CN212699107U

CN212699107U - Robot for vascular intervention operation

Info

Publication number: CN212699107U
Application number: CN202021177822.4U
Authority: CN
Inventors: 刁燕; 杨韶勇; 李嘉晟; 罗华; 田兴国
Original assignee: Sichuan University
Current assignee: Sichuan University
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-03-16
Anticipated expiration: 2030-06-23

Abstract

The invention discloses a vascular intervention operation robot, and belongs to the field of medical equipment. The blood vessel interventional operation replacing human hand includes five modules, including one propelling unit, one twisting unit, one guide wire guiding unit, one wire pressing unit and one bedside positioning unit. The twisting device drives a two-finger chuck coaxial with the large gear to clamp the guide wire catheter to rotate, and the two-finger chuck clamps the guide wire catheter by opening and closing. The guide wire guiding device drives the cam to adjust the distance of the guiding wheel, so that the guide wire guiding device is suitable for the diameter of the guide wire catheter. The wire pressing device is controlled by an electromagnet, and when the wire pressing device is electrified, the two movable fingers are closed to clamp the fixed position of the guide wire; when the power is off, the moving fingers are separated, and the guide wire can move freely. The bedside positioning device comprises an X-axis moving device and a Y-axis moving device, and the X-axis moving device drives the Y-axis moving device to move linearly through a ball screw. The Y-axis moving device drives the blood vessel interventional operation robot to move and position through the ball screw.

Description

Robot for vascular intervention operation

Technical Field

The utility model relates to a minimally invasive blood vessel intervention operation robot, which belongs to the field of medical equipment.

Background

The vascular interventional operation means that under the guidance of a Digital Subtraction Angiography (DSA), a doctor operates a catheter to move in a human blood vessel to treat a focus, so that the aims of embolizing a malformed blood vessel, dissolving thrombus, expanding a narrow blood vessel and the like are fulfilled. Compared with the traditional open operation, the method has the advantages of small wound, safety, effectiveness, quick postoperative recovery, few complications and the like. The main steps of the vascular intervention operation are to push a catheter to the lesion position and carry out corresponding diagnosis and treatment. Thus, the ability to deliver a catheter to a precise lesion location directly affects the quality of the overall procedure and the health of the patient. There are many drawbacks to manual intervention catheters: (1) doctors work in an X-ray environment, and the long-term operation has great harm to the body; (2) the existing operation method has strong skill, high risk and long operation training time of a specialist, and limits the wide application of the technology; (3) due to the complex operation and long operation time, the operation quality can be directly influenced by the factors such as doctor fatigue and unstable hand operation, and the survival quality of the patient is further influenced. These disadvantages limit the wide application of vascular interventional procedures, and the organic integration of robotics with vascular interventional techniques is an important approach to solve the above problems.

The utility model discloses intervene operation design a section surgical robot to blood vessel to alleviate doctor's burden and the radiation that the doctor received in-process of performing the operation, improve the security of operation simultaneously. The utility model discloses a mechanical structure is simulated the push-and-pull of operation in-process staff, is twisted with the hands, is pressed operating procedure such as silk, and safe more effective.

SUMMERY OF THE UTILITY MODEL

The utility model provides a model of vascular surgery robot, wherein include five functional module altogether: the device comprises a propelling device, a twisting device, a guide wire guiding device, a wire pressing device and a bedside positioning device. The propulsion device realizes the linear advance and retreat of the guide wire of the catheter; the twisting device realizes the rotation of the guide wire; the guiding device is used for guiding the advance and retreat of the guide wire of the catheter; the wire pressing device is used for fixing the position of the guide wire after the guide wire reaches a focus so as to facilitate the entry of subsequent interventional instruments such as a catheter, a balloon and a stent. All the functional modules coordinate together, so that the accurate guide wire and guide pipe intervention effect of the vascular intervention surgical robot can be effectively realized.

Preferably, the propelling device of the device is mainly realized by a first ball screw, a first linear guide rail and a first driving motor. A first driving motor located at the end of the device directly drives the first ball screw to rotate, the first driving motor is fixed with the bottom of the main body shell through the rack, and a sliding table arranged on the screw is limited and guided through first linear guide rails on two sides to move back and forth, so that the guide wire can be driven to push and pull back and forth. The propelling device drives the first ball screw to rotate to drive the sliding table to move by using the first driving motor, and the first linear guide rail is used for limiting and guiding, so that the guide wire of the catheter can accurately move forwards and backwards in the linear direction.

