steering wheel 16 sets firmly on mount 11, and operating part 14 rotates to be connected in the one end that moving part 12 kept away from connecting piece 13. The operation piece 14 is used for controlling the rotation of the intervention consumable when rotating, and the operation piece 14 is used for controlling the movement of the intervention consumable when swinging and can drive the movable piece 12 to swing when swinging.

Specifically, in the process of swinging the operating member 14, the movable member 12 swings along with the swinging of the operating member 14, so as to drive the connecting member 13 connected with the movable member 12 to swing, and in the process of swinging the connecting member 13, the output shaft of the first steering engine 15 connected with the connecting member 13 is driven to rotate, or the first steering engine 15 is driven to rotate through the connecting member 13, and finally the output shaft of the second steering engine 16 is driven to rotate. The first steering engine 15 is used for providing a rotation resisting moment for the movable part 12 through the connecting piece 13, and the second steering engine 16 is used for providing a rotation resisting moment for the movable part 12 through the first steering engine 15.

It should be noted that, in the process of controlling the movement of the interventional consumable by operating the operating member 14, the doctor controls the swinging of the operating member 14 by swinging the operating member 14, so that the operating member 14 can swing in various directions, and thus, the control of different movement states of the interventional consumable is realized by the swinging movement of the operating member 14.

It should be noted that, the first direction is the X direction in fig. 1, that is, the axial direction of the output shaft of the second steering engine 16; the second direction is the Y direction in fig. 1, i.e., the axial direction of the operation element 14; the third direction is the Z direction in fig. 1, namely the axial direction of the output shaft of the first steering engine 15; the first plane is an XY plane in FIG. 1, namely a plane formed by surrounding the X direction and the Y direction; the second plane is the YZ plane in FIG. 1, namely a plane surrounded by the Y direction and the Z direction.

Wherein the axis of the output shaft of the second steering engine 16 intersects the axis of the output shaft of the first steering engine 15. Since the axis of the output shaft of the second steering engine 16 intersects with the axis of the output shaft of the first steering engine 15, the operating member 14 can be controlled to swing in multiple directions through the first steering engine 15 and the second steering engine 16, respectively.

Further, since the operating member 14 swings, the movable member 12 is driven to swing in a plurality of directions. When the operating member 14 swings along the XY plane, as shown in fig. 1, 2 and 3, the operating member 14 drives the movable member 12 to swing along the XY plane, the movable member 12 drives the connecting member 13 to swing along the XY plane, and because the axis direction of the output shaft of the first steering gear 15 is perpendicular to the XY plane, the axis direction of the output shaft of the second steering gear 16 is parallel to the XY plane, and one side of the first steering gear 15 is fixedly arranged on the output shaft of the second steering gear 16, the connecting member 13 can only drive the output shaft of the first steering gear 15 to rotate during the swinging process, but cannot drive the first steering gear 15 to rotate, and further cannot continue to drive the output shaft of the second steering gear 16 to rotate through the first steering gear 15, so that the movement of the intervention consumable can be controlled during the swinging process of the operating member 14 along the XY plane under the swinging action of the operating member 14.

When the movement of the intervention consumable in a certain direction is blocked, the remote control device feeds back the signal of the blocked intervention consumable to the first steering engine 15, so that a rotation blocking current is provided for the first steering engine 15, the first steering engine 15 provides a rotation blocking moment for the movable part 12 through the connecting piece 13, the connecting piece 13 is prevented from continuously swinging, and finally the operation piece 14 is prevented from continuously swinging, so that force feedback can be provided for an operator in the process of the intervention consumable intervention patient, and unnecessary damage to the patient is avoided.

When the operating member 14 swings along the YZ plane, as shown in fig. 1, 2 and 4, the operating member 14 drives the movable member 12 to swing along the YZ plane, the movable member 12 drives the connecting member 13 to swing along the YZ plane, and since the axis direction of the output shaft of the first steering gear 15 is parallel to the YZ plane, the axis direction of the output shaft of the second steering gear 16 is perpendicular to the YZ plane, and one side of the first steering gear 15 is fixedly disposed on the output shaft of the second steering gear 16, the connecting member 13 cannot drive the output shaft of the first steering gear 15 to rotate during the swinging process, but drives the first steering gear 15 to rotate along the axis of the output shaft of the second steering gear 16 together, so as to drive the output shaft of the second steering gear 16 to rotate, and the movement of the intervention consumable can be controlled during the swinging process of the operating member 14 along the YZ plane.

