CN220801103U - Vascular intervention operation robot - Google Patents

Abstract

The utility model discloses a vascular intervention operation robot, which comprises: a robot body; the driving assembly is arranged on the robot body; the consumable box is detachably connected with the driving assembly in a transmission way; and the position detection component is arranged on the driving assembly and/or the consumable box and is used for detecting the position of the consumable box relative to the driving assembly. The utility model achieves the purpose that the position detection component can detect the position of the consumable box when the consumable box is mounted on the driving component, and solves the problem that the mounting position of the consumable box cannot be obtained after the consumable box is mounted on the driving component in the related technology.

Description

Vascular intervention operation robot

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a vascular intervention surgical robot.

Background

The main body part of the slave end of the vascular intervention operation robot mainly comprises a robot body, a power box and a consumable box. The power box is installed on the robot body, and the consumptive material box is connected with drive assembly, and drive assembly provides power to the drive mechanism in the consumptive material box, and drive mechanism can drive the consumptive material action of installing on the consumptive material box.

The consumable box in the related art comprises a consumable box, wherein the consumable comprises a transmission mechanism arranged in the consumable box, a catheter protection tube arranged on the periphery of the consumable box, and a Y valve arranged in the consumable box. The catheter extends out from one end of the consumable cartridge when in use and can move linearly synchronously with the consumable cartridge. The catheter protection tube is arranged along the periphery of the consumable box and gradually approaches the catheter, and finally the catheter can be clamped into the catheter protection tube.

Because the consumable box needs to be installed to the driving component before the operation starts each time as the consumable, the consumable box needs to simultaneously enable a transmission mechanism in the consumable box to be in transmission connection with the driving component after being installed, and therefore whether the installation position of the consumable box is accurate or not can determine whether the driving component can normally drive the transmission mechanism in the consumable box or not.

Disclosure of utility model

The utility model aims to provide a vascular interventional operation robot, which solves the problem that the consumable box in the related art cannot acquire the installation position of the consumable box after being installed to a driving assembly, so that whether the consumable box is installed in place or not is difficult to judge.

In order to achieve the above object, the present utility model provides a vascular interventional operation robot including: a robot body; the driving assembly is arranged on the robot body; the consumable box is detachably connected with the driving assembly in a transmission way; and the position detection component is arranged on the driving assembly and/or the consumable box and is used for detecting the position of the consumable box relative to the driving assembly.

Further, the vascular interventional operation robot further comprises a display module, wherein the display module is electrically connected with the position detection member, and the display module is configured to display corresponding information based on a position detection signal sent by the position detection member.

Further, the display module is a display screen component and/or a display lamp component arranged on the robot body.

Further, a clamping structure is arranged on the consumable box, a clamping hole structure matched with the clamping structure is arranged on the driving assembly, and the consumable box is fixedly connected with the driving assembly through the clamping structure and the clamping hole structure.

Further, the vascular interventional surgical robot further comprises a controller configured to determine whether the consumable cartridge is mounted in place based on a position detection signal issued by the position detection member.

Further, the position detecting member includes a detecting portion and a detected portion that are correspondingly provided, the detecting portion being provided on one of the drive assembly and the consumable cartridge, the detected portion being provided on the other of the consumable cartridge and the drive assembly;

the detection unit is configured to detect a position of the detected unit.

Further, the detection portion is disposed on the driving assembly, a detection hole is formed in the consumable box, the detected portion is disposed in the detection hole, and the detection portion is disposed so as to be inserted into the detection hole when the consumable box is mounted in place.

Further, the detection unit is a hall sensor, and the detected unit is a magnet or a magnetic metal.

Further, the position detecting member comprises a pressure sensor provided on the drive assembly and/or the consumable cartridge, the pressure sensor being arranged to be able to detect the pressure experienced by the junction of the drive assembly and the consumable cartridge.

Further, the position detecting member comprises an elastic switch provided on the drive assembly and/or the consumable cartridge, the elastic switch being arranged to be pressed and in a conductive position when the consumable cartridge is in place.