Preferably, the twisting device is arranged on the sliding table, the twisting function is mainly realized through circumferential rotation of the pair of gear pairs, and the device comprises the pair of gear pairs, a stepping motor and two finger chucks. Wherein the two-finger chuck fixes the guide wire of the catheter by opening and closing up and down. The twisting device can well realize the rotation movement of the guide wire of the catheter, and the twisting action operated by hands is highly restored.

Preferably, the guide wire guiding device is mounted on the sliding table, and the guiding device is positioned at the most front end of the interventional surgical robot. The device is mainly guided by a pair of rollers, and the center distance of the device is controlled by a cam which is directly controlled by a second driving motor. The guide wire guiding device can accurately adjust and control the position of the guide wire, and the guide wire catheter can smoothly move linearly. And functions to support the guide wire catheter.

Before the saccule, the stent and other interventional devices enter an artery, a guide wire needs to be put in, and after the guide wire reaches a focus, the saccule and the stent are delivered to the focus through a micro-catheter. In order to ensure that the position of the tail end of the guide wire is unchanged, a doctor needs to move the guide wire and press the guide wire simultaneously in the manual operation to prevent the guide wire from axially moving along with the balloon catheter, the fine operation extremely tests the operation experience of the doctor, and the labor intensity of the doctor and the uncertainty of the operation are increased. Therefore, moving the catheter and pressing the wire during the operation are one of the keys for ensuring the success of the operation.

Preferably, the wire pressing device is designed by using two fingers of electromagnetic clamps, when the coil is electrified, the armature iron drives the wedge-shaped block to move upwards due to electromagnetic attraction, at the moment, the two clamping plates are closed, and the electromagnetic clamps are in a closed state; when the coil is powered off, the armature iron is not attracted by electromagnetic force any more, the reset spring pulls the wedge-shaped block to move downwards, the two clamping plates move towards two sides at the moment, and the electromagnetic clamp is in an 'on' state. Through the wire pressing device of design, can press the silk action to seal wire pipe in real time, ensure that the position that seal wire pipe reachd is accurate, liberated the manual silk action of pressing of doctor, avoid the long-time operation fatigue that the silk brought of pressing of doctor.

Preferably, the utility model provides a bedside positioner divide into X axle mobile device and Y axle mobile device two parts and constitutes, and positioner realizes the seal wire through the removal of two degrees of freedom and delivers device and patient's location. The guide wire motion of different body positions of a patient can be adapted through the movement in two directions.

Has the advantages that:

1. the vascular intervention operation robot has 5 functional modules, and the functional modules coordinate together, so that the operation action of a doctor can be replaced, and a guide wire and a catheter can safely and accurately intervene in the corresponding position of a blood vessel.

2. The propelling device drives the ball screw to rotate by using the stepping motor to drive the sliding table to move, the sliding table pushes or extracts the guide wire and the guide pipe along the linear guide rail foreground or retreats, the guide wire and the guide pipe can advance and retreat along the linear direction, and the speed of pushing the guide wire and the guide pipe can be effectively adjusted by controlling the moving speed of the sliding table.

3. The twisting device drives the guide wire and the catheter to perform circumferential rotary motion through the motor, the rotary motion of the guide wire and the catheter can be well realized, the twisting action operated by hands is highly restored, the direction of the most front bent part of the guide wire and the catheter can be effectively adjusted by controlling the rotating angle, and the guide wire and the catheter enter a preset blood vessel when meeting a blood vessel bifurcation intersection.

4. The guide wire guiding device is mainly guided by a pair of guide wheels, the guide wheels are arranged on a linear sliding table of the lower end guide rail and can move along the horizontal direction of the sliding table, and the guide wire guiding device can be controlled to clamp guide wire catheters with different diameters by adjusting the center distance of the two guide wheels. The groove structure designed on the guide wheel can be well adapted to the circular structures of guide wires and catheters. The guide wheel is provided with a disposable wheel sleeve, and a new wheel sleeve can be replaced for each operation, so that the operation is safe and sanitary. The guide wire guiding device realizes smooth linear movement of the guide wire and the catheter. And the function of supporting the guide wire and the catheter is realized.