When the movement of the intervention consumable in a certain direction is blocked, the remote control device feeds back the signal of the blocked intervention consumable to the first steering engine 15, so that a rotation blocking current is provided for the first steering engine 15, the first steering engine 15 provides a rotation blocking moment for the movable part 12 through the connecting piece 13, the connecting piece 13 is prevented from continuously swinging, and finally the operation piece 14 is prevented from continuously swinging, so that force feedback can be provided for an operator in the process of the intervention consumable intervention patient, and unnecessary damage to the patient is avoided.

For example, when the operating member 14 swings along a plane inclined to the XY plane or inclined to the YZ plane, as shown in fig. 1 and 2, it may be understood that the operating member 14 drives the movable member 12 to swing along a plane inclined to the XY plane or inclined to the YZ plane, and the movable member 12 drives the connecting member 13 to swing along a plane inclined to the XY plane or inclined to the YZ plane, because the axial direction of the output shaft of the first steering gear 15 is inclined to the XY plane or inclined to the YZ plane, and the axial direction of the output shaft of the second steering gear 16 is inclined to the XY plane or inclined to the YZ plane, and one side of the first steering gear 15 is fixedly disposed on the output shaft of the second steering gear 16, the connecting member 13 may drive the output shaft of the first steering gear 15 to rotate during the swinging, and may also drive the first steering gear 15 to rotate along the axis of the output shaft of the second steering gear 16 together, thereby driving the movement of the consumable in the intervention may be controlled during the swinging of the operating member 14 along the plane inclined to the XY plane or inclined to the YZ plane.

When the removal of intervene consumptive material in a certain direction is obstructed, the remote control device will intervene the signal feedback that the consumptive material is obstructed to first steering wheel 15 and second steering wheel 16 to for first steering wheel 15 and second steering wheel 16 provide and hinder the commentaries on classics electric current, first steering wheel 15 and second steering wheel 16 provide the ascending anti-commentaries on classics moment of different directions for moving part 12 respectively, thereby hinder connecting piece 13 to continue the swing, finally hinder operating piece 14 to continue the swing, can intervene the in-process that the consumptive material intervenes the patient, provide force feedback for the operator, avoid causing unnecessary injury to the patient.

When the operation piece 14 swings, the movable piece 12 can be driven to swing in multiple directions by the mutual matching of the movable piece 12, the connecting piece 13, the first steering engine 15 and the second steering engine 16, on one hand, the intervention consumable can be controlled to move in all directions, so that various use requirements of operators in the blood vessel of a patient through the intervention consumable are met; on the other hand, in the internal in-process of intervention consumable intervention patient, when vascular route motion is unsmooth, can provide force feedback for the operator, provide through distal end controlling means and hinder changeing the electric current for first steering wheel 15 and second steering wheel 16, under first steering wheel 15 and second steering wheel 16's mutually supporting, directly for connecting piece 13 provides to hinder changeing the moment through first steering wheel 15, perhaps for first steering wheel 15 provides to hinder changeing the moment through second steering wheel 16, finally hinder the operating piece 14 and all can't swing in a plurality of directions, can avoid causing unnecessary injury to the patient.

It should be noted that, at present, under the control of the interventional operation robot operating device 1, the movement of the interventional consumable is mainly forward, backward and rotational movement, and by swinging the operating member 14, the operating member 14 in the interventional operation robot operating device 1 of the present disclosure can swing in multiple directions for controlling the forward and backward movement of the interventional consumable, which is mainly forward and backward movement corresponding to the interventional consumable in actual production, but when the interventional consumable needs to move in an oblique direction or other directions different from the forward and backward directions, the operating member 14 in the interventional operation robot operating device 1 of the present disclosure can correspond to the directions of the interventional consumable, and the movement of the interventional consumable in multiple directions is realized by swinging the operating member 14 in multiple directions, so as to satisfy various requirements of an operator on the vascular of a patient using the interventional consumable.

