Operating feedback of guidewire/catheter advancement resistance for vascular intervention robot

An operating handle with a feedback of guidewire/catheter advancement resistance for a vascular intervention robot comprising a sliding guide rail, a fixing base plate, a connecting rod, an operation rod, a pressure sensing device, a rotary driving device, and a linear motor, wherein

• the rotary driving device, the sliding guide rail, and a stator of the linear motor are arranged on the fixing base plate;
• the pressure sensing device and a rotor of the linear motor are connected with the sliding guide rail through a slider and are configured to reciprocate along the sliding guide rail;
• the connecting rod has a first end provided with the operation rod and a second end connected with the rotor of the linear motor through a strain gauge;
• and the connecting rod passes through the pressure sensing device and the rotary driving device in sequence;
• wherein the rotary driving device comprises a fixing base, a rotary encoder, a rotary driving piece, and a rotary driving rod,
• the rotary encoder is provided on the fixing base;
• and the rotary driving rod is connected with a rotor of the rotary encoder;
• the rotary driving piece is fixed to the connecting rod and has two ends provided with connecting holes;
• and the rotary driving piece is connected with the rotary driving rod through the connecting holes;
• and
• the connecting rod is configured to drive the rotary driving piece to rotate so as to drive the rotary encoder to rotate through the rotary driving rod.