WO2023092948A1 - Easy-to-adjust portal frame and interventional surgery robot system provided with portal frame - Google Patents

Abstract

An easy-to-adjust portal frame, comprising a frame (10) and a rotary locking structure (30). The frame (10) is configured to be in butt joint with a catheter bed; the rotary locking structure (30) comprises a slave-end rotating structure (31) and a slave-end locking structure; the slave-end rotating structure (31) is mounted on the frame (10) and configured to be connected to an interventional surgery robot (20); the slave-end locking structure is fixedly connected to the slave-end rotating structure (31), such that the rotary locking structure (30) enters a locked state; alternatively, the slave-end locking structure is rotatably connected to the slave-end rotating structure (31), such that the rotary locking structure (30) enters a released state. According to the easy-to-adjust portal frame of the present application, the interventional surgery robot (20) is rotated according to surgical requirements by means of the rotary locking structure (30); in addition, the interventional surgery robot (20) can be firmly mounted on the frame (10) during surgery, and the practicability is high.

Description

An easily adjustable gantry and an interventional surgery robot system with the gantry

This application claims the priority of the Chinese patent application with the application number 202111415677.8 submitted to the China Patent Office on November 25, 2021, and the title of the invention is "An easy-to-adjust gantry and an interventional surgery robot system with the gantry", The entire contents of which are incorporated by reference in this application.

technical field

The present application relates to a device in the field of medical robots, in particular to an adjustable gantry and an interventional surgery robot system with the gantry.

Background technique

In vascular interventional surgery, doctors need to receive X-ray radiation for a long time. For this reason, a remote-operated master-slave vascular interventional surgery robot has been developed, so that doctors can control the slave-end interventional robot to perform vascular interventional surgery outside the ray environment.

During interventional surgery, it is necessary to adjust the rotation of the interventional surgery robot so that the catheter guide wire and other interventional devices on it are aligned with the patient's blood vessels (such as the radial artery of the arm, the femoral artery of the leg, etc.), and the adjustment of the interventional surgery robot is completed so that Subsequent execution The surgery is performed by an interventional surgical robot. However, during the actual research and development, it was found that during the operation, the drive unit of the interventional surgical robot moves back and forth, which easily shifts the center of gravity of the interventional surgical robot, resulting in the displacement of the interventional surgical robot and even hitting the catheter bed. security risks.

technical problem

Based on this, it is necessary to address the deficiencies in the prior art and provide a novel gantry frame that is easy to adjust.

technical solution

A gantry frame that is easy to adjust, including a frame and a rotating locking structure;

The frame is used for docking with the catheter bed;

The rotating locking structure includes a rotating structure from the end and a locking structure from the end;

The rotating structure from the end is installed on the frame for connecting with an interventional surgery robot;

The slave end locking structure is fixedly connected to the slave end rotating structure, so that the rotating locking structure enters into a locked state; or, the slave end locking structure is rotationally connected to the slave end rotating structure , the rotation locking structure enters a released state.

Further, the locking structure of the slave end includes a locking collar and a locking component, and the locking collar is locked or released by the locking component, so that the locking structure of the slave end can rotate with the slave end respectively. The structures are either fixedly connected or rotationally connected.

Further, the locking assembly is a cam locking assembly.

Further, the rotating structure at the slave end includes a first rotating shaft, and the lock shaft ring includes a ring body provided with a notch, and a fixed end and a free end provided at the position of the notch away from the ring body;

The ring body is sleeved on the first rotating shaft,

The fixed end is installed on the frame;

There is a movable gap between the free end and the frame;

The locking assembly is movably installed on the fixed end and the free end, and is used to make the fixed end and the free end relatively close together, so that the locking collar is fixedly connected with the first rotating shaft; Alternatively, the fixed end and the free end are relatively separated, so that the locking collar is rotatably connected to the first rotating shaft.

