CN214018168U - Ambulance type movable catheter chamber for cardiovascular interventional operation - Google Patents

Abstract

The utility model relates to a remove the conduit room, especially relate to an ambulance formula removal conduit room for cardiovascular intervention operation. The cardiovascular urgent and severe intervention diagnosis and treatment equipment can be rapidly unfolded, flexibly and strongly adaptable, and hardware equipment is provided for cardiovascular diagnosis and treatment intervention operators to timely diagnose and treat patients. The system comprises an ambulance and is characterized in that an antibacterial internal environment, a robot angiography system, a wireless medical internet of things system, a self-generating system and an auxiliary system are arranged in the ambulance.

Description

Ambulance type movable catheter chamber for cardiovascular interventional operation

Technical Field

The utility model relates to a remove the conduit room, especially relate to an ambulance formula removal conduit room for cardiovascular intervention operation.

Background

At present, the most effective way to treat acute myocardial infarction is to rapidly open the relevant coronary artery vessels by adopting a coronary artery interventional operation method, and the coronary artery interventional operation needs to be carried out under the condition of an interventional catheter room with relevant interventional equipment such as a cardiovascular radiography X-ray machine and the like. At present, the existing diagnosis and treatment modes for treating acute myocardial infarction at home and abroad are all that patients are transported to hospitals with vascular intervention catheterization rooms for vascular intervention and vessel opening diagnosis and treatment. At present, although the vehicle-mounted movable shelter with the function of an interventional catheter room can deliver equipment and an interventional operator to a patient diagnosis and treatment site, the shelter system is large in size, large in expansion area before operation, long in expansion time and postoperative furling time, and cannot be used for performing operation rescue in real time according to the illness state of the patient in the transportation process, and the interventional operation shelter cannot be used for timely diagnosis and treatment of the acute myocardial infarction patient in random area.

The urgent need is to have a miniature cardiovascular intervention catheter room that mobility is good, the integrated level is high, the controllability is strong, response speed is fast, can reach acute myocardial infarction patient scene of onset fast, expandes fast on the scene, carries out the operation diagnosis and treatment of intervention of wicresoft to the patient "immediately", has simultaneously on the way of transporting hospital, can intervene the operation at any time according to the state of an illness, guarantees patient's vital sign's function.

SUMMERY OF THE UTILITY MODEL

The utility model discloses be exactly to the defect that prior art exists, provide an ambulance formula removal catheter chamber for operation is intervene to cardiovascular, the quick wicresoft of its one kind heart and the quick wicresoft of blood vessel critical injury field operations intervenes diagnosis and treatment shelter, makes cardiovascular urgent and serious illness intervene diagnosis and treatment equipment can do and expand rapidly, flexible, strong adaptability, intervenes operating personnel and in time diagnoses and treatment to the patient for cardiovascular diagnosis and treatment and provides hardware equipment.

In order to achieve the purpose, the utility model adopts the following technical scheme, including the ambulance, its characterized in that is provided with antibiotic internal environment, robot blood vessel radiography machine system, wireless medical internet of things system, from power generation system, auxiliary system in the ambulance.

Furthermore, the ambulance consists of a chassis and a carriage, wherein the chassis is a long-shaft chassis and is used for assembling a (high-power) engine and a self-generating system; the carriage is movably connected with the chassis.

Furthermore, a lead plate is arranged between the outer wall of the carriage and the intermediate interlayer of the interior trim, and lead glass is adopted for carriage windows, carriage bodies and windows of a cab.

Further, the instrument box and the instrument vehicle are assembled in the carriage, and the laminar flow device, the purification air conditioner, the warm air blower, the oxygen supply system, the water supply system and the video transmission device are arranged in the carriage.

Further, the robot angiography system is composed of an upper robot arm (upper mechanical arm type robot), a lower robot arm (lower mechanical arm type robot), a robot controller and an image chain system.

Furthermore, the upper mechanical arm type robot and the lower mechanical arm type robot both adopt seven-degree-of-freedom mechanical arms, the tail end of the upper mechanical arm type robot is connected with the bulb, the tail end of the lower mechanical arm type robot is connected with the flat panel detector, the upper mechanical arm type robot is fixed to the top of the carriage, and the lower mechanical arm type robot is fixed to the bottom of the carriage.

Furthermore, the robot controller realizes the adjustment and calibration of the center of the robot end according to the image data of the X-ray on the flat panel detector.

