WO2023082592A1

WO2023082592A1 - Multifunctional interventional surgical robot slave-end driving device

Info

Publication number: WO2023082592A1
Application number: PCT/CN2022/094225
Authority: WO
Inventors: 刘群
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-11-10
Filing date: 2022-05-20
Publication date: 2023-05-19
Also published as: CN114191101A

Abstract

A multifunctional interventional surgical robot slave-end driving device, comprising a supporting frame, a fixed support plate mounted on the supporting frame, a first driving assembly, a moving support plate, and two clamping groups respectively mounted on the fixed support plate and the moving support plate, wherein the first driving assembly drives, in a first direction, the moving support plate to move close to or away from the fixed support plate, such that the two clamping groups cooperate with each other to clamp or unclamp slender medical equipment. The driving device has a good transmission effect and occupies little space.

Description

A slave-side drive device for a multifunctional interventional surgery robot

This application claims the priority of the Chinese patent application with the application number 202111329455.4 filed on November 10, 2021, and the title of the invention is "a multifunctional interventional surgery robot from the end drive device", the entire content of which is incorporated by reference in this application.

technical field

The present application relates to a device in the field of medical robotics, in particular to a slave-end drive device for a multifunctional interventional surgery robot.

Background technique

Interventional therapy is a kind of minimally invasive treatment using modern high-tech means—that is, under the guidance of medical imaging equipment, special catheters, guide wires and other precision medical instruments are introduced into the human body to diagnose and locally treat diseases in the body .

Interventional therapy uses digital imaging technology to expand the doctor's field of vision and extend the doctor's hands with the help of catheters and guide wires. Its incision (puncture point) is only the size of a grain of rice, and it can treat many diseases that could not be treated in the past without cutting human tissue. 1. Diseases that must be treated surgically or medically but are not effective, such as tumors, hemangiomas, and various bleedings. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good effect. It is the development trend of future medicine.

In vascular interventional surgery, doctors need to receive X-ray radiation for a long time. For this purpose, a master-slave vascular interventional surgery robot with remote operation has been developed. The slave end of the master-slave vascular interventional surgery robot can work in an environment of strong radiation, and the doctor controls it through the master end outside the radiation environment.

In the process of advancing, retreating and rotating the guide wire (or catheter), the interventional surgical robot needs to be driven by a corresponding transmission mechanism. However, for the transmission mechanism of the existing interventional surgical robot, due to the unreasonable structural design, the transmission direction of the entire transmission mechanism Single, the transmission effect is not good, and it cannot meet the needs of use. Moreover, the overall volume of the transmission mechanism is too large, which is not conducive to the spatial layout of the surgical robot. In actual use, it also brings various inconveniences and affects the flexibility of use.

Contents of the invention

Based on this, it is necessary to provide a multi-functional interventional surgery robot slave end drive device to address the deficiencies in the prior art.

A multifunctional interventional surgery robot driving device from the end, used to realize the clamping of slender medical equipment, which includes a support frame, a fixed support plate installed on the support frame, a first drive assembly, and the first drive assembly Drive the movable support plate that moves relative to the fixed support plate in the first direction, and the two clamping groups respectively installed on the fixed support plate and the movable support plate, and the first driving component drives the movable support plate independently in the first direction The fixed strut is close to or far away from, and the clamping group on the movable strut cooperates with the clamping group on the fixed strut to clamp or loosen the slender medical equipment.

Further, the drive device of the multifunctional interventional surgery robot from the end also includes a second drive assembly, and the second drive assembly drives the fixed strut plate and the movable strut plate to reverse each other in a second direction different from the first direction Movement, the fixed support plate and the movable support plate drive the two clamping groups to move in the opposite direction to each other in the process of mutual reverse movement, and then drive the slender type clamped between the two clamping groups Medical equipment turns.

Further, the driving device of the multifunctional interventional surgery robot from the end also includes a third driving assembly for driving the clamping group, and the third driving assembly drives the clamping group to make the clamped elongated medical equipment along different Linear displacement in the third direction relative to the first direction and the second direction.

Further, when the multifunctional interventional surgery robot executes the clamping mode on the slender medical equipment from the driving device, the first drive assembly drives the two clamping groups to clamp the slender medical equipment in the first direction, The second drive assembly and the third drive assembly are in a non-working state.