The following describes each part of the interventional operation robot manipulator 1 and the interventional operation robot 2 in detail:

as an alternative embodiment, the operating member 14 is rotatably connected to an end of the movable member 12 remote from the connecting member 13, and the operating member 14 is adapted to control the rotation of the interventional consumable when rotated axially. Specifically, because the intervention consumable is correspondingly rotated under the axial rotation of the operation piece 14, on one hand, the operation piece 14 can rotate at all angles along the axial direction, so that the intervention consumable can rotate at all angles, and the rotation of the intervention consumable can be better controlled through the operation piece 14, so that the intervention consumable can rotate at all angles; on the other hand, when the operation element 14 axially rotates, the operation element 14 always rotates in the axial direction, and the operation element 14 and other structures connected to the operation element 14 do not change in position in other spatial positions, so that the space utilization of the interventional operation robot manipulator 1 can be improved. Meanwhile, when the operating member 14 rotates along the axial direction, the movement of other structures cannot be influenced, and the operation of doctors can be facilitated.

In an exemplary embodiment of the present disclosure, the plurality of connection members 13 is plural, and the plurality of connection members 13 includes a first connection member 131 and a second connection member 132. As shown in fig. 2 and 3, one end of the first connecting member 131 is rotatably connected to one end of the movable member 12 away from the operating member 14, the other end of the first connecting member 131 is rotatably connected to one end of the second connecting member 132, and the other end of the second connecting member 132 is fixedly disposed on the output shaft of the first steering engine 15.

Specifically, when the operating member 14 swings, the operating member 14 drives the movable member 12 to swing, the movable member 12 drives the first connecting member 131 to swing, and the first connecting member 131 drives the second connecting member 132 to swing, so that the second connecting member 132 drives the output shaft of the first steering engine 15 to rotate, or the second connecting member 132 drives the first steering engine 15 to rotate, and then drives the output shaft of the second steering engine 16 to rotate, and finally the intervention consumable is controlled to move along all directions. Conversely, when the movement of the interventional consumable in the blood vessel of the patient is hindered, the remote control device can generate rotation-resisting currents for the first steering engine 15 and the second steering engine 16, and further generates rotation-resisting torque for the second connecting piece 132 through the first steering engine 15 and the second steering engine 16, so that the rotation of the second connecting piece 132 is hindered, the rotation of the operating piece 14 is finally hindered, force feedback is provided for an operator, and unnecessary damage to the patient is avoided.

Because the movable part 12 is connected with the output shaft of the first steering engine 15 through the first connecting part 131 and the second connecting part 132, on one hand, the position of the movable part 12 relative to the first steering engine 15 can be adjusted through the cooperation of the first connecting part 131 and the second connecting part 132, so that the structures of the first steering engine 15, the movable part 12 and the like are suitable for the complex space inside the interventional surgical robot operating device 1; on the other hand, as the number of the connecting pieces 13 is multiple, the movement of the movable piece 12 at different positions can be regulated through the multiple connecting pieces 13, so that the movement process of the movable piece 12 can be more stable; in addition, through the cooperation of the first connecting piece 131 and the second connecting piece 132, the swinging angle of the movable piece 12 can be more comprehensive, so that the movable piece 12 can be driven to swing in multiple directions under the control of the operating piece 14.

In an exemplary embodiment of the present disclosure, the interventional surgical robotic manipulation device 1 further comprises a third steering engine 17. As shown in fig. 1 and 2, a third steering engine 17 is disposed between the movable member 12 and the operating member 14, for providing a rotation-resisting moment to the operating member 14. Specifically, in the process of rotating the operating member 14, the operating member 14 drives the third steering engine 17 to rotate together, and then the rotation of the interventional consumable is controlled by the remote control device. Similarly, when the rotation in-process of intervention consumptive material receives the resistance, the remote control device can transmit the signal that senses to third steering wheel 17, and control third steering wheel 17 produces and hinders the commentaries on classics electric current, and then provides and hinder the commentaries on classics moment for operating member 14 through third steering wheel 17, hinders the continuation rotation of operating member 14, provides force feedback for the operator, avoids causing unnecessary injury to the patient.

