HK40064521B - Linkage structure and gantry used for interventional surgery robot - Google Patents

Description

A linkage structure and a gantry for interventional surgical robots

Technical Field

This invention relates to a device in the field of medical robots, and more particularly to a linkage structure and a gantry for interventional surgical robots.

Background Technology

During vascular interventional surgery, doctors are exposed to X-ray radiation for extended periods. To address this, a remotely operated master-slave vascular interventional surgical robot has been developed, enabling doctors to control the robot to perform vascular interventional surgery outside of the radiation environment.

During interventional surgery, the interventional surgical robot needs to be rotated to align its catheters, guidewires, and other interventional devices with the patient's blood vessels (such as the radial artery in the arm or the femoral artery in the leg) so that the surgery can be performed using the robot. However, in actual research and development, it was found that the docking process between the interventional surgical robot and the mobile trolley and catheter bed has problems such as jamming, cumbersome operation, and safety hazards.

Summary of the Invention

Therefore, it is necessary to address the shortcomings of existing technologies by providing a novel linkage structure and a gantry for interventional surgical robots.

A linkage structure includes: a linkage cam structure and a linkage locking structure;

The linkage cam structure includes a linkage shaft, a first camshaft and a second camshaft disposed on the linkage shaft; the linkage locking structure includes a first locking structure and a second locking structure.

One end of the first locking structure abuts against the first camshaft, and the other end is used to release or lock the first lockable structure under the action of the first camshaft.

One end of the second locking structure abuts against the second camshaft, and the other end is used to release or lock the second lockable structure under the action of the second camshaft.

Preferably, the first camshaft and the second camshaft are configured such that when the first camshaft releases the first locking structure, the second camshaft locks the second locking structure; when the first camshaft locks the first locking structure, the second camshaft releases the second locking structure.

Preferably, the angle formed by the plane containing the longest radial direction of the first camshaft and the plane containing the longest radial direction of the second camshaft is between 0° and 180°.

Preferably, the linkage structure further includes a linkage mounting base; the linkage cam structure further includes a first bearing seat and a second bearing seat mounted on the linkage mounting base;

The linkage cam structure also includes a limiting component for limiting the linkage shaft;

The limiting assembly includes a first limiting member mounted on a first bearing seat and a limiting groove disposed on the linkage shaft;

The first limiting member cooperates with the limiting groove to limit the linkage shaft.

Preferably, the linkage cam structure further includes a handle connected to the linkage shaft; the handle is located at the end of the linkage shaft.

Preferably, the linkage structure further includes a linkage mounting base; the linkage cam structure further includes a first bearing seat and a second bearing seat mounted on the linkage mounting base;

The first locking structure includes a first locking seat and a first locking assembly;

The first locking seat is mounted on the linkage mounting seat and is positioned opposite to the first bearing seat;

The first locking component is inserted into the first locking seat, with one end abutting against the first camshaft and the other end abutting against the first lockable structure.

Preferably, the first locking assembly includes a first connecting member, a first elastic member, and a first locking member connected in sequence;

The first connector extends out of one end of the first locking seat and abuts against the first camshaft;

The first locking member extends out of the other end of the first locking seat and is used to abut against the first structure to be locked.

Preferably, the linkage structure further includes a linkage mounting base; the linkage cam structure further includes a first bearing seat and a second bearing seat mounted on the linkage mounting base;

The second locking structure includes a second locking seat and a second locking assembly;

The second locking seat is disposed opposite to the second bearing seat;

The second locking component is inserted into the second locking seat, with one end abutting against the second camshaft and the other end abutting against the second lockable structure.

Preferably, the second locking assembly includes a second connecting member, a second elastic member, and a second locking member connected in sequence;

The second connector extends out of one end of the second locking seat and abuts against the second camshaft;

The second locking member extends out of the other end of the second locking seat and is used to abut against the second lockable structure.

Preferably, the linkage structure further includes a detection structure connected to the system control component. The detection structure is used to detect the release or locking of the first lockable structure and/or the second lockable structure, and generate a detection signal to send to the system control component.

In summary, the linkage structure provided by this invention utilizes a first camshaft to drive a first locking structure to control a first lockable structure, and a second camshaft to drive a second locking structure to control a second lockable structure; thereby achieving linkage control, which is simple and efficient to operate.