Further, the rotating structure at the slave end includes a first rotating structure having the first rotating shaft, and the first rotating structure also includes two avoiding parts; the two avoiding parts are installed on the frame oppositely. superior;

The first rotating shaft is rotatably passed through the two avoiding parts;

The lock collar is mounted on the frame.

Further, the rotating structure at the slave end also includes a second rotating structure, the second rotating structure is rotatably mounted on the first rotating structure, and is used for installing an interventional surgical robot; the rotating direction of the second rotating structure The rotation direction of the first rotation structure is different from that of the first rotation structure.

Further, the easy-to-adjust gantry further includes a secondary mounting platform, which is connected to the second rotating structure and is used for oblique installation of the interventional surgery robot.

Further, the adjustable gantry further includes a detection structure for detecting the locking assembly.

The present application also provides an interventional surgery robot system, including the above-mentioned gantry, an interventional surgery robot equipped with a plurality of drive units, and a master control module communicating with the interventional surgery robot;

The interventional surgery robot is mounted on the frame through the rotating locking structure;

The working state of the rotating locking structure includes a locked state and a released state;

When the rotation locking structure is in a locked state, the interventional surgery robot makes a plurality of the drive units work under the control of the master control module;

When the rotation locking structure is in a released state, the interventional surgery robot rotates relative to the frame through the rotation locking structure.

Further, the frame is a frame with adjustable width, so as to adapt to different catheter beds.

Beneficial effect

In the easy-to-adjust gantry and interventional surgery robot system of the present application, the slave end locking structure is fixedly connected to the slave end rotating structure, so that the rotating locking structure enters a locked state; or, the slave end lock The tightening structure is rotatably connected with the rotating structure at the slave end, and the rotating locking structure enters the release state, which is convenient for the medical staff to rotate the interventional surgery robot according to the operation needs; it is also possible to firmly install the interventional surgery robot on the machine during the operation. On the shelf, it has strong practicability and high safety factor.

Description of drawings

FIG. 1 is a schematic structural diagram of an interventional surgery robot system of the present application.

FIG. 2 is a schematic structural view of a gantry frame that is easy to adjust in the present application.

Fig. 3 is a disassembled view of the rotating structure from the end in Fig. 2 .

FIG. 4 is a cross-sectional view of FIG. 2 .

Fig. 5 is an enlarged view of the rotation locking structure in Fig. 4 .

FIG. 6 is another cross-sectional view of FIG. 2 .

in,

10. Rack; 11. First width adjusting member; 12. Reinforcing beam; 13. Sliding structure of bed body; 14. Sliding structure of trolley; 15. Second width adjusting member;

20. Interventional surgery robot; 21. Drive unit; 22. Interventional device;

30. Rotation locking structure; 31. Rotation structure from the end; 32. First rotation structure; 321. Avoidance piece; 322. First rotation shaft; 323. First limiter; 324. First follower; 325 , the first damper; 33, the second rotating structure; 331, the second rotating shaft; 332, the second limiter; 333, the second follower; 334, the second damper; 35, the lock collar; 351 , ring body; 352, fixed end; 353, free end; 36, locking assembly;

40. Mounting platform from the end;

50. Detect structure.

BEST MODE FOR CARRYING OUT THE INVENTION

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.

In the description of this application, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the It should not be construed as limiting the application to indicate that a device or element must have a particular orientation, be constructed, and operate in a particular orientation.

As used herein, the direction "distal" is a direction toward the patient, and the direction "proximal" is a direction away from the patient. The terms "head", "upper" and "upper" refer to a direction away from the force of gravity, and the terms "end", "bottom", "lower" and "lower" refer to a direction of gravity.

"Left" refers to the direction towards the medical staff standing on the side of the catheter bed, and "right" refers to the direction away from the medical staff standing on the side of the catheter bed.