In addition, because the third steering gear 17 is arranged between the movable part 12 and the operating part 14, the first steering gear 15 and the second steering gear 16 are arranged on one side far away from the third steering gear 17, the movable part 12 can not be driven to rotate in the process of rotating the output shaft of the third steering gear 17 driven by the operating part 14, and the first steering gear 15 and the second steering gear 16 can not be driven to rotate, so that the rotation motion and the swinging motion of the operating part 14 are not influenced, and simultaneously the rotation resisting moment provided by the first steering gear 15 and the second steering gear 16 for the movable part 12 and the rotation resisting moment provided by the third steering gear 17 for the operating part 14 are not influenced, the first steering gear 15, the second steering gear 16 and the third steering gear 17 can be respectively controlled, and different use requirements of the interventional operation robot operating device 1 are met.

In an exemplary embodiment of the present disclosure, one side of the holder 11 is provided with a notch 111. The movable member 12 includes a movable section 121 and a connecting section 122. As shown in fig. 2, 3 and 5, the movable section 121 is rotatably clamped in the notch 111, the connecting section 122 includes a first connecting section 1221 and a second connecting section 1222, the first connecting section 1221 and the second connecting section 1222 are respectively disposed on two sides of the movable section 121, one end of the first connecting section 1221 away from the movable section 121 is connected to the third steering engine 17, and one end of the second connecting section 1222 away from the movable section 121 is connected to the first connecting member 131.

Specifically, since the movable element 12 includes the movable section 121 and the connecting section 122, the connecting section 122 includes the first connecting section 1221 and the second connecting section 1222, and the first connecting section 1221 and the second connecting section 1222 are respectively disposed at two sides of the movable section 121, one side of the fixing frame 11 is provided with the notch 111, the movable section 121 is rotatably clamped in the notch 111, on one hand, the first connecting section 1221 and the second connecting section 1222 at two sides of the movable section 121 can be respectively connected to the third steering engine 17 and the first connecting element 131, and simultaneously, the movable section 121 can be ensured to be rotatably clamped in the notch 111, thereby simultaneously realizing the connection and rotation functions of the movable element 12, and ensuring that all parts of the movable element 12 are not mutually affected; on the other hand, since the movable section 121 is rotatably disposed in the notch 111, the operating member 14 can drive the movable section 121 to swing in multiple directions during swinging, so as to facilitate adjusting the movement direction of the insertion consumable.

In an exemplary embodiment of the present disclosure, the center of the movable segment 121 is located on the axis of the output shaft of the second steering engine 16.

As shown in fig. 3, since the movable segment 121 may swing along the XY plane, may swing along the YZ plane, or may swing along a plane inclined to the XY plane or the YZ plane, the movable segment 121 is rotationally connected to the connecting piece 13, the first steering engine 15, and the second steering engine 16, but the second steering engine 16 is fixedly disposed on the fixed frame 11, if the center of the movable segment 121 is not located on the axis of the output shaft of the second steering engine 16, the movement track of the movable segment 121 and the movement track of the first steering engine 15 that the first steering engine 15 rotates along the output shaft of the second steering engine 16 cannot be synchronized, and the operating piece 14 cannot drive the movable segment 121 to swing in a part of the plane, or when the operating piece 14 drives the movable segment 121 to swing in a certain plane, the swing angle is limited, so that the swing of the movable segment 121 is limited. The center of the movable section 121 is arranged on the axis of the output shaft of the second steering engine 16, so that the movable section 121 can be ensured to normally swing in the swinging process, and the connecting piece 13 and the first steering engine 15 can normally swing, so that the operating piece 14 can drive the movable piece 12 to normally swing in multiple directions.

In one exemplary embodiment of the present disclosure, the axis of the output shaft of the second steering engine 16 is perpendicular to the axis of the operating member 14 in the initial state; the axis of the output shaft of the first steering engine 15 is perpendicular to the axis of the operating member 14 in the initial state, and perpendicular to the axis of the output shaft of the second steering engine 16; the first connecting piece 131 extends parallel to the axis of the output shaft of the second steering engine 16.

Note that, the initial state of the operation element 14 is a natural state in which the operation element 14 is held when the operation element 14 is not operated; the operating member 14 drives the movable member 12 to swing in a plurality of directions for controlling the movement of the intervention consumable, and different positions of the swing of the operating member 14 correspond to different speeds in the moving process of the intervention consumable respectively, and as the tail end blood vessel of the patient is extremely tiny in the process of the intervention operation robot operating device 1 intervention patient blood vessel by the operation, the different positions of the swing of the operating member 14 need to be distinguished in the operation process, and the positions of the operating member 14 in the intervention operation robot operating device 1 can be simply and intuitively determined by combining the distribution of Cartesian coordinate systems.