The present invention also provides a gantry for an interventional surgical robot, comprising a frame, a trolley docking structure and a bed docking structure mounted on the frame, and a linkage structure as described above;

The trolley docking structure is used to dock with the mobile trolley; the bed docking structure is used to dock with the catheter bed.

The other end of the first locking structure passes through the bed docking structure and is used to release or lock the guide bed under the action of the first camshaft;

The other end of the second locking structure passes through the trolley docking structure and is used to release or lock the moving trolley under the action of the second camshaft;

The first camshaft and the second camshaft are configured such that when the first camshaft releases the guide bed, the second camshaft locks the moving trolley; when the first camshaft locks the guide bed, the second camshaft releases the moving trolley.

Preferably, the linkage structure is installed at the bottom of the frame and connected to the trolley docking structure via a first locking structure and to the bed docking structure via a second locking structure.

Preferably, two bed docking structures and two linkage structures are respectively provided. The linkage shafts of the two linkage structures are respectively passed through the two ends of the bottom of the frame and can be slidably adjusted so that the distance between the two bed docking structures can be adapted to the guide bed of different widths.

In summary, in the gantry for interventional surgery robots provided by the present invention, when the first camshaft releases the catheter bed, the second camshaft locks the moving trolley; when the first camshaft locks the catheter bed, the second camshaft releases the moving trolley, thereby achieving linkage control.

Attached Figure Description

Figure 1 is a schematic diagram of the gantry structure of the present invention equipped with an interventional surgical robot.

Figure 2 is a schematic diagram of the gantry structure of the interventional surgical robot of the present invention.

Figure 3 is a schematic diagram of the linkage structure of the present invention, wherein the dashed lines represent the plane where the longest radial direction of the first camshaft is located and the plane where the longest radial direction of the second camshaft is located.

Figure 4 is a disassembled diagram of the linkage structure of the present invention.

In the diagram, 10 is the rack;

20. Trolley docking structure;

30. Bed body docking structure;

40. Linkage mounting base; 41. Moving guide rail;

50. Linked cam structure; 51. Linked shaft; 52. First camshaft; 53. Second camshaft; 54. First bearing housing; 55. Second bearing housing; 56. Limiting assembly; 561. First limiting member; 562. Limiting groove; 563. Second limiting member; 57. Handle;

60. Linkage locking structure; 61. First locking structure; 611. First locking seat; 612. First locking assembly; 613. First connecting member; 614. First elastic member; 615. First locking member; 62. Second locking structure; 621. Second locking seat; 622. Second locking assembly; 623. Second connecting member; 624. Second elastic member; 625. Second locking member;

70. Detection structure; 71. Sensing element; 72. Sensor;

80. Interventional surgical robot.

Detailed Implementation

To make the objectives, technical solutions, and advantages of the invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

As shown in Figures 1 to 4, the present invention provides a gantry for an interventional surgical robot. The gantry includes a frame 10, a trolley docking structure 20 and a bed docking structure 30 mounted on the frame 10, and the following linkage structure: the trolley docking structure 20 is used to dock with a mobile trolley (not shown in the figure); the bed docking structure 30 is used to dock with a catheter bed (not shown in the figure); the linkage structure includes a linkage cam structure 50 and a linkage locking structure 60; the linkage cam structure 50 includes a linkage shaft 51, a first camshaft 52 and a second camshaft 53 disposed on the linkage shaft 51; the linkage locking structure 60 includes a first locking structure 61 and a second locking structure 62; one end of the first locking structure 61 abuts against the first camshaft 52 and the other end passes through the bed docking structure 30, and is used to release or lock the catheter bed under the action of the first camshaft 52; one end of the second locking structure 62 abuts against the second camshaft 53 and the other end passes through the trolley docking structure 20, and is used to release or lock the mobile trolley under the action of the second camshaft 53.

