Abstract: The present application relates to the technical field of medical robots, and in particular, to a slave driving device of an interventional surgical robot and an elongated medical instrument delivery method. The slave driving device includes: a frame; a first driving mechanism, fixedly arranged on the frame to clamp one end of an elongated medical instrument to deliver the elongated medical instrument; and a second driving mechanism, movably arranged on the frame to clamp the other end of the elongated medical instrument to deliver the elongated medical instrument through movement on the frame. Since only the second driving mechanism is able to move on the frame, the overall size of the slave driving device is reduced by using a reasonable structural design, and the occupied space and the overall weight of the slave driving device are reduced, thereby facilitating the spatial layout of the surgical robot.

Abstract: An interventional robot system and a readable storage medium. In the interventional robot system, a touch switch is arranged on an operation lever and connected to a processor, and is configured to send a current switch state to the processor; a master-end encoder is arranged on the operation lever and connected to the processor, and is configured to send to the processor an operation lever displacement generated in response to the operation lever being controlled to perform a current operation; a null sensor is arranged on a base and connected to the processor, and is configured to send a current sensor state to the processor; and the processor is configured to control an interventional robot slave end to perform a movement corresponding to the operation lever displacement, such that an elongated medical instrument is accurately controlled to move, and invalid operations are eliminated.