Furthermore, the image chain system consists of a bulb tube, a flat panel detector, a high voltage generator, a medical display and a workstation; wherein the software control of the high voltage generator, the medical display and the workstation is matched with the robot controller for application.

Furthermore, the auxiliary system comprises an emergency stretcher/interventional comprehensive bed, an electrocardiograph, portable ultrasound, a defibrillation monitor, invasive blood pressure monitoring and vehicle-mounted IABP.

Further, the self-generating system comprises a generator device and a gearbox; the generator device comprises a belt power take-off travelling crane, and the gearbox comprises a parking generator device.

Further, the antibacterial internal environment comprises laminar flow purification (equipment), an ultraviolet germicidal lamp and an antibacterial material inner wall.

Furthermore, the wireless medical internet of things system is composed of a medical data acquisition terminal, a carriage camera and medical monitoring equipment, and wireless remote data interaction is realized after the carriage in-vivo scene audio and video and the medical equipment monitoring information are acquired through the data acquisition terminal.

Compared with the prior art the utility model discloses beneficial effect.

For realizing the whole antedisplacement of heart and vascular system acute and serious wound diagnosis and treatment gateway, the utility model provides a quick wicresoft of heart and vascular acute and serious wound field operations intervenes diagnosis and treatment shelter makes cardiovascular urgent and serious intervention diagnosis and treatment equipment can do and expand rapidly, flexible, strong adaptability, provides hardware equipment for the cardiovascular diagnosis and treatment intervention operating personnel in time diagnoses the patient.

Drawings

The present invention will be further described with reference to the accompanying drawings and the following detailed description. The scope of protection of the present invention is not limited to the following description.

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

Fig. 2 is a side layout view of the whole vehicle of the present invention.

Fig. 3 is a rear layout view of the utility model.

Fig. 4 is a layout diagram in the carriage of the present invention.

Fig. 5 is a layout of the wall units in the carriage of the utility model.

Fig. 6 is a schematic view of the structure of the upper arm joint of the robot of the present invention.

Fig. 7 is a schematic diagram of the upper arm joint structure of the robot of the present invention.

Fig. 8 is a schematic view of a two-joint structure of the upper arm of the present invention.

FIG. 9 is a schematic diagram of the connection of the output end of an axis joint linear module with other components.

Fig. 10 is a schematic view of a-a of fig. 8 according to the present invention.

Fig. 11 is a schematic view of the connection of the three and four joints of the upper arm of the present invention.

Fig. 12 is a schematic view of the connection of the three joints of the upper arm of the present invention.

Fig. 13 is a schematic view of the connection of the four joints of the upper arm of the present invention.

Fig. 14 is a schematic view of the structure of the joint 5-6-7.

Fig. 15 is a schematic view of an end connector connection.

Fig. 16 is a schematic view showing the connection between one and two joints of the lower arm joint of the robot of the present invention.

Fig. 17 is a schematic view of the connection of the three, four, five, six and seven joints of the lower arm of the robot of the present invention.

Fig. 18 is a schematic view of a second joint of the lower arm of the present invention.

Fig. 19 is a schematic view of a triple joint of a lower arm according to the present invention.

Fig. 20 to 21 are schematic views of the four-five joints of the lower arm of the present invention.

Fig. 22 is a schematic view a-a of fig. 21.

Fig. 23 is a schematic view of the joint structure of the lower arms 6 to 7.

Fig. 24 is a schematic view a-a of fig. 23.

In the figure, 1 is an upper arm of a robot, 2 is a lower arm of the robot, 3 is an operation table, 4 is a folding table, 5 is a liquid soap box, 6 is an image chain system, 7 is a folding single seat, 8 is a hanging cabinet, 9 is an equipment fixing module, 10 is a movable spotlight, 11 is a lighting lamp strip, 12 is a transfusion hook, 13 is a signal port, 14 is a power supply port, 15 is an upper vehicle pedal, 16 is a partition wall, 17 is an electric winch, 18 is a blue rotary type alarm lamp alarm, 19 is an air conditioner, 20 is a long-strip-shaped alarm lamp, 21 is a red cross mark, 22 is a back door spare tire, 23 is an electric hand washing pool, 24 is a water tank, 25 is a power supply system, 26 is a laminar flow purification device, 27 is a medicine tank, 28 is a storage battery and 29 is an oxygen bottle.

Detailed Description

As shown in fig. 1 to 24, as a specific example: the utility model discloses an ambulance, robot blood vessel radiography machine system, auxiliary assembly system, spontaneous power generation system, wireless medical internet of things system, antibiotic internal environment etc..