The angle formed by the plane containing the longest radial direction of the first camshaft 52 and the plane containing the longest radial direction of the second camshaft 53 is between 0° (inclusive) and 180° (inclusive). In this embodiment, the first camshaft 52 and the second camshaft 53 are elliptical, that is, the angle formed by the plane containing the major axis of the first camshaft 52 and the plane containing the major axis of the second camshaft 53 is between 0° (inclusive) and 180° (inclusive). In other words, when projected from the axial direction of the linkage shaft 51, the projections corresponding to the major axes of the first camshaft 52 and the second camshaft 53 intersect in the same plane. Therefore, when the first camshaft 52 releases the catheter bed, the second camshaft 53 locks the moving trolley; when the first camshaft 52 locks the catheter bed, the second camshaft 53 releases the moving trolley to achieve linkage control. Of course, if it is necessary to simultaneously lock the catheter bed and the moving trolley, or simultaneously release the catheter bed and the moving trolley, then the projection of the long axis of the first camshaft 52 and the long axis of the second camshaft 53, projected from the axial direction of the linkage shaft 51, coincides in the same plane, i.e., the angle formed is 0° or 180°. In another embodiment, even if the projection of the long axis of the first camshaft 52 and the long axis of the second camshaft 53 do not coincide in the same plane, it is still possible to simultaneously lock the catheter bed and the moving trolley, or simultaneously release the catheter bed and the moving trolley. Moreover, multiple camshafts can be correspondingly set on the linkage shaft 51 according to the number of objects to be locked or released.

For example, as shown in Figure 3, the first camshaft 52 and the second camshaft 53 are arranged on the same linkage shaft 51. Viewed from the axial direction of the linkage shaft, the two long axes are orthogonally arranged on the same projection plane. Rotating the linkage shaft 51 causes the first camshaft 52 and the second camshaft 53 to rotate simultaneously. This allows the first camshaft 52 to drive the first locking structure 61 to lock the catheter bed, while the second camshaft 53 drives the second locking structure 62 to release the moving trolley. Alternatively, the first camshaft 52 drives the first locking structure 61 to release the catheter bed, while the second camshaft 53 drives the second locking structure 62 to lock the moving trolley. A single linkage shaft 51 can simultaneously control the first locking structure 61 and the second locking structure 62, eliminating the need for multiple separate control structures and simplifying the operation. It also saves manufacturing costs and overall installation space for the gantry, resulting in a high degree of integration. This prevents unexpected situations such as gantry displacement or flipping, and also prevents doctors from forgetting to lock the gantry and moving trolley, or the gantry and catheter bed.

Specifically, when no interventional surgery is being performed, the gantry equipped with the interventional surgical robot 80 is moved onto a mobile trolley. At this time, the second locking structure 62 locks the mobile trolley to ensure a stable connection between the gantry and the mobile trolley, facilitating the handling and maintenance of the interventional surgical robot 80. When interventional surgery is required, medical staff first move the mobile trolley equipped with the gantry to the catheter bed. The gantry is then docked with the catheter bed through the bed docking structure 30. At this time, the entire weight of the gantry is borne by the mobile trolley, and the bed docking structure 30 slides smoothly and without jamming on the catheter bed. After the bed docking structure 30 slides into place, the linkage shaft 51 is rotated, and the first locking structure 61 locks the bed docking structure 30 onto the catheter bed. At the same time, the second locking structure 62 releases the mobile trolley, pushing it away from the catheter bed. This achieves a stable fixation of the gantry equipped with the interventional surgical robot 80 onto the catheter bed, making the operation simple and efficient. Understandably, when the moving trolley is connected to the gantry, the entire weight of the gantry is borne by the guide bed, and the moving trolley slides smoothly and without jamming on the trolley connection structure 20.

Specifically, as shown in Figures 2 and 3, the frame 10 includes two support beams arranged opposite to each other and a connecting beam for connecting the two support beams; the trolley docking structure 20 includes two trolley docking components corresponding to the two tracks of the moving trolley, and the two trolley docking components are arranged opposite to each other on the inner sides of the two support beams; the bed docking structure 30 includes two bed docking components corresponding to the two side tracks of the guide bed, corresponding to the two support beams, and the number of linkage structures is two. Each linkage structure includes a linkage mounting seat 40 detachably connected to the end of the corresponding support beam. Each bed docking component 30 is installed on the corresponding linkage mounting seat 40. In this embodiment, the two trolley docking components 20 are located above the corresponding linkage mounting seats 40, and the two bed docking components 30 are located below the corresponding linkage mounting seats 40 to achieve linkage control. It can be understood that the two trolley docking components 20 and the two bed docking components 30 can also achieve linkage control in other positions, which is not limited here. Each linkage mounting base 40 is equipped with a movable guide rail 41, and the end of the support beam is equipped with a movable guide groove that mates with the movable guide rail 41. Therefore, the width between the two bed docking components 30 can be adjusted by adjusting the distance between the two linkage mounting bases 40 to accommodate catheter beds of different widths. Understandably, for ease of operation, the two linkage structures can have a master-slave control relationship, meaning one linkage structure can drive the movement of the other. Therefore, medical staff only need to control one linkage structure, improving operational efficiency; this is not a limitation.