Further, when the multi-functional interventional surgery robot executes clamping and delivery mode on the slender medical device from the end drive device, the first drive assembly drives the two clamping groups to clamp the slender medical device in the first direction. Equipment, the third driving assembly delivers or withdraws the clamped elongated medical equipment, so that the elongated medical equipment performs delivery or withdrawal operations, and the second driving assembly is in a non-working state.

Further, when the multi-functional interventional surgery robot executes clamping and rotating modes on the slender medical equipment from the drive device, the first drive assembly drives the two clamping groups to clamp the slender medical equipment in the first direction. equipment, the second drive assembly rubs the clamped slender medical equipment to make the slender medical equipment perform forward or reverse rotation along its axis, and the third drive assembly is in a non-working state .

Further, when the multi-functional interventional surgery robot performs clamping and simultaneous movement and rotation modes on the slender medical device from the end drive device, the first drive assembly drives the two clamping groups to clamp the slender medical equipment in the first direction. For elongated medical equipment, at the same time, the second driving assembly performs thread rolling on the clamped elongated medical equipment, so that the elongated medical equipment performs forward or reverse rotation along its axis, and the third drive assembly The component delivers or withdraws the clamped elongated medical device, so that the elongated medical device can move and rotate simultaneously.

Further, two of the first direction, the second direction and the third direction are perpendicular to each other.

Further, the outer cover is a disposable medical consumable.

Further, the driving device of the slave end of the multifunctional interventional surgery robot is fixedly installed on the slave end of the interventional surgery robot.

To sum up, the drive device of the multifunctional interventional surgery robot in this application drives the two clamping groups to perform clamping, thread rolling rotation, moving delivery and simultaneous thread rolling through the first drive assembly, the second drive assembly, and the third drive assembly. The operation of rotating and moving delivery can realize the switching of various operations, which can meet the different operation needs of doctors. Moreover, it has good transmission effect, strong practicability, wide application range, compact structure, and small footprint, which is very suitable for interventional operations. It is of great help and has strong promotional significance.

technical problem

For the transmission mechanism of the existing interventional surgery robot, due to unreasonable structural design, the transmission direction of the entire transmission mechanism is single, the transmission effect is not good, and it cannot meet the use requirements. Moreover, the overall volume of the transmission mechanism is too large, which is not conducive to the spatial layout of the surgical robot. In actual use, it also brings various inconveniences and affects the flexibility of use.

technical solution

.

Beneficial effect

The transmission effect is good, the practicability is strong, the application range is wide, and the structure is compact, and the space occupied is small, which is of great help to the operation of the interventional operation and has strong promotional significance. .

Description of drawings

FIG. 1 is a schematic structural view of a slave-side drive device for a multifunctional interventional surgery robot of the present application;

Fig. 2 is a structural schematic diagram of the multifunctional interventional surgery robot shown in Fig. 1 after removing the outer cover from the end driving device;

Fig. 3 is a structural schematic diagram of another angle of the multifunctional interventional surgery robot shown in Fig. 1 after the outer cover is removed from the end driving device;

Fig. 4 is a structural schematic diagram of the multifunctional interventional surgery robot shown in Fig. 2 after further removing the linkage wheel and the first driving motor from the end driving device;

Fig. 5 is a front view of the slave end driving device of the multifunctional interventional surgery robot shown in Fig. 4 .

Detailed ways

In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.

As shown in Figures 1 to 5, this application provides a multifunctional interventional surgery robot from the end drive device, which is installed on the interventional surgery robot from the end to push the slender medical equipment (guide wire or catheter) 100 to execute the clip The operation of holding, rotating and delivering, the movement of the slender medical device (guide wire or catheter) 100 is divided into forward rotation into the patient's body (specifically the blood vessels in the body) and reverse rotation out of the patient's body to achieve fine Delivery or withdrawal of the elongate medical device 100 . In this embodiment, the driving device of the slave end of the multifunctional interventional surgery robot is fixedly installed on the slave end of the interventional surgery robot, and is located at the distal end of the slave end of the interventional surgery robot. In other embodiments, the driving device of the slave end of the multifunctional interventional surgery robot is slidably mounted on the slave end of the interventional surgery robot.