In the embodiment of the utility model, a robot body, a driving assembly, a consumable box and a position detection component are arranged; wherein, the driving component is arranged on the robot body; the consumable box is detachably connected with the driving assembly in a transmission way; the position detection component is arranged on the driving component and/or the consumable box and is used for detecting the position of the consumable box relative to the driving component, so that the purpose that the position detection component can detect the position of the consumable box when the consumable box is mounted on the driving component is achieved, the problem that whether the consumable box is mounted in place or not is difficult to judge due to the fact that the mounting position of the consumable box cannot be obtained after the consumable box is mounted on the driving component is solved, the consumable box can be mounted in place each time, and the reliability of an operation is effectively guaranteed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the utility model and are not to be construed as unduly limiting the utility model. In the drawings:

FIG. 1 is a schematic diagram of an explosive structure according to an embodiment of the present application;

FIG. 2 is another schematic structural view according to an embodiment of the present application;

FIG. 3 is a schematic view of an assembled structure according to an embodiment of the present application;

The consumable box 1, the assembly surface 101, the box body 102, the detection hole 103, the 2 joint structure 21, the second connecting piece 22, the transitional connecting piece 23, the first connecting piece 24, the joint bulge 25, the elastic deformation interval 26, the driving component 3, the hole 301 structure 5, the detection part 51, the position detection component 6 and the detected part.

Detailed Description

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the utility model herein.

In the present utility model, the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", and the like are based on the azimuth or positional relationship shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

Because the consumable box needs to be installed to the driving component before the operation starts each time as the consumable, the consumable box needs to simultaneously enable a transmission mechanism in the consumable box to be in transmission connection with the driving component after being installed, and therefore whether the installation position of the consumable box is accurate or not can determine whether the driving component can normally drive the transmission mechanism in the consumable box or not.

In order to solve the above technical problems, as shown in fig. 1, an embodiment of the present utility model provides a vascular interventional operation robot, including: a robot body (not shown in the drawings); the driving assembly 3 is arranged on the robot body; the consumable box 1 is detachably connected with the driving assembly 3 in a transmission way; a position detecting member 51, provided on the drive assembly 3 and/or the consumable cartridge 1, for detecting a position of the consumable cartridge 1 relative to the drive assembly 3. It should be noted that, the specific structure and connection relation of the driving component 3 and the consumable box 1 are not limited, and only the consumable box 1 is detachably connected with the driving component 3 in a transmission way and the consumable box 1 can drive the intervening consumable to act; also, the present utility model is not limited in any way with respect to the specific type and specific arrangement position of the position detecting member 51, and for example, it may be arranged on the drive assembly 3 or on the consumable cartridge 1, as long as the position detecting member 51 is capable of detecting the position of the consumable cartridge 1 with respect to the drive assembly 3.

In this embodiment, the robot body is the main structure of the vascular intervention surgical robot, and before surgery, the robot body is mounted on the operating table through the mechanical arm, and the robot body provides the power for the actions of the consumable materials for guide wire and catheter intervention. The drive assembly 3 is arranged on the robot body, either as a part of the structure of the robot body or as a separate power module which is mounted on the robot body in use. The consumable cassette 1 has a transmission mechanism for mounting surgical consumables and driving the surgical consumables to operate therein. The consumable box 1 itself has no power, and is used as an action execution part of surgical consumable, and needs to be connected with the driving component 3 on the robot body and then provided with power by the driving component 3.

The consumable box 1 needs to be mounted on the driving component 3 before each operation when being used as a consumable, and a transmission mechanism in the consumable box 1 is in transmission connection with a power source in the driving component 3 while being fixedly connected with a fixing part of the driving component 3. Therefore, in order to accurately acquire whether the mounting position of the consumable cartridge 1 is correct at the time of mounting, a position detecting member 51 is additionally arranged in the vascular intervention surgical robot in the present embodiment, and the function of the position detecting member 51 is to detect the position of the consumable cartridge 1 with respect to the driving assembly 3. The position detecting member 51 may be a contact type sensor, a ranging sensor, an image recognition system, or the like. When the mounting position of the consumable cartridge 1 on the driving assembly 3 is accurate, the position of the consumable cartridge 1 with respect to the driving assembly 3 is a set position, at which time the position detecting member 51 can emit a specific position detecting signal. When the mounting position of the consumable cartridge 1 on the driving assembly 3 is inaccurate, i.e., the consumable cartridge 1 is not mounted in place, the position of the consumable cartridge 1 with respect to the driving assembly 3 is not a set position, and the position detecting member 51 can emit another specific position detecting signal. Therefore, the setting of the position detecting member 51 in this embodiment enables the consumable cartridge 1 to acquire the mounting position of the consumable cartridge 1 after mounting, and whether the mounting of the consumable cartridge 1 is accurate or not can be further judged by the operator based on the acquired mounting position.