Furthermore, the linkage structure is installed between the trolley docking structure 20 and the bed docking structure 30, which can ensure balanced force and avoid unexpected situations such as the interventional surgical robot 80 flipping over.

The present invention also provides a linkage structure, which includes a linkage mounting base 40, a linkage cam structure 50, and a linkage locking structure 60. The linkage cam structure 50 includes a linkage shaft 51, a first camshaft 52 and a second camshaft 53 disposed on the linkage shaft 51; the linkage locking structure 60 includes a first locking structure 61 and a second locking structure 62; one end of the first locking structure 61 abuts against the first camshaft 52, and the other end is used to release or lock the first lockable structure under the action of the first camshaft 52; one end of the second locking structure 62 abuts against the second camshaft 53, and the other end is used to release or lock the second lockable structure under the action of the second camshaft 53.

The angle formed by the plane containing the longest radial direction of the first camshaft 52 and the plane containing the longest radial direction of the second camshaft 53 is between 0° (inclusive) and 180° (inclusive). In this embodiment, the first camshaft 52 and the second camshaft 53 are elliptical, meaning that the angle formed by the plane containing the major axis of the first camshaft 52 and the plane containing the major axis of the second camshaft 53 is between 0° (inclusive) and 180° (inclusive). That is, when projected from the axial direction of the linkage shaft, the projection corresponding to the plane containing the major axis of the first camshaft 52 intersects with the projection corresponding to the plane containing the major axis of the second camshaft 53. Therefore, when the first camshaft releases the first locking structure, the second camshaft locks the second locking structure; when the first camshaft locks the first locking structure, the second camshaft releases the second locking structure, thereby achieving linkage control.

For example, if the first camshaft 52 and the second camshaft 53 are disposed on the same linkage shaft 51 and their two major axes are orthogonally arranged, then rotating the linkage shaft 51 will cause the first camshaft 52 and the second camshaft 53 to rotate simultaneously. This allows the first camshaft 52 to drive the first locking structure 61 to lock the first lockable structure, while the second camshaft 53 drives the second locking structure 62 to release the second lockable structure. Alternatively, the first camshaft 52 can drive the first locking structure 61 to release the first lockable structure, while the second camshaft 53 can drive the second locking structure 62 to lock the second lockable structure. That is, one linkage shaft 51 can simultaneously control the first locking structure 61 and the second locking structure 62, eliminating the need for multiple separate control structures, simplifying the operation steps. It can also save manufacturing costs and installation space, resulting in a high degree of integration. Taking the application of the linkage structure in a gantry for interventional surgical robots as an example, the first lockable structure is a catheter bed, and the second lockable structure is a mobile trolley. In other embodiments, the first lockable structure and the second lockable structure can be separate structures or structures disposed on the same device, which is not limited here.

As shown in Figures 3 and 4, the linkage cam structure 50 also includes a first bearing seat 54 and a second bearing seat 55 mounted on the linkage mounting base 40, a limiting component 56 for limiting the linkage shaft 51, and a handle 57 connected to one end of the linkage shaft 51 for rotating the linkage shaft 51. During assembly, the linkage shaft 51 is rotatably passed through the first bearing seat 54 and the second bearing seat 55 to facilitate the rotation of the linkage shaft 51. The first camshaft 52 is located between the first bearing seat 54 and the second bearing seat 55. The second camshaft 53 is located at the other opposite end of the linkage shaft 51, reserving installation space for the first locking structure 61 and the second locking structure 62.

As shown in Figure 4, the limiting assembly 56 includes a first limiting member 561 mounted on the first bearing seat 54, a limiting groove 562 disposed on the linkage shaft 51, and a second limiting member 563. The first limiting member 561 cooperates with the limiting groove 562, and rotates within the limiting groove 562 to limit the linkage shaft 51. The second limiting member 563 is sleeved on the linkage shaft 51 and abuts against the second bearing seat 55 to prevent the linkage shaft 51 from shifting axially. The handle 57 is connected to the linkage shaft 51, allowing for easy rotation of the linkage shaft 51.