The ambulance is provided with an operation table, a folding table, a hand sanitizer box, an image chain system, a folding single seat, a hanging cabinet, a movable spotlight, a lighting lamp belt, an infusion lifting hook, a signal port, a power port, an getting-on pedal, a stair stretcher, a partition wall, an electric winch, an electric hand sink, a water tank, a power supply system, laminar flow purification equipment, a medicine box, a storage battery, an inverter power supply and an oxygen bottle.

The equipment fixing module is accommodated in the hanging cabinet.

The ambulance is provided with a blue rotary alarm lamp, an air conditioner, a long-strip alarm lamp, a red cross mark, a back door spare tire and a back double door.

In the embodiment, the ambulance consists of a chassis and a carriage, wherein the chassis is a long-shaft chassis and is provided with a high-power engine and a self-generating system. The carriage is movably and adjustably connected with the chassis.

In this embodiment, electric telescopic support balance systems are arranged around the bottom of the carriage. And a lead plate is arranged between the outer wall of the carriage and the middle interlayer of the interior trim, and lead glass is arranged on peripheral windows, the carriage body and a cab partition wall.

In this embodiment, the interior of the compartment body is provided with auxiliary devices such as an instrument box, and an instrument vehicle, and the interior of the compartment body is provided with a laminar flow device, a purification air conditioner, a fan heater, an oxygen supply system, a water supply system, and a video transmission device.

In this embodiment, the robot angiography system includes two robots with upper and lower robot arms, a controller, and an image chain system.

In this embodiment, the up-down robot is a seven-degree-of-freedom robot arm (robot upper arm, robot lower arm), the end portions of the up-down robot are respectively fixed with the bulb and the flat panel detector, the root portions of the up-down robot are respectively fixed at the top and the bottom of the carriage, and the moving postures of the up-down robot are used by the end portions centering.

The end part of the upper arm is connected with a flat panel detector of the angiography machine, and the end part of the lower arm is connected with an anode bulb tube of the angiography machine. By the movement of the upper arm and the lower arm, the isocenter detection in a large range, different angles and different isocenter distances is realized, and a high-quality contrast image is provided for a minimally invasive surgery process.

In this embodiment, the upper arm and the lower arm of the robot both have seven degrees of freedom, including a seven-degree-of-freedom module.

In this embodiment, the upper arm seven-degree-of-freedom module includes a two-joint linear motion module, a three-four joint module, and a five-six-seven joint module.

In this embodiment, the two-joint linear motion module of the upper arm seven-degree-of-freedom module includes a one-shaft joint linear module 31 and a two-shaft base 32 disposed on the one-shaft joint linear module 31; the output end 33 of the first-axis joint linear module drives the second-axis base 32 to move, a second-axis guide rail 34 is arranged on the second-axis base 32, a second-axis sliding block 35 is connected to the second-axis guide rail 34 in a sliding mode, the second-axis sliding block 35 transmits force to the screw nut pair through a second-axis belt pulley 36, the second-axis belt pulley 36 adopts a synchronous belt structure, and the synchronous belt structure is driven by a second-axis motor 310; the two-axis screw 37 is supported at both ends thereof by the two-axis base 32 through two-axis thrust bearings 311, and the two-axis nut 38 is connected to the two-axis slider 35. The first axis joint linear module is implemented by a first axis guide rail, a first axis slide block connected with the first axis guide rail in a sliding manner, and driven by a first axis motor 39, which is not described herein.

Specifically, the internal structural form of the first joint is similar to that of the second joint, which is not described in detail, the first joint drives the second-axis base to move through the output end of the first-axis linear module, and the first-axis guide rail plays a supporting role; the two joints transmit force to a screw nut pair through a belt wheel, thrust bearings are arranged on two sides of a screw for supporting, and the nut is connected with two guide rail sliding blocks (for supporting) and outputs motion to a next shaft.

In this embodiment, the two-axis guide rail 34 includes a first two-axis guide rail and a second two-axis guide rail which are arranged in parallel.