The drive device of the multifunctional interventional surgery robot from the end includes a support frame 10, a fixed support plate 20 installed on the support frame 10, a movable support plate 30 moving relative to the fixed support plate 20 in the first direction, and a movable support plate 30 respectively installed on the support frame 10. The two clamping groups 70 on the fixed strut 20 and the movable strut 30 , the first drive assembly 40 that drives the movable strut 30 to approach or move away from the fixed strut 20 along the first direction, drives the fixed strut 20 and the movable strut 30 The second drive assembly 50 that moves in opposite directions along the second direction, the third drive assembly 60 that is installed on the fixed support plate 20 and connected with the clamping group 70 installed on the fixed support plate 20, and the movable support plate 30 approaches or moves away from the fixed support plate 20 in the first direction, the clamping group 70 installed on the movable support plate 30 cooperates with the clamping group 70 installed on the fixed support plate 20 to clamp or loosen the In the elongated medical equipment 100, the third driving assembly 60 drives the clamping group 70 installed on the fixed support plate 20 and the clamping group 70 installed on the movable support plate 30 to move synchronously, so that the clamped thin The elongate medical device 100 is delivered or withdrawn in a third direction different from the first direction and the second direction. In this embodiment, two pairs of the first direction, the second direction and the third direction are perpendicular to each other.

The support frame 10 includes a base plate 11, a support plate 12 and a guide block 13 installed on the base plate 11, two fixed blocks 14 connected to the inner side of the support plate 12, and two guide rods 15 fixed along the second direction. The guide rods 15 are parallel to each other, the bottom of the fixed support plate 20 is provided with a limit column 21, and the end of the limit column 21 is provided with an inwardly extending movable groove, and the fixed support plate 20 is installed in cooperation with the support frame 10 At this time, one of the guide rods 15 of the support frame 10 extends into the movable groove, the position limiting post 21 can be adjusted in the second direction along the guide rod 15, and the guide rod 15 extends into the innermost part of the movable groove At the end position, the guide rod 15 matched with it supports the entire positioning plate 20 . In this embodiment, the two guide rods 15 are fixed on the bottom plate 11 of the support frame 10 .

The first driving assembly 40 includes a connecting plate 42 and a limit rod 43 installed on the connecting plate 42 along the second direction, and the end of the limit rod 43 is passed through the movable support plate 30, so that the movable support plate 30 can be adjusted in the second direction along the limit rod 43. The bottom of the connecting plate 42 is protruded with a guide pin 421, and the guide pin 421 is inserted on the guide block 13 along the first direction. With the cooperation of the block 13 , the connecting plate 42 of the first driving assembly 40 can slide along the first direction on the bottom plate 11 of the supporting frame 10 . The first drive assembly 40 also includes an electromagnetic driver 41, the electromagnetic driver 41 is directly or indirectly connected to the connecting plate 42 of the first drive assembly 40, and the first drive is driven by adjusting the opening and closing state of the electromagnetic driver 41. The movable support plate 30 on the assembly 40 moves relatively toward or away from the fixed support plate 20 along the first direction, so that the clamping group 70 installed on the movable support plate 30 and the clamping group 70 installed on the fixed support plate 20 Clamp or unclamp. In this embodiment, the electromagnetic driver 41 is installed on the bottom plate 11 of the support frame 10 .

It can be understood that, in this embodiment, the electromagnetic driver 41 is used to drive the two clamping groups 70 to perform the clamping or loosening action. In other embodiments, the first driving component 40 can also use the form of a motor to drive the movable support plate 30 sliding, for example, the motor drives the rack to slide through the gear, so that the connecting plate 42 on which the rack is installed slides synchronously, so as to realize the clamping or loosening of the two clamping groups 70.

The present application also includes a detection device 80. In this embodiment, the detection device 80 is a grating sensor, and the grating sensor includes a grating ruler 82 and a grating reading head 81. The grating ruler 82 is installed on the On the bottom plate 11 of the support frame 10 , the grating reading head 81 is installed on the connecting plate 42 and faces the grating scale 82 . When the first driving assembly 40 drives the two clamping groups 70 to clamp the slender medical device 100, the grating sensor is used to obtain the relative displacement, and the measurement result is transmitted to the system controller, which is converted into a slender medical device 100 diameter.

