Ambulance-type mobile catheter room for cardiovascular interventional surgery

An ambulance-type mobile catheter room for cardiovascular interventional surgery, comprising an ambulance, wherein an antibacterial internal environment, a robotic angiography machine system, a wireless medical Internet of Things system, a self-generating system and an auxiliary system are provided within the ambulance;

• wherein the robotic angiography machine system comprises a robotic upper arm (an upper robotic arm type robot), a robotic lower arm (a lower robotic arm type robot);
• wherein each of the robotic upper arm and the robotic lower arm has seven degrees of freedom and comprises a seven-degree-of-freedom module;
• the seven-degree-of-freedom module of the robotic upper arm comprises a first-second joint linear motion module, a third-fourth joint module, and a fifth-sixth-seventh joint module;
• the first-second joint linear motion module of the seven-degree-of-freedom module of the robotic upper arm comprises a first-shaft joint linear module, and a second-shaft base arranged on the first-shaft joint linear module;
• a first-shaft joint linear module output end drives the second-shaft base to move, the second-shaft base is provided with second-shaft guide rails, the second-shaft guide rails are slidably connected with a second-shaft slide block, the second-shaft slide block transmits force to a screw nut pair through pulleys, two ends of a screw are supported, by thrust bearings, on the second-shaft base, and nuts are connected to the second-shaft slide block;
• the second-shaft guide rails comprise a first second-shaft guide rail and a second second-shaft guide rail arranged in parallel;
• the third-fourth joint module of the seven-degree-of-freedom module of the robotic upper arm comprises a third joint module and a fourth joint module;
• the third joint module comprises a second-shaft connection block fixed to the second-shaft slide block, one side of the second-shaft connection block is connected with a curved arm type third-shaft connecting rod, a bottom of a free end of the third-shaft connecting rod is provided with a third-shaft motor, a top of the free end is provided with a third-shaft motor connector, the third-shaft motor connector is connected to the free end through a third-shaft crossed roller bearing, an outer ring of the third-shaft crossed roller bearing is connected to the free end, an inner ring of the third-shaft crossed roller bearing is connected to a third-shaft motor adapter, and the third-shaft motor is connected to the third-shaft motor adapter to transmit a motion to the third-shaft motor adapter;
• the fourth joint module comprises a fourth-joint base fixedly connected to the third-shaft motor adapter, the fourth-joint base is internally equipped with a fourth-joint screw, the fourth-joint screw is installed in the fourth-joint base through a bearing seat, the fourth-joint screw is connected to a fourth-joint nut to form a screw nut kinematic pair, the fourth-joint nut is connected to a block fourth-shaft connector, the fourth-joint nut is connected to fourth-joint slide blocks, the fourth-joint slide blocks are connected to two fourth-joint guide rails, and the two fourth-joint guide rails are arranged in the fourth-joint base and are parallel with the fourth-joint screw;
• the fourth-joint screw transmits, by pulleys, force to the screw nut kinematic pair;
• each of the two fourth-joint guide rails corresponds to one fourth-joint slide block, and two sides of the fourth-joint screw are respectively provided with one fourth-joint guide rail;
• and
• the fifth-sixth-seventh joint module of the seven-degree-of-freedom module of the robotic upper arm comprises a fifth-shaft connector connected to the fourth-shaft connector, the fifth-shaft connector is connected to a shell of a fifth-shaft joint module, an output shaft of the fifth-shaft joint module is connected to a sixth-shaft connector, the sixth-shaft connector is also connected to an output shaft of a sixth-shaft joint module, a shell of the sixth-shaft joint module is connected to an output shaft of a seventh-shaft connector, a shell of the seventh-shaft connector is connected to a base of a seventh-shaft joint module, and an output end of the seventh-shaft joint module is connected to a receiving panel.