In this embodiment, the three-four joint module of the upper arm seven-degree-of-freedom module comprises a three-joint module and a four-joint module; the three-joint module comprises a two-shaft connecting block 312 fixedly arranged on a two-shaft sliding block 35, one side of the two-shaft connecting block 312 is connected with a bent arm type three-shaft connecting rod 313, a three-shaft motor 314 is installed at the bottom of the free end of the three-shaft connecting rod 313, a three-shaft motor connecting piece 315 is arranged at the top of the free end, the three-shaft motor connecting piece 315 is connected with the free end through a three-shaft crossed roller bearing 316, the outer ring of the three-shaft crossed roller bearing 316 is connected with the free end, the inner ring of the three-shaft crossed roller bearing 316 is connected with a three-shaft motor 314 adapter, and the three-shaft motor 314 is connected with the three-shaft motor adapter 315 to transmit motion to the three-shaft motor adapter 315.

The four-joint module comprises a four-joint base 317 fixedly connected with a three-axis motor adapter 315, a four-joint screw 318 is arranged in the four-joint base 316, the four-joint screw 318 is installed in the base 316 through a bearing seat, the screw 318 is connected with a four-joint nut 319 to form a screw nut kinematic pair, the nut 319 is connected with a blocky four-axis connecting piece 320, the four-joint nut 319 is connected with a four-joint slider 321, the four-joint slider 321 is connected with a four-joint guide rail 322, the four-joint guide rail 322 is arranged in the base, and the four-joint guide rail is parallel to the four-joint screw; the four-joint screw rod gives a screw rod nut kinematic pair by belt wheel transmission force. The belt wheel transmission is a synchronous belt transmission mechanism, and the synchronous belt transmission mechanism adopts a four-axis motor 323 as a driving force.

In this embodiment, there are two four-joint guide rails, each of the two four-joint guide rails corresponds to a four-joint slider, and each of two sides of the four-joint screw is divided into one four-joint guide rail.

In this embodiment, the five-six-seven joint module of the upper arm seven-degree-of-freedom module includes a five-axis connector 361 connected to a four-axis connector, the five-axis connector 361 is connected to a housing of a five-axis joint module 367, an output shaft of the five-axis joint module 367 is connected to a six-axis connector 362, the six-axis connector 362 is further connected to an output shaft of a six-axis joint module 363, a housing of the six-axis joint module 363 is connected to an output shaft of a seven-axis connector 364, a housing of the seven-axis connector 364 is connected to a base of a seven-axis joint module 365, and an output end of the seven-axis joint module 365 is connected to a receiving flat plate 366 through a terminal connector 368.

Wherein, five, six, seven joint modules all contain hollow motor, harmonic speed reducer ware, band-type brake and encoder etc. for the purchase spare of selling, do not give unnecessary details.

In this embodiment, the lower arm seven-degree-of-freedom module includes a two-joint module, a three-joint module, a four-five joint module, and a six-seven joint module.

In this embodiment, the two-joint module of the lower arm seven-degree-of-freedom module includes a first-axis linear module and two-joint connectors 324 disposed on the first-axis linear module, and the bottoms of the two-joint connectors 324 are connected to the guide rail (two-joint guide rail 327) through sliders (two-joint sliders 326); one axis joint module drives the two joint connectors 324 to move along the guide rail.

The two-joint connecting piece 324 is provided with two joint bases 325, the two joint bases 325 are provided with electric cylinders, fixing parts 328 of the electric cylinders are fixedly arranged on the two joint bases, moving parts 329 of the electric cylinders are connected with left and right sliding blocks 326, the two sliding blocks are connected with respective guide rails, the two guide rails are vertically arranged on the two joint bases 325, the two sliding blocks are fixedly connected with a connecting frame 330, the connecting frame 330 is connected with a three-joint connecting piece 331, the electric cylinders act to drive the sliding blocks to move up and down along the guide rails, and the connecting frame 330 connected with the sliding blocks and the three-joint connecting piece 331 on the connecting frame 330 move along with the sliding blocks.

Specifically, an axial linear module is the same as the upper arm joint, the inner part of the axial linear module mainly comprises a motor, a speed reducer, a screw-nut pair, a bearing and the like, the nut is used for transmitting the joint motion to the next part, the guide rail has the air supporting function, and the electric cylinder motion part pushes the connecting frame to move up and down.

In this embodiment, the three-joint module of the lower arm seven-degree-of-freedom module includes a three-joint base 338 serving as a three-joint connector 331, a synchronous belt transmission mechanism is mounted on the three-joint base 338, a driving pulley 337 of the synchronous belt transmission mechanism is mounted on an output shaft of a motor, the motor 332 is mounted on the three-joint base 338 through a motor base, a driven pulley of the synchronous belt transmission mechanism is mounted on a driven shaft 335, the driven shaft 335 is mounted on the three-joint base 338 through a crossed roller bearing, the driven pulley is connected with a four-joint connecting plate 333, and the motor rotates to drive the four-joint connecting plate 333 connected with the driven pulley to rotate through a synchronous belt.