The second drive assembly 50 includes two sliding seats 54 facing oppositely, a linkage wheel 53 placed between the two sliding seats 54 and allowing the two sliding seats 54 to move in opposite directions synchronously along the second direction, The first drive motor 51 that drives the linkage wheel 53 to rotate, and the circumferential surface of the linkage wheel 53 is provided with locking teeth. In this embodiment, the first drive motor 51 is connected to and drives the linkage wheel 53 through a gear set 52 to realize For power transmission, in other embodiments, the first drive motor 51 can also be directly connected to the linkage wheel 53 .

Each of said sliding seats 54 includes a slide bar 542 and a drive rack 541 connected to the slide bar 542. The drive racks 541 on the two slide seats 54 are arranged oppositely and engage with the card on the circumferential surface of the linkage wheel 53 simultaneously by the locking teeth. teeth. The sliding rod 542 passes through the corresponding fixed block 14 along the second direction, so that the sliding seat 54 can slide in the second direction. When the first driving motor 51 drives the interlocking wheel 53 to rotate through the gear set 52, the interlocking wheel 53 is rotating During the process, the two sliding seats 54 are synchronously driven to move in opposite directions.

The two sliding seats 54 cooperate with the movable support plate 30 and the fixed support plate 20 respectively, wherein, the bottom of the fixed support plate 20 facing away from the corresponding clamping group 70 is provided with a connector 22, and the slides matched with the fixed support plate 20 The seat 54 is provided with a fixed head 543, the connecting head 22 and the fixed head 543 are connected and fixed by a fixed pin 23, and the bottom of the moving support plate 30 facing away from the clamping group 70 is provided with a positioning head 31, and the positioning head 31 The side of the sliding seat 54 that is facing the fixed support plate 20 is provided with an elongated position adjusting groove 32 extending along the first direction, and the sliding seat 54 that cooperates with the fixed support plate 20 is provided with a sliding post 544. The sliding column 544 of the seat 54 passes through the adjustment groove 32, and the first driving assembly 40 drives the clamping group 70 installed on the movable support plate 30 to clamp together with the clamping group 70 installed on the fixed support plate 20 Or when the elongated medical device 100 is released, the sliding post 544 cooperates with different positions of the adjustment slot 32 in the first direction, and the sliding post 544 switches from the clamping position or the non-clamping position in the positioning slot 32 . By setting the elongated positioning groove 32, the movable support plate 30 can be displaced relative to the corresponding sliding seat 54 during the movement along the first direction, so that the two clamping groups 70 can clamp the slender medical device 100, After the clamping is completed, the second driving assembly 50 drives the two driving racks 541 to move in opposite directions through the linkage wheel 53, and the two sliding bars 542 slide synchronously relative to the corresponding fixed block 14, driving the fixed block connected to the two sliding bars 542. The support plate 20 and the movable support plate 30 slide relative to the guide rod 15 and the limit rod 43 respectively, and can further drive the two clamping groups 70 to perform the thread rolling action (that is, drive the slender medical device 100 to rotate forward or reverse). In this embodiment, the positioning slot 32 is an open slot, which is convenient for disassembly and maintenance. Among the two guide rods 15, one of the guide rods 15 is fixed on the electromagnetic driver 41, the other guide rod 15 is installed on a fixed block 14, and the slide rod 542 of the slide seat 54 matched with the fixed support plate 20 is passed through. through the fixed block 14.

The third drive assembly 60 is installed on the fixed support plate 20, and the third drive assembly 60 realizes power transmission with the clamping group 70 also installed on the fixed support plate 20, and each clamping group 70 It includes several rotating shafts 72 distributed side by side and rollers 71 installed on each rotating shaft 72. The rotating shafts 72 on the two clamping groups 70 are respectively installed on the fixed support plate 20 and the moving support plate 30 through bearings. The rotating shaft 72 can rotate around Its axis rotates. The third drive assembly 60 includes a second drive motor 61, a gear set 62 and a delivery gear 63, the delivery gear 63 is installed on the clamping group 70 on the fixed support plate 20, and the second drive motor 61 is installed on On the fixed support plate 20 , the gear set 62 of the third driving assembly 60 is connected with the second driving motor 61 and the delivery gear 63 . When the clamping group 70 on the movable support plate 30 and the clamping group 70 on the fixed support plate 20 clamp the elongated medical device 100, the second driving motor 61 of the third driving assembly 60 drives the The rotating shaft 72 and the roller 71 installed on the rotating shaft 72 rotate together on the fixed support plate 20, and the rotating shaft 72 and the roller 71 on the other clamping group 70 cooperate to rotate together during the rotation process. The elongated medical device 100 is delivered or withdrawn.