In the interventional surgical robot manipulator 1 of the present disclosure, the X direction, the Y direction, and the Z direction correspond to three directions in the cartesian coordinate system, respectively, as shown in fig. 1, 3, and 4, since the axis of the output shaft of the second steering engine 16 is perpendicular to the axis of the operating member 14 in the initial state; meanwhile, the axis of the output shaft of the first steering engine 15 is perpendicular to the axis of the operating piece 14 in the initial state and perpendicular to the axis of the output shaft of the second steering engine 16; and the extending direction of the first connecting piece 131 is parallel to the axis of the output shaft of the second steering engine 16, so that the motions of the operating piece 14, the movable piece 12, the connecting piece 13, the output shaft of the first steering engine 15 and the output shaft of the second steering engine 16 in the interventional operation robot operating device 1 can completely correspond to the position direction in the Cartesian coordinate system, the operator can conveniently confirm the swinging position and direction of the operating piece 14, meanwhile, the equipment can be made more simply, and the influence caused by non-standard problems and the like is not required to be considered.

In one exemplary embodiment of the present disclosure, the line connecting the center point of the movable section 121, the two end points of the first link 131, and the intersection point of the axis of the output shaft of the first steering engine 15 and the axis of the output shaft of the second steering engine 16 is a parallelogram.

As shown in fig. 3, since the center point of the movable section 121, the two end points of the first connecting piece 131, and the connecting line of the intersection point of the axis of the output shaft of the first steering engine 15 and the axis of the output shaft of the second steering engine 16 are parallelograms, the inclination angle of the movable section 121 relative to the fixed frame 11 and the inclination angle of the second connecting piece 132 relative to the first connecting piece 131 are kept synchronous, the inclination angle of the first connecting piece 131 relative to the movable piece 12 and the inclination angle of the second connecting piece 132 relative to the first steering engine 15 are kept synchronous, so that the movements of the movable piece 12, the first connecting piece 131, the second connecting piece 132 and the first steering engine 15 are more coordinated, the swinging angle of the movable piece 12 can be conveniently observed and mastered, and the operation of the interventional surgical robot operating device 1 by an operator is facilitated.

In an exemplary embodiment of the present disclosure, the interventional surgical robotic manipulator 1 further comprises a fixation ring 18. As shown in fig. 1 and 2, the inner side wall of the fixed ring 18 is a sphere, the movable section 121 is a sphere, the side wall of the notch 111 at one side of the fixed frame 11 is a sphere, the sphere diameter of the fixed ring 18 and the sphere diameter of the notch 111 are equal to the diameter of the movable section 121, and the movable section 121 is rotatably clamped in the notch 111 and the fixed ring 18.

Wherein, because the movable section 121 is a sphere, in the process that the movable section 121 rotates along the sphere center, the movable section 121 can rotate along all directions, so that the operating member 14 connected with the movable section 121 can swing in all directions, thereby meeting the control of the intervention consumable in all directions.

In addition, since the fixing ring 18 and the notch 111 are both spherical, and the spherical diameter of the fixing ring 18 and the spherical diameter of the notch 111 are both equal to the diameter of the movable section 121, of course, the equality is not strictly equal, and the movable section 121 can be clamped between the fixing ring 18 and the notch 111 in a multi-directional rotation manner as long as the equality is in an adaptive size, on one hand, the movable piece 12 can swing around the spherical center of the movable section 121 in all directions; on the other hand, in the process of rotating the movable section 121, the restraint of the fixed ring 18 and the fixed frame 11 at the two sides prevents the movable section 121 from rotating away from the sphere center, thereby preventing the swing of the operating element 14 from generating errors, and even in the process of driving the movable element 12 to swing by the operating element 14, the movable element 12 and the fixed frame 11 are separated to influence the normal operation of the interventional operation robot operating device 1.