In this embodiment, the four-five joint module of the lower arm seven-degree-of-freedom module includes a four-joint base (a lower arm four-joint base 346) serving as a four-joint connecting plate 333, a guide rail (a lower arm four-joint base guide rail 344) is arranged on the four-joint base, a slider (a lower arm four-joint base slider 345) is connected to the guide rail in a sliding manner, a lower arm motor fixing seat 343 is arranged on the slider, and a motor (a lower arm motor 348) is fixed on the motor fixing seat 343; an electric cylinder fixing seat 347 is further arranged on the four-joint base, an electric cylinder is arranged on the electric cylinder fixing seat 347, a fixed part of the electric cylinder is fixedly connected with the electric cylinder fixing seat, and a moving part of the electric cylinder is connected with the motor fixing seat 343; the electric cylinder acts, and the moving part of the electric cylinder drives the motor to move along the guide rail 344; the motor shaft of the motor 348 is coupled to an output shaft 3410 via a coupling, and the output shaft 3410 is rotatably coupled to the motor holder 343 via a cross roller bearing.

In this embodiment, the sixty-seven joint module of the lower arm seven-degree-of-freedom module includes a motor module fixing seat 356 fixedly connected to the free end of the output shaft, a six-joint motor module 357 is arranged in the motor module fixing seat 356, the six-joint motor module 357 is positioned in a square seven-joint connecting piece 353 with an open bottom, a connecting shaft 355 at one side of the six-joint motor module 357 is connected with the seven-joint connecting piece 353 through a crossed roller bearing, and a connecting shaft at the other side of the six-joint motor module is fixedly connected with the seven-joint connecting piece 353; the outer ring of the crossed roller bearing is connected with a seven-joint connecting piece 353, and the inner ring of the crossed roller bearing is connected with a connecting shaft 355; the top of the seven-joint connecting piece is fixedly connected with a ball pipe shell 352, a motor reducer module 358 is arranged in the ball pipe shell 352, a speed limiter 351 is arranged on the outer wall of the ball pipe shell, and the speed limiter 351 is connected with the motor reducer module 358.

Specifically, 358 drives 351 to rotate, 355 is a connecting shaft (one side is connected with the inner ring of the crossed roller bearing, and the other side is fixedly connected with the motor module fixing seat).

An object of the utility model is to provide an all-round redundant both arms configuration angiogram machine, its including seven degrees of freedom underarms that carry the transmitting head, carry seven degrees of freedom upper arms, the fixed bed body of receiver and can be under field operations or city first aid environment the removal automobile body of work. The movement of the center, the change of the detection position and the adjustment of the isocenter distance between the receiver and the transmitter are realized by the coordination of an upper arm and a lower arm. The quick treatment of the wounded or the patient can be realized under the field operations and the urban first-aid environment by the vehicle-mounted mode.

In this embodiment, the robot controller adjusts and calibrates the center of the robot end according to the image data of the X-ray on the flat panel detector.

In this embodiment, the image chain system is composed of a bulb tube, a flat panel detector, a high voltage generator, a medical display, and a workstation. The software control of the high voltage generator, the medical display and the workstation is matched with the robot controller for application.

In this embodiment, the auxiliary system is composed of a first aid stretcher/interventional comprehensive bed, an electrocardiograph, portable ultrasound, a defibrillation monitor, invasive blood pressure monitoring, vehicle-mounted IABP and other special devices for operations.

In this embodiment, the self-generating system is implemented by a belt power take-off running and transmission power take-off parking parallel power generation technology, wherein the belt power take-off generator device is arranged at an engine, and the parking generator device is arranged at a transmission.

In this embodiment, the wireless medical internet of things system is composed of a medical data acquisition terminal, a camera in a carriage and medical monitoring equipment, and wireless remote data interaction is realized after the audio and video of the internal body scene in the carriage and the monitoring information of the medical equipment are acquired by the data acquisition terminal.

In this embodiment, the antibacterial internal environment is composed of the comprehensive functions of laminar flow purification, ultraviolet sterilization and antibacterial materials.

The embodiment relates to an ambulance type mobile catheter room for cardiovascular interventional operation, which comprises an ambulance, a self-generating system, an angiographic robot system, an auxiliary equipment system, a wireless medical internet of things system, an antibacterial internal environment and the like.