In order to intuitively acquire information about whether the consumable cartridge 1 is accurately mounted, the vascular interventional operation robot in this embodiment further includes a display module electrically connected to the position detecting member 51, where the display module is configured to perform corresponding information display based on a position detecting signal sent by the position detecting member 51.

Specifically, it should be noted that, after the consumable cartridge 1 is mounted on the driving assembly 3, the position detecting member 51 transmits a position detecting signal to the display module based on the mounting position of the consumable cartridge 1, and the display module makes a corresponding display according to the received position detecting signal. For example, when the mounting position of the consumable cartridge 1 is accurate, the position detecting member 51 transmits a position detecting signal of accurate position to the display module, and the display module performs information display, which may be acousto-optic information or image information. When the mounting position of the consumable cartridge 1 is inaccurate (i.e., not mounted in place), the position detecting member 51 transmits a position detecting signal of inaccurate position to the display module, which then performs another information display, which may also be acousto-optic information or image information.

The display module is used as an information display device, and can be a display screen assembly and/or a display lamp assembly arranged on the robot body. When the display screen assembly is adopted, corresponding image display can be carried out on the display screen assembly to display information, and when the display lamp assembly is adopted, the information display can be carried out by lighting lamps with different colors or changing the lighting mode. After the consumable box 1 is installed, an operator can intuitively know whether the current consumable box 1 is installed in place or not through the display module.

Since the consumable cartridge 1 is used as a disposable consumable, it is required to be mounted before an operation and to be dismounted after the operation, so that the mounting and dismounting of the consumable cartridge 1 are facilitated. As shown in fig. 2 and 3, the consumable cartridge 1 in this embodiment is provided with a clamping structure 2, the driving component 3 is provided with a clamping hole structure 301 matched with the clamping structure 2, and the consumable cartridge 1 and the driving component 3 are fixedly connected through the clamping structure 2 and the clamping hole structure 301.

The clamping structure 2 is arranged to be capable of generating elastic deformation under compression, after the clamping structure 2 is in butt joint with the driving assembly 3, the clamping structure 2 generates a certain amount of elastic deformation and abuts against the corresponding clamping position on the driving assembly 3, so that the consumable box 1 is fixed on the driving assembly 3. After the use, the clamping structure 2 can be pressed to apply a force far away from the abutting direction, so that the clamping structure 2 can generate a certain amount of elastic deformation again and is in a detachable state, and the consumable box 1 can be separated from the driving assembly 3 by pulling the consumable box 1 outwards.

It can be understood that the clamping structure 2 can also be arranged on the fixing part of the driving assembly 3, and the clamping position corresponding to the clamping structure 2 is arranged on the consumable box 1, so that the mounting and dismounting of the consumable box 1 are realized through the elastic deformation of the clamping structure 2. Or the clamping structures 2 can be arranged on the consumable box 1 and the driving assembly 3, and the clamping positions matched with the corresponding clamping structures 2 are arranged on the consumable box 1 and the driving assembly 3.

When the clamping structure 2 is arranged on the consumable box 1, the driving component 3 is provided with a clamping hole structure 301 corresponding to the clamping structure 2, and of course, the driving component 3 can be provided with a corresponding clamping structure to be connected with the clamping structure 2 arranged on the consumable box 1 in a clamping way, and the clamping structure 2 is arranged on the consumable box 1 and can be clamped into the clamping hole structure 301 along a first direction, which is the installation direction of the consumable box 1. Therefore, in the mounting process of the consumable box 1, the clamping structure 2 can be clamped into the clamping hole structure 301 of the driving assembly 3 in a homeopathic manner, and the clamping structure 2 can be abutted against the side wall of the clamping hole structure 301 by utilizing the deformation of the elasticity in the second direction so as to realize clamping fixation.