As shown in Figures 1 to 6, the application provides a gantry frame that is easy to adjust, including a frame 10 and a rotating locking structure 30; the frame 10 is used to dock with the catheter bed; the interventional surgery robot 20 is locked by rotating The structure 30 is installed on the frame 10; the working state of the rotating locking structure 30 includes a locked state and a released state; when the rotating locking structure 30 is in the locked state, the interventional surgery robot 20 is positioned without rotating, and is in contact with the interventional surgery Under the control of the main terminal control module (not shown in the figure) of the robot 20 communication, the multiple drive units 21 on the interventional surgery robot 20 work; when the rotating locking structure 30 is in the released state, the interventional surgery robot 20 locks the The structure 30 rotates relative to the frame 10 .

Specifically, as shown in FIG. 2 , the frame 10 includes two first width adjustment members 11 oppositely arranged in parallel, and a reinforcing beam 12 connecting the two first width adjustment members 11; the two first width adjustment members 11 They are respectively used to connect with both sides of the catheter bed body to ensure the overall stability of the frame 10 and can support the heavy interventional surgery robot 20 . The frame 10 is a frame 10 with adjustable width. As an example, the two first width adjusting members 11 are detachably connected to the reinforcement beams 12 respectively, and the two first width adjusting members 11 slide with the two bed bodies respectively. The structure 13 is connected, and is slidably connected with the catheter bed through the bed sliding structure 13; therefore, the two first width adjustment members 11 can move toward each other or move away from each other along the extending direction of the reinforcing beam 12 to adjust the two first widths. The distance between the adjustment parts 11, through the adjustment of the two first width adjustment parts 11, the frame 10 can be docked with catheter beds of different widths, which has good adaptability, and is slidingly connected with the catheter bed through the bed sliding structure 13 , to facilitate the movement of the interventional surgery robot 20; as another example, as shown in FIG. Detachably connected, and respectively connected with the two bed sliding structures 13, the two second width adjustment members 15 can move towards each other or move away from each other along the extending direction of the reinforcing beam 12, so as to realize two-stage adjustment of the two bed sliding structures. The distance between the structures 13 is such that the two bed sliding structures 13 are docked with catheter beds of different widths, and the adaptability is good, and the bed sliding structure 13 is slidingly connected with the catheter bed, which is convenient for moving the interventional surgery robot 20 .

As shown in Figure 1, the interventional surgery robot 20 is installed on the frame 10 by rotating the locking structure 30, specifically, the rotating locking structure 30 is installed on the reinforcing beam 12, and is rotationally connected with the interventional surgery robot 20, and the intervention The surgical robot 20 is arranged to intersect with the frame 10 . The interventional surgery robot 20 includes an elongated installation frame (not shown) intersecting with the frame 10 and a plurality of drive units 21, and the plurality of drive units 21 are successively installed on the installation frame, and the plurality of drive units 21 are used for Install catheters, guide wires and other slender interventional devices 22, and under the control of interventional surgery robot 20, drive catheters, guide wires and other slender interventional devices 22 to move on the mounting frame, so that the catheters, guide wires, etc. are slender Type interventional device 22 enters the patient's blood vessel. It can be understood that the driving unit 21 can also drive the elongated interventional devices 22 such as catheters and guide wires to rotate synchronously or asynchronously, which is not limited here.

As shown in Figures 2 to 5, the rotating locking structure 30 includes a rotating structure 31 from the end and a locking structure from the end; the rotating structure 31 from the end includes a first rotating structure 32; the first rotating structure 32 is rotatably installed on the frame 10, and is used to connect the interventional surgical robot 20. In another embodiment, the rotating structure 31 from the end includes a first rotating structure 32 and a second rotating structure 33 with different rotation axes; the first rotating structure 32 is rotatably mounted on the frame 10; the second rotating structure 33 rotates It is installed on the first rotating structure 32 and connected with the interventional surgery robot 20, and the rotating direction of the first rotating structure 32 and the rotating direction of the second rotating structure 33 are perpendicular to each other.