It can be understood that, in this embodiment, the third drive assembly 60 is installed on the fixed support plate 20 and is power-connected with the clamping group 70 installed on the fixed support plate 20. In other embodiments, the third driving assembly 60 The three drive assemblies 60 can also be installed on the movable support plate 30 and be connected to the clamping group 70 installed on the movable support plate 30. Of course, two sets of third drive assemblies 60 can also be used to drive the two clamping groups 70 respectively. synchronous rotation. In addition, the present application also includes an outer cover 90, the outer cover 90 cooperates with the support frame 10, and supports the fixed support plate 20, the movable support plate 30, the clamping group 70, the first drive assembly 40, the second drive assembly 50 and the third drive assembly. The drive assembly 60 is sterile isolated, and the two sides of the outer cover 90 are respectively provided with perforations 91 to allow the elongated medical device 100 to pass through. The perforations 91 arranged on both sides of the outer cover 90 are oppositely arranged along the third direction. The elongated medical device 100 passing through the perforation 91 passes between the two clamping groups 70 . For the specific structure of the outer cover 90, please refer to the corresponding description in the patent title: A slave-end drive device for an interventional surgery robot with protection and isolation functions, and the patent application number: 202111018209.7, the entire contents of which are incorporated into this application. The outer cover 90 may include a first outer cover for receiving and a second outer cover sheathed on the first outer cover, and the second outer cover may be a disposable medical consumable. In addition, the present application also includes a force detection device, which is used to detect the resistance of the elongated medical device 100 when it is delivered or withdrawn along the third direction. Corresponding descriptions in the guide wire catheter driving device of the interventional surgery robot, patent application number: 202111010059.5, the entire contents of which are incorporated into this application.

In other embodiments, the clamping group 70 installed on the fixed support plate 20 and the clamping group 70 installed on the movable support plate 30 can be detachably installed by manual buckling to facilitate replacement. In addition, the clamping group 70 or its rollers 71 can be disposable medical consumables.

When the multifunctional interventional surgery robot of this application is working from the driving device at the end, it can execute at least the following four modes for the medical device 100 according to the needs of use:

1. In the clamping mode, the first driving component 40 drives the two clamping groups 70 to clamp the slender medical device 100 in the first direction, and perform preliminary positioning on the slender medical device 100;

2. Clamping and delivery mode, the third driving assembly 60 delivers the clamped elongated medical device 100, so that the elongated medical device 100 performs delivery and withdrawal operations;

3. In the clamping and rotating mode, the second drive assembly 50 performs thread rolling on the clamped elongated medical device 100, so that the elongated medical device 100 performs forward rotation or reverse rotation along its axis;

4. Clamping and simultaneous movement and rotation mode, the second drive assembly 50 performs thread rolling on the clamped elongated medical device 100, so that the elongated medical device 100 performs forward or reverse rotation along its axis, At the same time, the third driving assembly 60 delivers the clamped elongated medical device 100 , so that the elongated medical device 100 performs simultaneous moving and rotating operations.

To sum up, the driving device of the multifunctional interventional surgery robot of this application drives the two clamping groups 70 to perform clamping, thread rolling and moving delivery through the first drive assembly 40, the second drive assembly 50, and the third drive assembly 60. And at the same time, the operation of rolling, rotating and moving delivery can realize the switching of various operations, which can meet the different operation needs of doctors, and has good transmission effect, strong practicability, wide application range, compact structure, and small space occupation. The operation of interventional surgery is of great help and has strong promotional significance.