Specifically, it should be noted that, the first direction and the second direction are different directions, and in the process that the fastening structure 2 is fastened into the fastening hole structure 301 along the first direction, the fastening structure 2 is pressed to generate deformation in the second direction, so that the elastic force generated by the deformation of the fastening structure is abutted against the side wall of the fastening hole structure 301. The first direction and the second direction are perpendicular or at an acute angle depending on the specific arrangement of the clamping structure 2. The driving assembly 3 may include a driving box and a mounting plate mounted on the driving box, in which the motor assembly is disposed as a power source, and the mounting plate is used as a base structure for connecting the consumable box 1, so that the hole clamping structure 301 may be disposed on the mounting plate, and of course, the hole clamping structure 301 may also be directly disposed on the driving box.

Further, the portion of the clamping structure 2 for being clamped into the clamping hole structure 301 extends out of the assembling surface 101 of the consumable cartridge 1. Therefore, when the consumable box 1 is installed, the clamping structure 2 extending out of the assembly surface 101 is firstly contacted with the clamping hole structure 301 on the driving assembly 3, and the consumable box 1 can be positioned. As the mounting proceeds further, the clamping structure 2 is gradually inserted into the clamping hole structure 301, and at this time, the clamping structure 2 and the clamping hole structure 301 cooperate to guide the mounting of the consumable cartridge 1.

For improving the stability that consumable box 1 and drive assembly 3 are connected, joint structure 2 in this embodiment locates the both sides of consumable box 1 or locates around consumable box 1 to every side can set up singly, also can be provided with a plurality of, joint structure 2 need avoid producing the interference with other parts of installing on consumable box 1 when arranging.

In order to effectively consider both the convenience of installation and the stability of connection, in the present embodiment, the number of the clamping structures 2 is two, and the two clamping structures 2 are respectively disposed on both sides of the box 102 in the width direction.

In this embodiment, a specific description is given of one implementation of the fastening structure 2, and it is understood that other forms of fastening structures 2 may be used in addition to the fastening structures 2 described below.

In the present embodiment, as shown in fig. 2, the clamping structure 2 includes a first connecting piece 23, a second connecting piece 21, and a transitional connecting piece 22; the first connecting piece 23 and the second connecting piece 21 are oppositely arranged, the transition connecting piece 22 is used for connecting the first connecting piece 23 and the second connecting piece 21, and the second connecting piece 21 is connected with the consumable box 1; the first connecting piece 23 and the second connecting piece 21 have an elastic deformation distance 26 therebetween, and the first connecting piece 23 can be elastically deformed toward the second connecting piece 21 under pressure and compress the elastic deformation distance 26.

Specifically, it should be noted that the first connecting piece 23, the second connecting piece 21 and the transition connecting piece 22 may be integrally formed, and the clamping structure 2 formed by the first connecting piece, the second connecting piece and the transition connecting piece generally forms a U shape, one end of which is connected to the bottom edge of the box 102, and of course, may be connected to other positions, and the opening of which faces the upper end of the consumable box 1. Since the first connecting piece 23 and the second connecting piece 21 have the elastic deformation space 26 therebetween, when the first connecting piece 23 is subjected to inward pressing force, the first connecting piece 23 is displaced correspondingly and presses the elastic deformation space 26, and the transition connecting piece 22 is elastically deformed. During installation, the first connecting sheet 23, the second connecting sheet 21 and the transition connecting sheet 22 are clamped into the clamping hole structure 301 of the driving assembly 3, and in the continuous clamping process, the first connecting sheet 23 is abutted against the clamping hole structure 301 under the elastic action of the transition connecting sheet 22 due to the limitation of the size of the clamping hole structure 301, so that the consumable box 1 is installed on the driving assembly 3. When the first connection piece 23 is manually pressed toward the consumable cartridge 1 during the detachment, the first connection piece may be deformed so as to be capable of being separated from the card hole structure 301.