In an exemplary embodiment of the present disclosure, moveable member 12 further comprises a gyroscope 123. As shown in fig. 2, a gyroscope 123 is provided at one side of the second connection section 1222 for measuring the inclination angle of the movable element 12. Specifically, the gyroscope 123 is an angular motion detecting device using a momentum moment sensitive housing of a high-speed rotation body with respect to an inertia space about one or two axes orthogonal to a rotation axis. The main part of the gyroscope 123 is a rotor rotating at a very high angular velocity to a rotating shaft, the rotor is arranged in a bracket, and an inner ring frame is arranged on a central shaft passing through the rotor, so that the gyroscope 123 can freely move around two planar shafts. An outer ring frame is added outside the inner ring frame, and the gyroscope 123 can be provided with two balance rings and can freely move around the plane triaxial.

Because the movable part 12 further comprises the gyroscope 123, the gyroscope 123 is arranged on one side of the second connecting section 1222, and can accurately measure and control the angle of the second connecting section 1222 when the gyroscope 123 swings, and because the second connecting section 1222 is connected with the movable section 121 and then connected with the first connecting section 1221, the first connecting section 1221 is finally connected with the operating part 14 through the third steering engine 17, and can accurately measure and control the angle of the operating part 14 when the gyroscope swings, thereby improving the accuracy of an operator in the operation process.

As an alternative embodiment, the interventional surgical robotic manipulator 1 further comprises a first rudder mount and a second rudder mount. The first steering engine 15 is fixedly arranged on a first steering engine frame, the first steering engine frame is fixedly arranged on a second steering engine 16, the second steering engine 16 is fixedly arranged on a second steering engine frame, and the second steering engine frame is fixedly connected to the fixing frame 11. By arranging the first rudder frame and the second rudder frame, on one hand, the connection between the first steering engine 15 and the second steering engine 16 can be tighter, and the connection between the second steering engine 16 and the fixing frame 11 can be tighter; on the other hand, can regard as the transition structure that first steering wheel 15, second steering wheel 16 and mount 11 are connected, when can avoiding first steering wheel 15, second steering wheel 16 and the direct fixed connection of mount 11, intervene surgical robot controlling device 1 inner structure self weight and to the damage that first steering wheel 15, second steering wheel 16 caused, can improve the life of first steering wheel 15 and second steering wheel 16.

Optionally, the interventional surgical robotic manipulator 1 further comprises a first jackscrew, a second jackscrew and a third jackscrew. The first jackscrew is movably screwed on the connecting piece 13 and used for fixedly connecting the connecting piece 13 with an output shaft of the first steering engine 15. The second jackscrew is movably screwed on the first rudder frame and is used for fixedly connecting the first rudder frame with an output shaft of the second steering engine 16. The third jackscrew is movably screwed in the operating piece 14 and is used for fixedly connecting the operating piece 14 with an output shaft of the third steering engine 17.

The connecting piece 13 is fixedly connected with the output shaft of the first steering engine 15 through the first jackscrew, the first rudder frame is fixedly connected with the output shaft of the second steering engine 16 through the second jackscrew, the operating piece 14 is fixedly connected with the output shaft of the third steering engine 17 through the third jackscrew, and the connecting piece 13 can be prevented from falling off from the first steering engine 15, the first rudder frame, the second steering engine 16, the operating piece 14 and the third steering engine 17, so that the normal use of the interventional operation robot operating device 1 is affected. In addition, when any one of the structures of the connecting piece 13, the first steering engine 15, the first steering engine frame, the second steering engine 16, the operating piece 14 and the third steering engine 17 is problematic, the connecting piece 13 and the first steering engine 15 which are connected by the first jackscrew can be conveniently detached, and meanwhile, the first steering engine frame and the second steering engine 16 which are connected by the second jackscrew can be conveniently detached, and the operating piece 14 and the third steering engine 17 which are connected by the third jackscrew can be conveniently detached, so that equipment maintenance is facilitated.

In an exemplary embodiment of the present disclosure, the first steering engine 15 and the second steering engine 16 are configured to generate corresponding anti-rotation currents according to the resistance information received when the interventional consumable moves, and provide corresponding anti-rotation moments for the movable member 12; the third steering engine 17 is used for generating corresponding rotation-resisting current according to the received resistance information received when the interventional consumable rotates, and providing corresponding rotation-resisting moment for the operating piece 14.