Specifically, as shown in Figures 3 and 4, the first locking structure 61 includes a first locking seat 611 and a first locking assembly 612. The first locking seat 611 is mounted on the linkage mounting base 40, opposite to the first bearing seat 54, and located below the linkage shaft 51. The first locking assembly 612 passes through the first locking seat 611, with one end abutting against the linkage shaft 51 and the other end abutting against the first structure to be locked. Specifically, the first locking assembly 612 includes a first connecting member 613, a first elastic member 614, and a first locking member 615 connected in sequence. Specifically, one end of the first connecting member 613 extending out of the first locking seat 611 abuts against the first camshaft 52, and the first locking member 615 extends out of the first locking seat 611. When it is necessary to lock the first structure to be locked, the first locking member 615 abuts against the first structure to be locked. For example, when the linkage structure is applied to the gantry for the interventional surgical robot 80, the first locking member 615 extends out of the first locking seat 611 and passes through the bed docking structure 30. When the gantry is docked with the catheter bed through the bed docking structure 30, the linkage shaft 51 is rotated to force the first locking member 615 to abut against the catheter bed to lock the bed docking structure 30 to the catheter bed. At this time, the second locking structure 62 for locking the moving trolley releases the moving trolley and moves the moving trolley away to perform the surgery.

Specifically, the second locking structure 62 includes a second locking seat 621 and a second locking assembly 622; the second locking seat 621 is disposed opposite to the second bearing seat 55 and is located above the linkage shaft 51; the second locking assembly 622 passes through the second locking seat 621, and one end abuts against the second camshaft 53, and the other end is used to abut against the second structure to be locked; specifically, the second locking assembly 622 includes a second connecting member 623, a second elastic member 624 and a second locking member 625 connected in sequence; specifically, one end of the second connecting member 623 protruding from the second locking seat 621 abuts against the second camshaft 53, and the second locking member 625 protrudes from the second locking seat 621, so that when it is necessary to lock the second structure to be locked, the second locking member 625 abuts against the second structure to be locked. For example, when the linkage structure is applied to the gantry for the interventional surgical robot 80, the second locking seat 621 is mounted on the support beam, and the second locking member 625 extends out of the second locking seat 621 and passes through the trolley docking structure 20. When the gantry is docked with the moving trolley through the trolley docking structure 20, the linkage shaft 51 is rotated to force the second locking member 625 to abut against the moving trolley, locking the trolley docking structure 20 to the moving trolley. At this time, the first locking structure 61 for locking the catheter bed releases the catheter bed and exits the moving trolley to transport the gantry with the interventional surgical robot 80 mounted away from the catheter bed.

As an example, if a user directly uses the device when the first locking structure 61 and/or the second locking structure 62 are not locked, it may lead to unexpected situations. In this embodiment, the linkage structure also includes a detection structure 70 for detecting the first locking structure 61 and/or the second locking structure 62. The detection structure 70 includes a sensing element 71 and a sensor 72 that communicates with the system control component. The sensing element 71 is mounted on the linkage shaft 51, and the sensor 72 is mounted on the first bearing seat 54. When the linkage shaft 51 rotates, the sensing element 71 rotates with it. When the sensor 72 detects the sensing element 71, the first locking structure 61 and/or the second locking structure 62 are locked. The sensor 72 generates a detection signal and sends it to the system control component, so that the system control component can notify the user that the first locking structure 61 and/or the second locking structure 62 has been locked, allowing subsequent operations to proceed, ensuring safety and preventing unexpected situations. The sensor 72 can be a power-off sensor or a pressure sensor, etc.

The above embodiments illustrate only one implementation of the invention, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of the invention. Therefore, the scope of protection of the invention patent should be determined by the appended claims.