In order to facilitate the insertion of the fastening structure 2 into the fastening hole structure 301 and to avoid stress concentration at the connection point between the first connection piece 23 and the transition connection piece 22 during deformation, the transition connection piece 22 in the embodiment is curved as a whole, so that the first connection piece 23 and the second connection piece 21 are in arc transition connection.

To further improve the connection stability of the clamping structure 2 and the clamping hole structure 301, in this embodiment, a clamping protrusion 24 is disposed on a side of the first connecting piece 23 facing away from the second connecting piece 21, and the clamping protrusion 24 is used for abutting against an end surface of the clamping hole structure 301 to limit the consumable box 1 from separating along a third direction, where the third direction is opposite to the first direction.

Referring to the orientation in fig. 2, the first direction is a downward direction, the second direction is a left-right direction, and the third direction is an upward direction.

Specifically, it should be noted that, the outer side of the clamping protrusion 24 has an inclined plane, so that the clamping structure 2 is clamped into the clamping hole structure 301, and the upper end surface of the clamping protrusion 24 is a plane, so that the upper end surface of the clamping protrusion 24 can be abutted against the lower end surface of the clamping hole structure 301 after passing through the clamping hole structure 301, so as to limit the consumable box 1 from being separated from the driving assembly 3 along the third direction. The first connecting piece 23 needs to be pressed to move the engaging projection 24 to a position capable of disengaging from the engaging hole structure 301 at the time of detachment.

Because need manual pressure first connecting piece 23 when dismantling, so for being convenient for press, be provided with pressing portion 25 in the one end that keeps away from transition piece 22 of first connecting piece 23 in this embodiment, pressing portion 25 keeps away from consumable cartridge 1 setting gradually in the third direction to provide sufficient pressing space between pressing portion 25 and consumable cartridge 1, make first connecting piece 23 have sufficient deformation space, in order to do benefit to joint structure 2 to break away from card hole structure 301. The edge of the pressing portion 25 is provided with a circular arc chamfer for convenience of use.

To facilitate the transmission and processing of signals, the vascular interventional surgical robot in this embodiment further comprises a controller configured to be able to determine whether the consumable cartridge 1 is mounted in place based on the position detection signal issued by the position detection member 51. The controller may be a PCB control board disposed in the robot body, the position detecting member 51 emitting a corresponding electrical signal to the controller according to the current position of the consumable cartridge 1, and the controller determining whether the consumable cartridge 1 is mounted in place based on the received electrical signal.

The position detecting member 51 is provided as a position detecting mechanism for the consumable cartridge 1, and includes a detecting portion 5 and a detected portion 6 provided correspondingly, the detecting portion 5 being provided on one of the drive assembly 3 and the consumable cartridge 1, the detected portion 6 being provided on the other of the consumable cartridge 1 and the drive assembly 3; the detection unit 5 detects the position of the detection target unit 6.

The forms of the detecting section 5 and the detected section 6 are different depending on the position detecting means, and when detecting by using the electrodes at the time of contact, the detected section 6 is an electrode group, and the detecting section 5 is a corresponding electrode group. When the laser ranging sensor or the radar ranging sensor is adopted for detection, the detection part 5 is a sensor, and the detected part 6 can be a consumable box 1 body or a driving component 3 body. When the pressure sensor is used for detection, the detection part 5 is also a sensor, and the detected part 6 can be the consumable cartridge 1 body or the driving component 3 body, or can be a component which is separately arranged on the consumable cartridge 1 or the driving component 3 and corresponds to the position of the pressure sensor.

In one embodiment, the detecting portion 5 is disposed on the driving component 3, the consumable cartridge 1 is provided with a detecting hole 103, the detected portion 6 is disposed in the detecting hole 103, the detecting portion 5 is disposed to be inserted into the detecting hole 103 when the consumable cartridge 1 is in place, so as to detect the detected portion 6 more accurately, and the position of the detected portion 6 will also directly reflect the position of the consumable cartridge 1 relative to the driving component 3. Based on this detection structure, in the present embodiment, the detection unit 5 is a hall sensor, and the detected unit 6 is a magnet or a magnetic metal.

In another embodiment, the position detecting member 51 comprises a pressure sensor provided on the drive assembly 3 and/or the consumable cartridge 1, the pressure sensor being arranged to be able to detect the pressure experienced at the junction of the drive assembly 3 and the consumable cartridge 1.