When the interventional consumable is blocked in a certain direction in a blood vessel of a patient, the first steering engine 15 generates rotation blocking current, so that rotation blocking torque is provided for the connecting piece 13, the connecting piece 13 is prevented from continuing to swing, and the movable piece 12 is prevented from swinging relative to the fixed frame 11, so that the operating piece 14 indirectly connected with the movable piece 12 is prevented from continuing to swing, and the control of the operating piece 14 is realized. When intervention consumptive material is blocked at the intraductal another direction motion of patient, second steering wheel 16 produces and hinders the commentaries on classics electric current to for first steering wheel 15 provides and hinders the commentaries on classics moment, and the axis that hinders the output shaft of first steering wheel 15 along second steering wheel 16 continues to rotate, and then hinders the connecting piece 13 that is connected with first steering wheel 15 and continue to rotate, under the condition that connecting piece 13 motion is obstructed, can hinder moving part 12 to swing in this direction and be obstructed, finally hinder operating part 14 to continue the swing, realize the control to operating part 14, through the cooperation control of first steering wheel 15 and second steering wheel 16, can realize the control when swinging in different directions to operating part 14.

Similarly, when the intervention consumable is blocked in the patient, the third steering engine 17 generates a rotation blocking current, so that rotation blocking torque is directly provided for the operating element 14 connected with the third steering engine 17, the operating element 14 is prevented from continuously rotating, control over the operating element 14 is achieved, force feedback can be provided for an operator in the intervention consumable intervention patient process, and unnecessary damage to the patient is avoided.

According to one aspect of the present disclosure, an interventional procedure robot 2 is provided, comprising a manipulation box 21 and an interventional procedure robot handling device 1 as described in the above embodiments. As shown in fig. 6, 7 and 8, the interventional surgical robotic manipulation apparatus 1 is partially located inside the manipulation box 21, and one end of the manipulation member 14 passes through a sidewall of the manipulation box 21 and is located outside the manipulation box 21. The control box 21 is provided with a control panel 211, and the control panel 211 is used for displaying simulation images of the interventional consumable interventional human body movement.

Since the interventional operation robot operating device 1 is partially located in the operation box 21 and one end of the operation member 14 passes through the side wall of the operation box 21 and is located outside the operation box 21, the internal structure of the interventional operation robot operating device 1 can be protected by the operation box 21 to avoid the internal structure of the interventional operation robot operating device 1 from being damaged by the outside. Meanwhile, the motion transmission of the structures such as the movable piece 12 and the connecting piece 13 can be realized through the operating piece 14 penetrating through the side wall of the control box 21, so that the operation of operators is facilitated.

In addition, because the control panel 211 is arranged on the control box 21, the control panel 211 is used for displaying the simulation image of the intervention consumable intervention human body motion, and in the process that the operator operates the intervention operation robot operating device 1 to control the intervention consumable intervention human body blood vessel of the patient, the part of the intervention consumable relative to the patient to be treated can be observed through the motion simulation image displayed by the control panel 211, so that the operation adjustment is convenient, the operation of the operator can be facilitated, and the whole operation process is safer and more reliable.

Optionally, the interventional operation robot 2 further includes a controller, where the first steering engine 15, the second steering engine 16 and the third steering engine 17 are electrically connected with the controller, and the controller is configured to receive and process stress information of the interventional consumable, and control the first steering engine 15, the second steering engine 16 and the third steering engine 17 to generate corresponding rotation-resisting currents.

Specifically, when the intervention consumable moves into the patient, the controller can receive and process the stress information of the intervention consumable in the patient, and of course, the specific detection mode, feedback time and mode of the stress information are not limiting, so that the first steering engine 15, the second steering engine 16 and the third steering engine 17 are controlled to generate corresponding rotation-resisting currents, the connecting piece 13 is further prevented from generating rotation-resisting moment through the first steering engine 15, the second steering engine 16 is prevented from generating rotation-resisting moment to the first steering engine 15, the third steering engine 17 is prevented from generating rotation-resisting moment to the operating piece 14, control of the operating piece 14 is achieved, force feedback can be provided for an operator in the process of the intervention consumable in the patient, and unnecessary damage to the patient is avoided.