5. The wire pressing device can press wires of guide wires and catheters in real time, the position where the guide wires and the catheters reach is accurate, the manual wire pressing action of a doctor is liberated, the operation fatigue caused by long-time wire pressing of the doctor is avoided, the opening and closing of the electromagnetic clamp are realized along the linear motion of the two clamping plates in the design, the crossed roller guide rails are installed between the electromagnetic clamp and the cavity, the moving direction is limited, and the overall structure is more compact. The wedge-shaped block structure is designed to move up and down to push the two clamping plates to move horizontally, so that the transformation of the movement in the vertical direction is realized by the wedge-shaped block, and the symmetry of the movement of the two clamping plates is also ensured.

6. The bedside positioning device is divided into an X-axis moving device and a Y-axis moving device, and the position of the interventional operation robot can be adjusted through the movement in two directions so as to adapt to the interventional action of the guide wire catheters of different body positions of a patient.

Drawings

FIG. 1 is a schematic view of the overall structure of a robot for vascular intervention surgery

FIG. 2 is a detailed structural diagram of a robot propulsion device for vascular intervention surgery

FIG. 3 is a schematic view of the external structure of the rotation device of the vascular interventional surgical robot

FIG. 4 is a schematic view of the internal structure of the rotation device of the vascular interventional surgical robot

FIG. 5 is a schematic cross-sectional view of a twisting device of a vascular interventional surgical robot

FIG. 6 is a detailed structural diagram of a guide wire guiding device of a vascular intervention surgical robot

FIG. 7 is a schematic cross-sectional view of a robot wire pressing device for vascular intervention surgery

FIG. 8 is a schematic structural view of an X-axis moving device of a robot bedside positioning device for vascular intervention

FIG. 9 is a schematic structural view of a Y-axis moving device of a robot bedside positioning device for vascular intervention

Reference numerals:

1. a propulsion device; 2. a twisting device; 3. a guidewire directing device; 4. a wire pressing device; 5. a bedside positioning device; 1-1, a first ball screw; 1-2, a first linear guide rail; 1-3, a coupler; 1-4, fixing a support by a screw rod; 1-5, a first guide rail slide block; 1-6, a linear guide rail mounting seat; 1-7, a motor frame; 1-8, a screw nut sliding table; 1-9, a first drive motor; 1-10, a main body shell; 2-1, an upper packaging shell; 2-2, a lower packaging shell; 2-3, installing a base; 2-4, a stepping motor; 2-5, pinion; 2-6, moving the two-finger chuck; 2-7, a two-finger chuck; 2-8, bearing end covers; 2-9, needle roller bearing; 2-10, angular contact ball bearings; 2-11, a sleeve; 2-12, flat bond; 2-13, a bull gear; 2-14, a first hand wheel; 2-15, chuck shaft; 2-16, a large gear shaft; 3-1, a second driving motor; 3-2, a guide device support; 3-3, a second linear guide rail; 3-4, a second guide rail slide block; 3-5, supporting a guide wheel; 3-6, a guide wheel; 3-7, disposable wheel sleeve; 3-8, a camshaft; 3-9, a cam; 4-1, two clamping plates; 4-2, a cavity; 4-3, electromagnetic coils; 4-4, flat plate; 4-5, lower cavity; 4-6, rolling needles; 4-7, 4-8, cross roller guide rail; 4-9, wedge-shaped blocks; 4-10, a return spring; 5-1, bearing seats; 5-2, guide rails; 5-3, a second ball screw; 5-4, a first nut sliding block; 5-5, a baffle; 5-6, a third driving motor; 5-7, connecting frames of XY axis moving devices; 5-8, fixing seats; 5-9, a screw rod; 5-10 parts of a second nut sliding block; 5-11, a second hand wheel;

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

example 1:

the installation positions of the modules of the vascular interventional surgical robot are described with reference to fig. 1: the interventional operation robot delivery device consists of a pushing device 1, a twisting device 2, a guide wire guiding device 3, a wire pressing device 4 and a bedside positioning device 5. The thread twisting device is arranged on a sliding table of the propelling device, the thread guiding device is arranged at the foremost end of a sliding guide rail of the propelling device and is positioned at the same height with the thread twisting device, the thread pressing device is positioned at the side surface of the same height with the thread guiding device and the thread twisting device, and one end of the bedside positioning device is connected with one end of a working part of the surgical robot and is connected with the side surface of the operating table. The guide wire catheter can be effectively inserted into the blood vessel through the coordination of all the functional modules.

