Slave-end guidewire/catheter driving apparatus of interventional surgical robot with force detection function

A slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function, disposed at a slave end of an interventional surgical robot, and configured to implement clamping and driving of a guidewire/catheter, wherein the apparatus comprises an inner frame, a rubbing mechanism, and a first force detection module, the rubbing mechanism is disposed on the inner frame, the rubbing mechanism comprises two oppositely arranged clamping sets and a driving component, the driving component drives the two clamping sets to move close to or away from each other along a first direction to clamp or unclamp the guidewire/catheter, the first force detection module is disposed at the bottom of the inner frame, and when the two clamping sets clamp the guidewire/catheter, the first force detection module is configured to detect advancement resistance in an advancement direction, perpendicular to the first direction, of the guidewire/catheter;

• and wherein
• the apparatus further comprises a second force detection module comprising a second force measurement sensor and a connecting plate connecting the driving component and the second force measurement sensor in the first direction, wherein the second force measurement sensor is configured to detect clamping force of the two clamping sets that acts on the guidewire/catheter by measuring a pressure that is applied by the connecting plate.