The ambulance consists of chassis and compartment, and the chassis is one combination of large power engine and long shaft chassis and one self-generating system. The conduit room carriage is movably connected with the chassis, and a quick fixing and detaching structure is arranged at the joint. And lead protective layers are arranged on the four walls and the top layer of the carriage. The angiography robot system comprises an upper robot arm, a lower robot arm, a controller, an image chain system and a comprehensive operating bed, wherein the two robots are seven-degree-of-freedom robot arms respectively, the end parts of the robots are respectively fixed with a bulb and a flat panel detector, and the root parts of the robots are respectively fixed at the top and the bottom of a carriage; the image chain system consists of a bulb tube, a flat panel detector, a high-voltage generator, a medical display and a workstation; the comprehensive operation bed can have the functions of an emergency stretcher and an interventional operation bed. The auxiliary equipment system comprises special operation equipment such as an interventional/emergency stretcher, an electrocardiograph, portable ultrasound, a defibrillation monitor, invasive blood pressure monitoring and vehicle-mounted IABP, wherein auxiliary equipment such as an instrument box, an instrument vehicle and the like is arranged in the carriage body, and the carriage has the functions of a laminar flow device, a purification air conditioner, a fan heater, an oxygen supply system, a water supply system, video transmission and the like.

It should be understood that the above detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can still be modified or equivalently replaced to achieve the same technical effects; as long as the use requirement is satisfied, the utility model is within the protection scope.

Claims (6)

1. An ambulance-type mobile catheter room for cardiovascular interventional procedures, comprising an ambulance; the system is characterized in that an antibacterial internal environment, a robot angiography system, a wireless medical internet of things system, a self-generating system and an auxiliary system are arranged in the ambulance;

the ambulance consists of a chassis and a carriage, wherein the chassis is a long-shaft chassis and is used for assembling an engine and a self-generating system; the carriage is movably connected with the chassis;

the robot angiography system consists of an upper mechanical arm type robot, a lower mechanical arm type robot, a robot controller and an image chain system;

the auxiliary system comprises an emergency stretcher/interventional comprehensive bed, an electrocardiograph, portable ultrasound, a defibrillation monitor, invasive blood pressure monitoring and a vehicle-mounted IABP;

the self-generating system comprises a generator device and a gearbox; the generator device comprises a belt power take-off travelling crane, and the gearbox comprises a parking generator device;

the antibacterial internal environment comprises laminar flow purification, an ultraviolet germicidal lamp and an antibacterial material inner wall;

the wireless medical internet of things system is composed of a medical data acquisition terminal, a carriage camera and medical monitoring equipment, and wireless remote data interaction is realized after the sound and image of the internal body scene of the carriage and the monitoring information of the medical equipment are acquired by the data acquisition terminal.

2. An ambulance-type mobile catheter room for cardiovascular intervention procedures as claimed in claim 1, wherein: and the interlayer between the outer wall of the carriage and the interior trim is provided with a lead plate, and the windows of the carriage, the carriage body and the cab are all made of lead glass.

3. An ambulance-type mobile catheter room for cardiovascular intervention procedures as claimed in claim 1, wherein: the instrument box, the instrument box and the instrument vehicle are assembled in the carriage, and the laminar flow device, the purification air conditioner, the warm air blower, the oxygen supply system, the water supply system and the video transmission device are arranged in the carriage.

4. An ambulance-type mobile catheter room for cardiovascular intervention procedures as claimed in claim 1, wherein: the upper mechanical arm type robot and the lower mechanical arm type robot both adopt seven-degree-of-freedom mechanical arms, the tail end of the upper mechanical arm type robot is connected with the bulb, the tail end of the lower mechanical arm type robot is connected with the flat panel detector, the upper mechanical arm type robot is fixed to the top of the carriage, and the lower mechanical arm type robot is fixed to the bottom of the carriage.

5. An ambulance-type mobile catheter room for cardiovascular intervention procedures as claimed in claim 4, wherein: and the robot controller realizes the adjustment and calibration of the center of the end part of the robot according to the image data of the X-ray on the flat panel detector.

6. An ambulance-type mobile catheter room for cardiovascular intervention procedures as claimed in claim 5, wherein: the image chain system consists of a bulb tube, a flat panel detector, a high voltage generator, a medical display and a workstation; wherein the software control of the high voltage generator, the medical display and the workstation is matched with the robot controller for application.

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