Claims (13)

1. A linkage structure, characterized in that it comprises: a linkage cam structure and a linkage locking structure; The linkage cam structure includes a linkage shaft, a first camshaft and a second camshaft disposed on the linkage shaft; the linkage locking structure includes a first locking structure and a second locking structure. One end of the first locking structure abuts against the first camshaft, and the other end is used to release or lock the first lockable structure under the action of the first camshaft. One end of the second locking structure abuts against the second camshaft, and the other end is used to release or lock the second lockable structure under the action of the second camshaft; The first camshaft and the second camshaft are configured such that when the first camshaft releases the first locking structure, the second camshaft locks the second locking structure. 2. The linkage structure as described in claim 1, wherein the first camshaft and the second camshaft are further configured such that when the first camshaft locks the first lockable structure, the second camshaft releases the second lockable structure. 3. The linkage structure as described in claim 1, wherein the angle formed by the plane containing the longest radial direction of the first camshaft and the plane containing the longest radial direction of the second camshaft is between 0° and 180°. 4. The linkage structure as described in claim 1, characterized in that: the linkage structure further includes a linkage mounting base; the linkage cam structure further includes a first bearing seat and a second bearing seat mounted on the linkage mounting base; The linkage cam structure also includes a limiting component for limiting the linkage shaft; The limiting assembly includes a first limiting member mounted on a first bearing seat and a limiting groove disposed on the linkage shaft; The first limiting member cooperates with the limiting groove to limit the linkage shaft. 5. The linkage structure as described in claim 1, characterized in that: the linkage cam structure further includes a handle connected to the linkage shaft; the handle is located at the end of the linkage shaft. 6. The linkage structure as described in claim 1, characterized in that: the linkage structure further includes a linkage mounting base; the linkage cam structure further includes a first bearing seat and a second bearing seat mounted on the linkage mounting base; The first locking structure includes a first locking seat and a first locking assembly; The first locking seat is mounted on the linkage mounting seat and is positioned opposite to the first bearing seat; The first locking component is inserted into the first locking seat, with one end abutting against the first camshaft and the other end abutting against the first lockable structure. 7. The linkage structure as described in claim 6, characterized in that: the first locking assembly comprises a first connecting member, a first elastic member, and a first locking member connected in sequence; The first connector extends out of one end of the first locking seat and abuts against the first camshaft; The first locking member extends out of the other end of the first locking seat and is used to abut against the first structure to be locked. 8. The linkage structure as described in claim 1, characterized in that: the linkage structure further includes a linkage mounting base; the linkage cam structure further includes a first bearing seat and a second bearing seat mounted on the linkage mounting base; The second locking structure includes a second locking seat and a second locking assembly; The second locking seat is disposed opposite to the second bearing seat; The second locking component is inserted into the second locking seat, with one end abutting against the second camshaft and the other end abutting against the second lockable structure. 9. The linkage structure as described in claim 8, characterized in that: the second locking component includes a second connecting member, a second elastic member, and a second locking member connected in sequence; The second connector extends out of one end of the second locking seat and abuts against the second camshaft; The second locking member extends out of the other end of the second locking seat and is used to abut against the second lockable structure. 10. The linkage structure as described in claim 1, characterized in that: the linkage structure further includes a detection structure connected to the system control component, the detection structure being used to detect the release or locking of the first lockable structure and/or the second lockable structure, and to generate a detection signal to be sent to the system control component. 11. A gantry for an interventional surgical robot, characterized in that it comprises a frame, a trolley docking structure and a bed docking structure mounted on the frame, and a linkage structure as described in any one of claims 2-10; The trolley docking structure is used to dock with the mobile trolley; the bed docking structure is used to dock with the catheter bed. The other end of the first locking structure passes through the bed docking structure and is used to release or lock the guide bed under the action of the first camshaft; The other end of the second locking structure passes through the trolley docking structure and is used to release or lock the moving trolley under the action of the second camshaft; The first camshaft and the second camshaft are configured such that when the first camshaft releases the guide bed, the second camshaft locks the moving trolley; when the first camshaft locks the guide bed, the second camshaft releases the moving trolley. 12. A gantry for an interventional surgical robot as described in claim 11, characterized in that: the linkage structure is installed at the bottom of the frame and connected to the trolley docking structure via a first locking structure and to the bed docking structure via a second locking structure. 13. A gantry for an interventional surgical robot as described in claim 12, characterized in that: two bed docking structures and two linkage structures are respectively provided, and the linkage shafts of the two linkage structures are respectively passed through the two ends of the bottom of the frame and can be slidably adjusted so that the distance between the two bed docking structures can be adapted to catheter beds of different widths.