As an alternative embodiment, the interventional surgical robotic manipulator 1 has at least two groups, each for controlling the movement of different interventional consumables (e.g. guide wires and catheters). Because the interventional operation robot operating device 1 has at least two groups, interventional consumables such as a catheter, a guide wire and the like can be controlled respectively, so that the interventional consumables such as the guide wire, the catheter and the like can work independently, and the use requirements of different working states can be met.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (11)

1. An interventional procedure robotic manipulator, comprising:

a fixing frame;

the movable piece is rotationally connected with the fixed frame;

the power input end of the connecting piece is rotationally connected with one end of the movable piece;

The operation piece is rotationally connected to one end, far away from the connecting piece, of the movable piece, the operation piece is used for controlling the rotation of the intervention consumable when rotating, and the operation piece is used for controlling the movement of the intervention consumable when swinging and can drive the movable piece to swing when swinging;

the power output end of the connecting piece is fixedly arranged on an output shaft of the first steering engine, and the first steering engine is used for providing rotation resistance moment for the movable piece through the connecting piece;

the second steering engine is fixedly arranged on the fixing frame, one side of the first steering engine is fixedly arranged on an output shaft of the second steering engine, the second steering engine is used for providing rotation resistance moment for the movable part through the first steering engine, and the axis of the output shaft of the second steering engine is intersected with the axis of the output shaft of the first steering engine.

2. The interventional procedure robot handling device of claim 1, wherein the plurality of connectors comprises a first connector and a second connector, one end of the first connector is rotatably connected to one end of the movable member away from the handling member, the other end of the first connector is rotatably connected to one end of the second connector, and the other end of the second connector is fixedly arranged on an output shaft of the first steering engine.

3. The interventional procedure robotic manipulator according to claim 2, wherein the interventional procedure robotic manipulator further comprises:

the third steering engine is arranged between the movable part and the operating part and used for providing rotation resistance moment for the operating part.

4. The interventional procedure robotic manipulator according to claim 3, wherein a notch is provided in one side of the holder;

the movable member includes:

the movable section is rotatably clamped in the notch;

the connecting section comprises a first connecting section and a second connecting section, the first connecting section and the second connecting section are respectively arranged on two sides of the movable section, one end, away from the movable section, of the first connecting section is connected with the third steering engine, and one end, away from the movable section, of the second connecting section is connected with the first connecting piece.

5. The interventional procedure robotic manipulator of claim 4, wherein the centre of the movable section is located on the axis of the output shaft of the second steering engine.

6. The interventional procedure robotic manipulator according to claim 4, wherein the axis of the output shaft of the second steering engine is perpendicular to the axis of the manipulator in the initial state;

The axis of the output shaft of the first steering engine is perpendicular to the axis of the operating piece in an initial state and perpendicular to the axis of the output shaft of the second steering engine;

the extending direction of the first connecting piece is parallel to the axis of the output shaft of the second steering engine.

7. The interventional procedure robotic manipulator according to claim 4, wherein the line connecting the center point of the movable segment, the two end points of the first connecting piece and the intersection of the axis of the output shaft of the first steering engine and the axis of the output shaft of the second steering engine is a parallelogram.

8. The interventional procedure robotic manipulator of claim 4, further comprising:

the inner side wall of the fixing ring is a spherical surface;

the movable section is a sphere, the notch on one side of the fixing frame is a sphere, the sphere diameter of the fixing ring and the sphere diameter of the notch are equal to the diameter of the movable section, and the movable section can be clamped in the notch and the fixing ring in a multi-direction rotation manner.

9. The interventional procedure robotic manipulator of claim 4, wherein the moveable member further comprises:

And the gyroscope is arranged on one side of the second connecting section and is used for measuring the inclination angle of the movable piece.

10. The interventional procedure robotic manipulator according to any one of claims 3-9, wherein the first steering engine and the second steering engine are adapted to generate corresponding rotation blocking currents and provide corresponding rotation blocking moments for the moveable part according to the received resistance information received when the interventional consumable is moved;

the third steering engine is used for generating corresponding rotation-resisting current according to the received resistance information received when the intervention consumable rotates and providing corresponding rotation-resisting moment for the operating piece.

11. An interventional procedure robot comprising a control box and an interventional procedure robot manipulator according to any one of claims 1-10;

the interventional operation robot operating device part is positioned in the operating box, one end of the operating piece penetrates through the side wall of the operating box and is positioned outside the operating box;

the control box is provided with a control panel, and the control panel is used for displaying the simulation image of the intervention consumable intervention human body internal motion.