Example 2:

embodiment 2 is a description of the structure of the propulsion device with reference to fig. 2, in addition to embodiment 1: the first driving motor 1-9 rotates forwards to drive the coupler 1-3 to rotate, the coupler 1-3 drives the first ball screw 1-1 to rotate, the first ball screw 1-1 rotates to drive the screw nut, the first sliding block 1-5 and the sliding table 1-8 to move forwards to realize the action of guide wire pushing, the sliding table 1-8 is installed on the first sliding block 1-5 through screw connection, and the first sliding block 1-5 is matched with the first linear guide rail 1-2 to ensure that the sliding table 1-8 moves along a straight line; the first driving motor 1-9 rotates reversely, and the sliding table 1-8 moves backwards to realize the action of pulling back the guide wire. The propelling device drives the ball screw to rotate by using the stepping motor to drive the sliding table to move, and the first linear guide rail is used for circumferential limiting and axial guiding, so that the guide wire of the catheter can accurately advance and retreat along the linear direction.

Example 3:

embodiment 3 is based on embodiment 2, and fig. 3 and 4 illustrate the installation position and the external structure of the twisting device: the twisting device 2 is connected with a sliding table 1-8 of the propelling device, a connecting base is arranged on the sliding table 1-8 by using a long bolt, and an upper packaging shell 2-1 and a lower packaging shell 2-2 are both of plastic structures and are connected through bayonets. The twisting device 2 is arranged on the sliding tables 1-8 and can synchronously move back and forth with the propelling device in space.

Example 4:

in example 4, the structure of the twisting apparatus is described with reference to fig. 5, in addition to example 3: a stepping motor 2-4 drives a pinion 2-5 to rotate, the pinion 2-5 is externally meshed with a gearwheel 2-13, the gearwheel 2-13 is matched with a gearwheel shaft 2-16 through a flat key 1-12, a chuck shaft 2-15 penetrates through the gearwheel shaft 2-16, two needle roller bearings 2-9 are mounted in the two shafts to ensure the coaxiality of the two shafts, a first handwheel 2-14 is used for controlling a front-end two-finger chuck 2-7, the two-finger chuck 2-7 rotates to enable the two-finger chuck to move a finger 2-6 to open and close up and down for clamping and loosening, a bearing end cover 2-8 and a sleeve 2-11 are used for limiting a shafting, and two pairs of angular contact ball bearings 2-10 are used for supporting. The twisting device can well realize the rotation movement of the guide wire of the catheter, and the twisting action operated by hands is highly restored.

Example 5

Example 5 on the basis of example 4, fig. 6 illustrates the detailed structure of the guide wire guiding device: the guiding device 3 is arranged at the foremost end of the vascular interventional operation robot and is positioned at the same height with the twisting device. The guide wire catheter can be effectively guided to move linearly smoothly, and the guide wire catheter can be supported. The second driving motor 3-1 is connected with the cam 3-9 through the cam shaft 3-8 to control the rotation of the cam. The second linear guide rail 3-3 is arranged on the guide device support 3-2, the second guide rail sliding block 3-4 is matched with the second linear guide rail 3-3, the guide wheel support 3-5 is connected with the second guide rail sliding block 3-4, and the pair of guide wheels 3-6 is assembled with the guide wheel support 3-5; the extending part of the lower end of the guide wheel support 3-5 is tangent to the cam 3-9, and when the cam 3-9 rotates, the guide wheel support 3-5 moves linearly along the second linear guide rail 3-3 to adjust the distance; the disposable wheel sleeve 3-7 is arranged outside the guide wheel 3-6 to ensure cleanness and sterility. The cam structure through design can control the centre-to-centre spacing, and its centre-to-centre spacing adjustment range is 0.3mm to 3mm, and two gyro wheels are installed on second linear guide, guarantee that it only moves along linear direction.