As shown in Figure 3 and Figure 4, specifically, the first rotating structure 32 includes two avoiding parts 321, a first rotating shaft 322 arranged along the extending direction of the reinforcing beam 12, and two oppositely arranged first limiting parts 323 , the first follower 324 and the first damper 325; the two avoiding members 321 are installed on the reinforcing beam 12; the first rotating shaft 322 is rotatably passed through the two avoiding members 321. Two first limiting parts 323 are installed on the reinforcing beam 12, the first driven part 324 is connected with the first rotating shaft 322, and a gap for the first driven part 324 to rotate is formed between the two first limiting parts 323. The first rotation area is used to limit the vertical rotation range of the interventional surgical robot 20; the first damper 325 is connected to the first rotation shaft 322, and is used to keep the first rotation shaft 322 fixed relative to the avoidance member 321, and the first damper is provided The 325 can provide a certain reaction force when the medical staff rotates the interventional surgery robot 20, so as to avoid accidents caused by the out-of-control rotation of the interventional surgery robot 20.

In this embodiment, as shown in FIG. 5 , two avoidance parts 321 are used to increase the distance between the interventional surgical robot 20 and the reinforcing beam 12 to facilitate the rotation of the interventional surgical robot 20 and avoid the gap between the interventional surgical robot 20 and the reinforcing beam 12 . If the distance between them is too low, the reinforcement beam 12 interferes with the rotation of the interventional surgery robot 20 . The first follower 324 is arranged on the first rotation shaft 322. When the interventional surgery robot 20 is rotated up and down, the first rotation shaft 322 rotates, and the first follower 324 rotates accordingly until the first follower 324 and one of them When the first limiter 323 touches, the interventional surgery robot 20 can no longer rotate, reminding the medical staff to reach the maximum up and down rotation range.

Please continue to refer to FIG. 3, in another embodiment, the rotating structure 31 from the end includes a first rotating structure 32 and a second rotating structure 33, and the second rotating structure 33 is rotatably installed on the first rotating structure 32; The structure 32 is as above, and will not be repeated here; the second rotating structure 33 includes a second rotating shaft 331 , two oppositely disposed second limiting members 332 , a second follower 333 and a second damper 334 . The second rotating shaft 331 is rotationally connected with the first rotating shaft 322. Therefore, when the medical staff rotates the interventional surgical robot 20, the interventional surgical robot 20 can be rotated around the first rotating shaft 322 through the first rotating structure 32, so that the interventional surgical robot The slender interventional devices 22 such as catheters and guide wires on 20 are far away from or close to the catheter bed (even if the interventional surgery robot 20 rotates up and down), and the interventional surgery robot 20 can be rotated around the second rotation axis 331, so that the interventional surgery robot The slender interventional devices 22 such as catheters and guide wires 20 are close to or far away from the medical staff standing on one side of the catheter bed to realize multi-directional rotation. Two second limiters 332 are installed on the first connecting shaft 322, and a second rotation area for the second follower 333 to rotate is formed between the two second limiters 332, so as to limit the interventional surgical robot The left and right rotation range of 20; when the interventional surgery robot 20 is rotated left and right, the second rotation shaft 331 rotates, and the second follower 333 rotates accordingly until the second follower 333 abuts against one of the second stoppers 332, The interventional surgery robot 20 can no longer rotate, so as to remind the medical personnel to reach the maximum left and right rotation range. In this embodiment, the second damper 334 is connected to the second rotating shaft 331, and is used to keep the second rotating shaft 331 fixed relative to the first rotating shaft 322, and the second damper 33 can be set to rotate the interventional surgical robot 20 when the medical staff rotates. , a certain reaction force is provided to avoid accidents caused by the out-of-control rotation of the interventional surgery robot 20 .