Specifically, it should be noted that the consumable cartridge 1 needs to move with the driving component 3 and the driving component 3 drives the transmission mechanism in the consumable cartridge 1 to move, and a stable enough connection is needed between the consumable cartridge 1 and the driving component 3. Therefore, the consumable cartridge 1 must generate a certain pressure at the connection with the driving member after installation, and based on this, the position detecting member 51 is provided as a pressure sensor in the present embodiment, and the pressure sensor may be arranged on the driving assembly 3 or the consumable cartridge 1 or both depending on the actual situation. When the consumable cartridge 1 is mounted to the drive assembly 3, the pressure sensor is able to detect a corresponding pressure, and when the consumable cartridge 1 is loose, the pressure detected by the pressure sensor is reduced. It is thus possible to judge whether the mounting of the consumable cartridge 1 is accurate or not by the pressure value obtained by the pressure sensor.

In a further embodiment, the position detecting member 51 comprises an elastic switch provided on the drive assembly 3 and/or the consumable cartridge 1, the elastic switch being arranged to be capable of being pressed and in a conducting position when the consumable cartridge 1 is in place.

Specifically, it should be noted that, when the consumable cartridge 1 is mounted on the driving assembly 3 and the mounting position is accurate, the elastic switch is triggered by pressure and is in the on position. When the cartridge 1 is mounted to the drive assembly 3 but the mounting position is inaccurate, the resilient switch is in the non-conductive position. Therefore, whether the consumable cartridge 1 is accurately installed or not can be judged according to the conduction condition of the elastic switch. After the consumable box 1 is disassembled, the elastic switch can automatically reset due to elasticity. In this embodiment, the elastic switch may be rotated or pushed linearly.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A vascular interventional procedure robot, comprising:

a robot body;

the driving assembly is arranged on the robot body;

The consumable box is detachably connected with the driving assembly in a transmission way;

And the position detection component is arranged on the driving assembly and/or the consumable box and is used for detecting the position of the consumable box relative to the driving assembly.

2. The vascular interventional procedure robot of claim 1, further comprising a display module electrically connected to the position detection member, the display module configured to enable a corresponding information display based on a position detection signal emitted by the position detection member.

3. The vascular interventional procedure robot according to claim 2, wherein the display module is a display screen assembly and/or a display light assembly provided on the robot body.

4. The vascular interventional procedure robot according to claim 1, wherein a clamping structure is arranged on the consumable box, a clamping hole structure matched with the clamping structure is arranged on the driving assembly, and the consumable box is fixedly connected with the driving assembly through the clamping structure and the clamping hole structure.

5. The vascular interventional procedure robot of claim 1, further comprising a controller configured to determine whether the consumable cartridge is in place based on a position detection signal issued by the position detection member.

6. The vascular interventional procedure robot according to any one of claims 1 to 5, wherein the position detection member includes a detection portion and a detected portion that are provided correspondingly, the detection portion being provided on one of the drive assembly and the consumable cartridge, the detected portion being provided on the other of the consumable cartridge and the drive assembly;

the detection unit is configured to detect a position of the detected unit.

7. The vascular interventional procedure robot according to claim 6, wherein the detection part is provided on the drive assembly, the consumable cartridge is provided with a detection hole, the detected part is provided in the detection hole, and the detection part is provided so as to be inserted into the detection hole when the consumable cartridge is mounted in place.

8. The vascular interventional procedure robot according to claim 7, wherein the detection unit is configured as a hall sensor and the detected unit is configured as a magnet or a magnetic metal.

9. Vascular interventional procedure robot according to any of claims 1-5, characterized in that the position detection means comprise a pressure sensor provided on the drive assembly and/or the consumable cartridge, which pressure sensor is arranged to be able to detect the pressure experienced at the connection of the drive assembly and the consumable cartridge.

10. Vascular interventional procedure robot according to any of claims 1-5, characterized in that the position detection means comprise an elastic switch provided on the drive assembly and/or the consumable cartridge, which is arranged to be pressed and in a conducting position when the consumable cartridge is in place.