Example 6

Example 6 is based on example 5, and fig. 7 illustrates the detailed structure of the wire pressing device: the wire pressing device 4 is installed at the front end of the vascular interventional surgical robot and laterally behind the guide wire guiding device 3. After the guide wire reaches the focus, the wire pressing device 4 can effectively ensure that the tail end of the guide wire is unchanged. The operation that doctors press the wires while moving the guide wires in manual operation is solved, the fatigue caused by excessive operation of the doctors is avoided, and the success of the operation is ensured. The two clamping plates 4-1 move along a straight line to realize the opening and closing of the electromagnetic clamp, and crossed roller guide rails 4-7 and 4-8 are arranged between the electromagnetic clamp and the cavity 4-2. The wedge-shaped block 4-9 moves up and down along the Z axis to drive the two clamping plates 4-1 to open and close towards two sides respectively, and the wedge-shaped block 4-9 realizes the conversion of the movement in the vertical direction and ensures the symmetry of the movement of the two clamping plates. A flat plate 4-4 is arranged at the bottom end of the wedge-shaped block 4-9, armatures are respectively arranged on two sides of the flat plate 4-4, an electromagnetic coil 4-3 is arranged at the corresponding position of the lower cavity 4-5, and a return spring 4-10 is connected at the corresponding position of the other side of the flat plate. When the coil is electrified, the armature drives the wedge-shaped block 4-9 to move upwards due to electromagnetic attraction, at the moment, the two clamping plates 4-1 are closed, and the electromagnetic clamp is in a closed state; when the coil is powered off, the armature is not attracted by electromagnetic force any more, the reset spring 4-10 pulls the wedge-shaped block 4-9 to move downwards, the two clamping plates 4-1 move towards two sides at the moment, and the electromagnetic clamp is in an 'on' state. In the design, the two clamping plates move linearly to realize the electromagnetic clamping and the opening and the closing, and a crossed roller guide rail is arranged between the clamping plates and the cavity, so that the movement direction is limited, and the whole structure is more compact.

Example 7

Embodiment 7 is a description of the structure of the X-axis moving device in the bedside positioning device, in addition to embodiment 6, with reference to fig. 8: the third driving motor 5-6 drives the second ball screw 5-3 to rotate, the second ball screw 5-3 rotates to drive the first nut slider 5-4 to move back and forth, the rear end of the second ball screw 5-3 is connected with the third driving motor 5-6 through a coupler, the front end of the second ball screw is connected with the bearing seat 5-1 for fixing and supporting, and the baffle 5-5 is arranged at the upper end of the second ball screw 5-3 and used for protecting a transmission structure. The device can be moved smoothly in the X direction to a proper position by the driving of the third driving motor 5-6.

Example 8

Embodiment 8 is a description of the structure of the Y-axis moving device in the bedside positioning device, in addition to embodiment 7, with reference to fig. 9: the second hand wheel 5-11 rotates to drive the screw rod 5-9 to rotate, the screw rod 5-9 rotates to drive the second nut slider 5-10 to move back and forth, the rear end of the screw rod 5-9 is directly connected with the second hand wheel 5-11, the front end of the screw rod is connected with the fixed seat 5-8 to fix and support, and the fixed seat 5-8 is arranged on the XY axis moving device connecting frame 5-7. By turning the second hand wheel 5-11 the device can be moved smoothly in the Y-direction to the right position.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims

1. A vascular interventional surgical robot, characterized by: the device comprises five functional modules, namely a propelling device, a twisting device, a guide wire guiding device, a wire pressing device and a bedside positioning device; the thread twisting device is arranged on a sliding table of the propelling device, the thread guiding device is arranged at the foremost end of a sliding guide rail of the propelling device and is positioned at the same height with the thread twisting device, the thread pressing device is positioned at the side surface of the same height with the thread guiding device and the thread twisting device, and one end of the bedside positioning device is connected with the other end of the working part of the surgical robot and is connected with the side surface of the operating table.

2. A robot for vascular interventional surgery as defined in claim 1, wherein the propelling means mainly comprises: the first ball screw, the first linear guide rail, the stepping motor and the sliding table are arranged on the base; the first driving motor (1-9) is fixedly connected onto the motor frame (1-7) through a screw, the motor frame (1-7) is fixedly connected onto the bottom surface of the main body shell (1-10) through a long bolt, one end of the coupler (1-3) is connected with an output shaft of the first driving motor (1-9), the other end of the coupler (1-3) is connected with the first ball screw (1-1), two ends of the first ball screw (1-1) are sleeved on the screw rod fixing support (1-4) with a bearing structure, the screw rod fixing support (1-4) is fixedly arranged on the bottom surface of the main body shell (1-10) through the long bolt, the screw rod nut sliding table (1-8) is fixedly arranged on the first guide rail sliding block (1-5) through a screw, and the first guide rail sliding block (1-5) is matched with the first linear guide rail (1-2) to slide.