In this embodiment, as shown in FIG. 6 , the gantry frame for easy adjustment also includes a slave end mounting platform 40 installed on the second rotating shaft 331, whose cross section may be triangular or trapezoidal, and stands on the catheter bed. The medical personnel on one side tilt to make the interventional surgery robot 20 tilt towards the extending direction of the reinforcement crossbeam 12, so as to facilitate better operation. In this embodiment, the slave-end installation platform 40 has an inclined surface inclined to the medical personnel standing on the side of the catheter bed (that is, the left side in the figure). When the interventional surgery robot 20 is installed on the slave-end installation platform 40, interventional surgery The robot 20 tilts towards the medical staff standing on one side of the catheter bed. Specifically, when the rotating structure 31 from the end includes the first rotating structure 32, the installation platform 40 from the end is connected with the first rotating structure 32 to install the interventional surgical robot 20; when the rotating structure 31 from the end includes the first rotating structure 32 When connecting with the second rotating structure 33 , the slave mounting platform 40 is connected with the second rotating structure 33 to install the interventional surgery robot 20 .

The locking structure from the end includes a locking collar 35 and a locking assembly 36; the locking collar 35 is installed on the frame 10 and sleeved on one end of the first rotating shaft 322; the locking assembly 36 is passed through the locking collar 35 On, it is used to lock the locking collar 35, so that the working state of the rotating locking structure 30 enters the locked state; or, it is used to release the locking collar 35, so that the working state of the rotating locking structure 30 enters the released state.

Specifically, as shown in FIGS. 5 and 6 , the lock shaft ring 35 includes a ring body 351 with a notch and a fixed end 352 and a free end 353 opposite to the ring body 351 at the notch; the ring body 351 is sleeved on On the first rotating shaft 322, the fixed end 352 abuts against the reinforcing beam 12; there is a movable gap between the free end 353 and the reinforcing beam 12; The fixed end 352 and the free end 353 are close to or even fit together, so that the lock shaft ring 35 is firmly placed on the first rotating shaft 322, so that the working state of the rotating locking structure 30 enters a locked state; or, it is used to make the fixed end 352 is separated from the free end 353, so that the locking ring 35 is rotatably sleeved on the first rotating shaft 322, so that the working state of the rotating locking structure 30 enters the release state. In this embodiment, the locking component 36 is a cam locking handle. Specifically, by turning the cam lock handle, the medical personnel can separate the fixed end 352 from the free end 353 or make the fixed end 352 and the free end 353 approach or even fit together, thereby switching the working state of the rotating locking structure 30 conveniently and quickly.

As an example, the easy-to-adjust gantry also includes a detection structure 50 that communicates with the master control module; the detection structure 50 is used to detect the rotation locking structure 30 and generate a detection signal; and send the detection signal to the master terminal control module; the main terminal control module determines the working state of the rotation locking structure 30 according to the detection signal. Specifically, the detection structure 50 is used to detect the locking assembly 36 (that is, the cam locking assembly). When the locking assembly 36 makes the fixed end 352 and the free end 353 approach or even fit together, the detection signal is a locking signal, and the main end controls When the module receives the locking signal, it determines that the working state of the rotating locking structure 30 is the locking state; when the locking component 36 separates the fixed end 352 from the free end 353, at this time, the detection signal is a release signal, that is, the main end When the control module receives the release signal, it determines that the working state of the rotation locking structure 30 is the release state. In this example, the detection structure 50 may be a photoelectric sensor, a pressure sensor, etc. as long as it can detect the rotation locking structure 30 , and there is no limitation here.

In this embodiment, as shown in Figures 1 to 6, when the interventional surgery robot 20 needs to be rotated, the medical personnel rotate the locking assembly 36, that is, the cam locking handle in one direction, so that the fixed end 352 of the locking collar 35 and the fixed end 352 of the locking collar 35 The free end 353 is separated. At this time, the rotating locking structure 30 enters the release state. By rotating the first rotating shaft 322 and the second rotating shaft 331, the interventional surgery robot 20 is rotated (including up and down rotation and left and right rotation). At this time, The detection structure 50 detects that the locking structure of the slave end is in a released state, and transmits a signal to the control module of the master end, so as to release the control of the interventional surgical robot 20 by the control module of the master end, such as driving catheters, guide wires, etc. Control of the interventional device 22; when the rotation of the interventional surgery robot 20 is completed, the locking assembly 36, that is, the cam lock handle, is rotated in the other direction, so that the rotating locking structure 30 enters a locked state, and the interventional surgery robot 20 and the frame 10 are not separated. Relative movement occurs again. At this time, the interventional surgery robot 20 moves a plurality of driving units 21 under the control of the master control module to drive the elongated interventional devices 22 such as catheters and guide wires to move and/or rotate. The movement of the center of gravity of the interventional surgery robot 20 can still ensure that the interventional surgery robot 20 is firmly installed on the frame 10 and the operation can be performed safely. Exemplarily, when the rotating locking structure 30 enters the release state, the main-end control module no longer controls the interventional surgery robot 20 to perform the above operations, that is, when the rotating locking structure 30 enters the releasing state, the main-end control module can be Or the interventional surgery robot 20 is set to an inoperable mode.