It should be noted that the first direction, the second direction and the third direction in this application are bidirectional. For example, when the first direction is a horizontal direction, it includes both a left direction and a right direction; when the second direction is a vertical direction, it includes both an upward direction and a downward direction; the third When the direction is perpendicular to the first direction and the second direction, it includes both the forward direction and the backward direction.

In addition, both the clamping position and the non-clamping position are variable. For example, if the diameters of the guidewire catheters clamped between the two clamping groups 70 are different, the clamping position will change, and the clamping position will also slightly change with the magnitude of the clamping force.

The above-mentioned embodiment only expresses an implementation mode of the invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the invention, and these all belong to the protection scope of the invention. Therefore, the scope of protection of the invention patent shall be subject to the appended claims.

Claims

A multifunctional interventional surgery robot drive device from the end, used to realize the clamping of elongated medical equipment, including a support frame, a fixed support plate installed on the support frame, a first drive assembly, driven by a first The component drives the movable support plate that moves relative to the fixed support plate in the first direction, and the two clamping groups respectively installed on the fixed support plate and the movable support plate, and the first driving component drives the movable support plate in the first direction to The fixed strut is close to or far away from, and the clamping group on the movable strut cooperates with the clamping group on the fixed strut to clamp or loosen the slender medical equipment.
The multifunctional interventional surgery robot slave end drive device according to claim 1, wherein the first drive assembly comprises:

connecting plate;

A limit rod, the limit rod is installed on the connecting plate along the second direction, and the end is passed through the movable support plate, the limit rod is used to support the movable support plate and allow the The moving support plate is adjusted in the second direction;

An electromagnetic driver, the electromagnetic driver is connected with the connecting plate, and is used to drive the moving support plate to move in the first direction, so that the clamping group on the moving support plate and the clamping group on the fixed support plate The holding groups cooperate with each other to clamp or loosen the elongated medical device.
The multifunctional interventional surgery robot slave end drive device according to claim 2, further comprising: a detection device, the detection device includes a grating ruler and a grating reading head, and the grating ruler is installed on the said grating along the first direction. On the bottom plate of the support frame, the grating reading head is installed on the connecting plate and faces the grating ruler.
The multifunctional interventional surgery robot driving device from the end according to claim 1, wherein the support frame comprises:

floor;

a support plate and a guide block, the support plate and the guide block are installed on the bottom plate;

Two fixed blocks, the two fixed blocks are connected to the inner surface of the support plate;

Two guide rods, the two guide rods are fixed on the bottom plate along the second direction.
The multifunctional interventional surgery robot driving device from the end as claimed in claim 4, wherein, the bottom of the fixed support plate is provided with a limit column, and the limit column is provided with a movable groove;

When the fixed support plate is installed in cooperation with the support frame, one of the guide rods of the support frame extends into the movable groove, and the position-limiting column is adjusted in the second direction along the guide rod .
The driving device of the multifunctional interventional surgery robot from the end according to claim 1, wherein: the driving device from the multifunctional interventional surgery robot further includes a second driving assembly, and the second driving assembly drives the fixed support plate and the movable support The plates move in opposite directions in the second direction different from the first direction, and the fixed support plate and the movable support plate respectively drive the two clamping groups to move in opposite directions in the second direction during the process of mutual reverse movement. Further, the elongated medical equipment clamped between the two clamping groups is driven to rotate.
The multifunctional interventional surgery robot driving device from the end according to claim 6, wherein the second driving assembly comprises:

Two sliding seats, the two sliding seats are arranged facing each other, and the two sliding seats are respectively matched with the movable support plate and the fixed support plate;

A linkage wheel, the linkage wheel is placed between the two sliding seats;

The first driving motor is connected with the linkage wheel, and is used to drive the linkage wheel to rotate, so that the two sliding seats move in the opposite direction synchronously along the second direction, and then drive the fixed support plate and the movable support The plates move in opposite directions in the second direction, and then drive the elongated medical equipment clamped between the two clamping groups to rotate.
The multifunctional interventional surgery robot drive device from the end as claimed in claim 7, wherein each of the sliding seats includes a sliding bar and a driving rack connected to the sliding bar, and the driving teeth on the two sliding seats are The bars are arranged oppositely and meshed with the locking teeth of the linkage wheel at the same time through the locking teeth;