3. A vascular interventional surgical robot as set forth in claim 1, wherein: the twisting device comprises a rotating device and a guide wire clamping device; the stepping motor (2-4) drives the pinion (2-5) to rotate, the pinion (2-5) is externally meshed with the gearwheel (2-13), the gearwheel (2-13) is connected and installed on a gearwheel shaft (2-16) through a flat key (2-12) in a matching way, a chuck shaft (2-15) penetrates through the gearwheel shaft (2-16), two needle bearings (2-9) are installed in the two shafts to ensure the coaxiality of the two needle bearings, a first handwheel (2-14) is installed at the tail end of the chuck shaft (2-15) in a clearance fit way and used for controlling a front-end two-finger chuck (2-7), the two-finger chuck (2-7) rotates to enable the two-finger chuck moving fingers (2-6) to be opened and closed up and down for clamping and loosening, and a bearing end cover (2-8) and a sleeve (2-11) are used for limiting, two pairs of angular contact ball bearings (2-10) are used for supporting and bearing force.

4. A vascular interventional surgical robot as set forth in claim 1, wherein: the guiding device is positioned at the most front end of the interventional operation robot; the second driving motor (3-1) is connected with the cam (3-9) through a cam shaft (3-8); the second linear guide rail (3-3) is arranged on the guide device support (3-2), the second guide rail sliding block (3-4) is matched with the second linear guide rail (3-3), the guide wheel support (3-5) is connected with the second guide rail sliding block (3-4), and the pair of guide wheels (3-6) is assembled with the guide wheel support (3-5); the lower end extending part of the guide wheel support (3-5) is tangent to the cam (3-9), and when the cam (3-9) rotates, the guide wheel support (3-5) moves linearly along the second linear guide rail (3-3) to adjust the distance; the disposable wheel sleeve (3-7) is sleeved outside the guide wheel (3-6).

5. A vascular interventional surgical robot as set forth in claim 1, wherein: the main structure of the wire pressing device comprises two finger clamps, a wedge block and an electromagnet; the two finger clamps are controlled by electromagnets, and the two moving fingers are connected with the electromagnets through wedge-shaped blocks for transmission; the opening and closing of the electromagnetic clamp are realized by the two clamping plates (4-1) along the linear motion, cross roller guide rails (4-7, 4-8) are arranged between the electromagnetic clamp and the cavity (4-2), the wedge-shaped block (4-9) moves up and down along the Z axis to drive the two clamping plates (4-1) to open and close towards two sides respectively, the bottom end of the wedge-shaped block (4-9) is provided with a flat plate (4-4), armatures are arranged on two sides of the flat plate (4-4) respectively, an electromagnetic coil (4-3) is arranged at the corresponding position of the lower cavity (4-5), a reset spring (4-10) is connected at the corresponding position of the other side of the flat plate (4-4), when the coil is electrified, the armatures drive the wedge-9) to move upwards due to the electromagnetic attraction, at the moment, the two, the electromagnetic clamp is in an 'on' state; when the coil is powered off, the armature is not attracted by electromagnetic force any more, the reset spring (4-10) pulls the wedge-shaped block (4-9) to move downwards, the two clamping plates (4-1) move towards two sides at the moment, and the electromagnetic clamp is in an 'on' state.

6. A vascular interventional surgical robot as set forth in claim 1, wherein: the bedside positioning device is divided into an X-axis moving device and a Y-axis moving device; the device is arranged at the edge of an interventional operation table, a third driving motor (5-6) drives a second ball screw (5-3) to rotate, the second ball screw (5-3) rotates to drive a first nut slide block (5-4) to move back and forth, the rear end of the second ball screw (5-3) is connected with the third driving motor (5-6) through a coupler, the front end of the second ball screw is connected with a bearing seat (5-1) to fix and support, a baffle (5-5) is arranged at the upper end of the second ball screw (5-3), and the device can realize stable movement in the X direction under the driving of the third driving motor (5-6); the second hand wheel (5-11) rotates to drive the screw rod (5-9) to rotate, the screw rod (5-9) rotates to drive the second nut slider (5-10) to move back and forth, the rear end of the screw rod (5-9) is directly connected with the second hand wheel (5-11), the front end of the screw rod is connected with the fixing seat (5-8) to be fixed and supported, the fixing seat (5-8) is connected and installed on the XY axis moving device connecting frame (5-7) through a bolt and a nut, and the device can realize stable movement in the Y direction by rotating the second hand wheel (5-11).