As shown in FIG. 1 , the present application provides an interventional surgery robot system, which includes a gantry, an interventional surgery robot 20 equipped with a plurality of drive units 21 , and a master control module communicating with the interventional surgery robot 20 . The gantry is as described above and will not be repeated here.

The interventional surgery robot 20 is mounted on the frame 10 through the rotation locking structure 30 . The working state of the rotation locking structure 30 includes a locked state and a released state. When the rotation locking structure 30 is in the locked state, the interventional surgery robot 20 makes a plurality of the driving units 21 work under the control of the main end control module; when the rotation locking structure 30 is in the released state, the interventional surgery robot 20 rotates relative to the frame 10 through the rotation locking structure 30 . The interventional surgery robot 20 not only tilts toward the medical staff standing on the side of the catheter bed to facilitate better operation, but also the interventional surgery robot 20 can realize multi-directional rotation adjustment, which is convenient for adjustment before surgery.

The above embodiment only expresses one implementation mode of the invention, and its description is relatively specific and detailed, but it should not be understood 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 (20)

An easy-to-adjust gantry frame, which includes a frame and a rotating locking structure; The frame is used for docking with the catheter bed; The rotating locking structure includes a rotating structure from the end and a locking structure from the end; The rotating structure from the end is installed on the frame for connecting with an interventional surgery robot; The slave end locking structure is fixedly connected to the slave end rotating structure, so that the rotating locking structure enters into a locked state; or, the slave end locking structure is rotationally connected to the slave end rotating structure , the rotation locking structure enters a released state. The gantry frame that is easy to adjust as claimed in claim 1, wherein: the locking structure at the secondary end includes a locking collar and a locking assembly, and the locking collar is locked or released by the locking assembly, so that the The locking structure at the slave end is fixedly or rotatably connected with the rotating structure at the slave end, respectively. The adjustable gantry frame according to claim 2, wherein: the locking assembly is a cam locking assembly. The gantry frame that is easy to adjust as claimed in claim 2, wherein: the rotating structure at the slave end includes a first rotating shaft, and the locking shaft ring includes a ring body provided with a notch and a ring body provided at the position of the notch which deviates from the The fixed end and the free end of the ring body; The ring body is sleeved on the first rotating shaft, The fixed end is installed on the frame; There is a movable gap between the free end and the frame; The locking assembly is movably installed on the fixed end and the free end, and is used to make the fixed end and the free end relatively close together, so that the locking collar is fixedly connected with the first rotating shaft; Alternatively, the fixed end and the free end are relatively separated, so that the locking collar is rotatably connected to the first rotating shaft. The gantry frame that is easy to adjust as claimed in claim 4, wherein: the rotating structure at the secondary end includes a first rotating structure having the first rotating shaft, and the first rotating structure further includes two avoiding parts; two The avoiding member is relatively installed on the frame; The first rotating shaft is rotatably passed through the two avoiding parts; The lock collar is mounted on the frame. The adjustable gantry frame according to claim 5, wherein: the first rotating structure further comprises a first damper, and the first damper is connected with the first rotating shaft. The adjustable gantry frame according to claim 5, wherein: the secondary rotating structure further includes a second rotating structure, and the second rotating structure is rotatably mounted on the first rotating structure for installation intervention Surgical robot; the rotation direction of the second rotation structure is different from the rotation direction of the first rotation structure. The adjustable gantry frame according to claim 6, wherein: the second rotating structure further includes a second damper, and the second damper is connected with the second rotating shaft. The gantry frame that is easy to adjust as claimed in claim 7, wherein: the gantry frame that is easy to adjust further includes a mounting