The invention discloses an interventional
surgical robot subordinate end device and a control method thereof and belongs to the technical field of minimally invasive
blood vessel interventional operations. The device comprises a main body, a
catheter clamp holder, a guide wire clamp holder, a torsional component and a force measurement component; the
catheter clamp holder is used for clamping catheters, the guide wire clamp holder is used for tightly clamping or loosening
guide wires, and the
catheter clamp holder and the guide wire clamp holder are both detachably mounted on the main body; the catheter clamp holder comprises a medical three-way valve and a clamping component, and the medical three-way valve is used for connecting the catheters and is fixed to the main body through the clamping component; the torsional component is used for driving a
screw cap of the medical three-way valve to drive the catheters to rotate; the force measurement component is used for detecting push force of the catheters. The subordinate end device can clamp the catheters and tightly clamp or loosen the
guide wires, achieves co-operating operation of the catheters and the
guide wires, and is simple in structure and convenient to disassemble and assemble. According to the control method, the subordinate end device is controlled so that clamping, pushing, torsion and force measurement of the catheters and clamping of the guide wires can be completed, and accordingly co-operating of the catheters and the guide wires is achieved.