When the first driving motor drives the linkage wheel to rotate, it drives the driving racks on the two slides to move in reverse, so that the two slides synchronously move in reverse along the second direction.
The multifunctional interventional surgery robot driving device from the end according to claim 7, wherein the movable support plate includes a positioning head, and the positioning head is provided with a positioning groove extending along the first direction; The sliding seat matched with the support plate is provided with a sliding column, and the sliding column passes through the adjustment groove;

When the movable support plate is driven to move in the first direction, the sliding column cooperates with the adjustment groove in the first direction, so that the sliding column can move from the clamping position or The non-clamping position is switched.
The multifunctional interventional surgery robot driving device from the end according to claim 7, wherein, the bottom of the fixed support plate facing away from the corresponding clamping group is provided with a connecting head, and the sliding seat matched with the fixed support plate is provided with a fixed support plate. head, the connecting head and the fixed head are connected and fixed by a fixing pin.
The multifunctional driving device for the slave end of the interventional surgery robot according to claim 6, wherein: the slave end driving device for the multifunctional interventional surgery robot further comprises a third driving assembly for driving the clamping group, and the third driving assembly The clamping group is driven to linearly displace the clamped elongated medical equipment along a third direction different from the first direction and the second direction.
The multifunctional interventional surgery robot driving device from the end according to claim 11, wherein the third driving assembly is installed on the fixed support plate and is in transmission connection with the clamping group installed on the fixed support plate , and/or, the third driving assembly is installed on the movable support plate and is in transmission connection with the clamping group installed on the movable support plate.
The multifunctional interventional surgery robot slave end drive device according to claim 12, wherein the third drive assembly includes a second drive motor mounted on the fixed strut and/or the movable strut, each A clamping group includes a rotating shaft and rollers mounted on the rotating shaft;

The second driving motor is used to drive the rotating shaft and the rollers to rotate synchronously, so as to linearly displace the clamped elongated medical equipment along the third direction.
The multifunctional interventional surgery robot slave end drive device according to claim 11, wherein: when the multifunctional interventional surgery robot slave end drive device executes the clamping mode on the slender medical equipment, the first drive assembly drives two The clamping group clamps the slender medical equipment in the first direction, and the second driving assembly and the third driving assembly are in a non-working state.
The multifunctional slave end driving device for interventional surgery robot according to claim 11, wherein: when the multifunctional interventional surgery robot slave end driving device executes clamping and delivery modes for slender medical equipment, the first driving assembly Drive the two clamping groups to clamp the slender medical equipment in the first direction, and the third drive assembly delivers or withdraws the clamped slender medical equipment, so that the slender medical equipment can be delivered or withdrawn. Out of operation, the second drive assembly is in a non-working state.
The multifunctional interventional surgery robot slave end drive device according to claim 11, wherein: when the multifunctional interventional surgery robot slave end drive device executes clamping and rotation modes for slender medical equipment, the first drive assembly The two clamping groups are driven to clamp the slender medical equipment in the first direction, and the second drive assembly performs thread rolling on the clamped slender medical equipment, so that the slender medical equipment performs normal operation along its axis. Rotate or reverse operation, the third drive assembly is in a non-working state.
The multifunctional interventional surgery robot slave end drive device according to claim 11, wherein: when the multifunctional interventional surgery robot slave end drive device executes clamping and simultaneous movement and rotation modes for slender medical equipment, the first A driving component drives two clamping groups to clamp the slender medical device in the first direction, and the second driving component rubs the clamped slender medical device so that the slender medical device moves along its axis. The center performs forward rotation or reverse rotation, and the third drive assembly delivers or withdraws the clamped elongated medical equipment, so that the elongated medical equipment performs simultaneous movement and rotation operations.
The multifunctional slave-end driving device for interventional surgery robot according to claim 11, wherein: the first direction, the second direction and the third direction are perpendicular to each other.
The multifunctional slave-end driving device for interventional surgery robot according to claim 18, further comprising an outer cover matched with the support frame, and the outer cover is a disposable medical consumable.
The multifunctional driving device for the slave end of the interventional surgery robot according to claim 1, wherein: the driving device for the multifunctional interventional surgery robot from the end is fixedly installed on the slave end of the interventional surgery robot.