platform at the secondary end, and the mounting platform at the secondary end is connected with the second rotating structure for allowing the interventional surgery robot to Inclined installation. The adjustable gantry frame according to claim 2, wherein: the adjustable gantry frame further comprises a detection structure for detecting the locking assembly. The gantry frame that is easy to adjust as claimed in claim 1, wherein: the frame includes two first width adjustment parts arranged oppositely in parallel, and a reinforcing beam connecting the two first width adjustment parts; The first width adjusting piece is respectively used for connecting with both sides of the catheter bed body. The easily adjustable gantry frame according to claim 11, wherein: the two first width adjusting members are detachably connected to the reinforcing cross beam respectively. The adjustable gantry frame according to claim 12, wherein: the two first width adjusting members are respectively connected to the two bed sliding structures. The easily adjustable gantry frame according to claim 12, wherein: the frame further comprises two second width adjustment parts, the two second width adjustment parts are detachably connected with the first width adjustment parts respectively, and respectively Connected with the two bed body sliding structures, the two second width adjusting members can move towards each other or move away from each other along the extending direction of the reinforcing beam. An interventional surgery robot system, including a gantry, an interventional surgery robot equipped with a plurality of drive units, and a master control module communicating with the interventional surgery robot; The gantry includes a frame and a rotating locking structure; The frame is used for docking with the catheter bed; The rotating locking structure includes a rotating structure from the end and a locking structure from the end; The rotating structure from the end is installed on the frame for connecting with an interventional surgery robot; The slave end locking structure is fixedly connected to the slave end rotating structure, so that the rotating locking structure enters into a locked state; or, the slave end locking structure is rotationally connected to the slave end rotating structure , the rotating locking structure enters a release state; The interventional surgery robot is mounted on the frame through the rotating locking structure; The working state of the rotating locking structure includes a locked state and a released state; When the rotation locking structure is in a locked state, the interventional surgery robot makes a plurality of the drive units work under the control of the master control module; When the rotation locking structure is in a released state, the interventional surgery robot rotates relative to the frame through the rotation locking structure. The interventional surgery robot system according to claim 15, wherein: the locking structure of the slave end includes a locking collar and a locking assembly, and the locking collar is locked or released by the locking assembly, so that the slave The end locking structure is respectively fixedly connected or rotatably connected with the said slave end rotating structure. An interventional surgery robot system according to claim 16, wherein: said locking assembly is a cam locking assembly. The interventional surgical robot system according to claim 16, wherein: the rotating structure from the end includes a first rotating shaft, and the locking shaft ring includes a ring body provided with a notch and a ring body provided at the position of the notch that deviates from the fixed and free ends of the ring body; The ring body is sleeved on the first rotating shaft, The fixed end is installed on the frame; There is a movable gap between the free end and the frame; The locking assembly is movably installed on the fixed end and the free end, and is used to bring the fixed end and the free end relatively close together so that the locking collar is fixedly connected to the first rotating shaft; Alternatively, the fixed end and the free end are relatively separated, so that the locking collar is rotatably connected to the first rotating shaft. The interventional surgical robot system as claimed in claim 18, wherein: the rotating structure from the slave end includes a first rotating structure having the first rotating shaft, and the first rotating structure further includes two avoiding parts; The avoiding part is relatively installed on the frame; The first rotating shaft is rotatably passed through the two avoiding parts; The lock collar is mounted on the frame. The robot system for interventional surgery as claimed in claim 15, wherein: the frame is a frame with adjustable width, so as to adapt to different catheter beds.