A method, apparatus, and interventional surgical robot for delivering a medical device

Abstract

The application is suitable for the field of medical robots, and provides a delivery method of a medical instrument, S1. Initial state, the medical instrument is clamped between a first delivery mechanism and a second delivery mechanism; the first delivery mechanism delivers the medical instrument in an axial direction, so that the bending degree of the medical instrument is gradually reduced; S2. Whether the medical instrument between the first delivery mechanism and the second delivery mechanism is straightened is detected, if yes, the second delivery mechanism is driven to move to the direction close to the first delivery mechanism and deliver the medical instrument; S3. When the second delivery mechanism moves to a first position, the first delivery mechanism is driven to release the medical instrument, and a channel for the second delivery mechanism to pass through in an axial direction is formed; S4. The second delivery mechanism is driven to move to a second position through the channel. The application also provides a delivery device of a medical instrument and an interventional surgery robot. The application can increase the effective delivery length of the medical instrument, and improve the diversity and compatibility of applicable surgical procedures.

Description

Technical Field

[0001] This invention belongs to the field of medical robots and is applied to master-slave vascular interventional surgery robots, particularly relating to methods, devices and interventional surgery robots for the delivery of medical devices. Background Technology

[0002] Vascular interventional surgical robots have promising applications in the treatment of cardiovascular diseases due to their advantages in improving surgical precision and safety, and reducing the surgical burden on doctors. However, existing vascular interventional surgical robots include multiple functional mechanisms, such as clamping mechanisms, delivery mechanisms, rotation mechanisms, and detection mechanisms. These functional mechanisms themselves occupy a large space, reducing the effective delivery length of medical devices and affecting delivery efficiency. For example, in cerebrovascular interventional surgery, because the surgical lesion is far from the intervention puncture point, a longer medical device needs to be delivered. However, the medical device mounted on the vascular interventional surgical robot has insufficient effective delivery length, and the distal end of the medical device cannot be delivered to the lesion, causing the surgery to be unable to proceed smoothly. Due to the limitation of the effective delivery length of medical devices, existing vascular interventional surgical robots are limited in their applicability to specific surgical procedures and have poor compatibility. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, and interventional surgical robot for delivering medical devices, aiming to solve the technical problem that existing vascular interventional surgical robots, due to the large space occupied by functional mechanisms, reduce the effective delivery length of medical devices and affect the delivery effect.

[0004] This invention is implemented as follows:

[0005] The first aspect of this invention provides a method for delivering a medical device, and a delivery device for delivering the medical device, the delivery device comprising a frame, a first delivery mechanism mounted on the frame, and a second delivery mechanism, the specific steps of which include:

[0006] S1. Initial state: The medical device is bent and clamped between the first delivery mechanism and the second delivery mechanism; the first delivery mechanism delivers the medical device axially, gradually reducing the degree of bending of the medical device;

[0007] S2. Detect whether the medical device between the first delivery mechanism and the second delivery mechanism is straightened; if so, drive the second delivery mechanism to move closer to the first delivery mechanism and deliver the medical device.

[0008] S3. When the second delivery mechanism moves to the first position, the first delivery mechanism is driven to release the medical device, forming a channel for the second delivery mechanism to pass through axially;

[0009] S4. Drive the second delivery mechanism to move to the second position through the channel.

[0010] Furthermore, step S2 also includes the first delivery mechanism cooperating with the second delivery mechanism to deliver the medical device until the second delivery mechanism moves to the first position.

[0011] Furthermore, the first position is a safe critical position where the second delivery mechanism moves to a location near the first delivery mechanism.

[0012] Furthermore, the second position is a position where the second delivery mechanism has at least partially moved into the channel; or, the second position is a position where the second delivery mechanism moves through the channel to the other side of the first delivery mechanism.

[0013] A second aspect of the present invention provides a delivery device for a medical device, used to implement the above-described delivery method for a medical device, the delivery device comprising: a frame, a first delivery mechanism mounted on the frame, and a second delivery mechanism.

[0014] The first delivery mechanism includes a clamping assembly with an adjustable gap. When the clamping assembly is adjusted to a first gap, the first delivery mechanism clamps and delivers the distal end of the medical device. When the clamping assembly is adjusted to a second gap, the second gap forms a channel through which the second delivery mechanism passes axially.

[0015] The second delivery mechanism is used to mount and deliver the proximal end of the medical device, wherein when the clamping assembly is adjusted to the second gap, the second delivery mechanism moves at least partially into the channel; or, the second delivery mechanism moves through the channel to the other side of the first delivery mechanism.

[0016] Furthermore, the clamping assembly includes a first clamping unit, a second clamping unit, and a control mechanism. The control mechanism controls the first clamping unit and / or the second clamping unit to move in a direction that reduces or increases the spacing, so as to clamp or release the medical device.

[0017] Furthermore, an offset bracket is provided between the second delivery mechanism and the frame. The offset bracket is used to adjust the installation position of the second delivery mechanism so that the second delivery mechanism is aligned with the channel.

[0018] Furthermore, it includes at least one second delivery mechanism, wherein the clamping component on the first delivery mechanism is correspondingly disposed with respect to the second delivery mechanism.

[0019] Furthermore, it includes two second delivery mechanisms, which are symmetrically mounted on the upper and lower surfaces of the frame. The first delivery mechanism is provided with two sets of clamping components, which are arranged vertically and correspond to the two second delivery mechanisms.

[0020] A third aspect of the present invention provides an interventional surgical robot, including the above-described medical device delivery device.

[0021] The beneficial effects of this invention are as follows: This invention combines the delivery characteristics of different stages, adopts a delivery method of bending first and then straightening, and improves the structure of the first delivery mechanism and the second delivery mechanism. When the first delivery mechanism releases the medical device, a channel is formed. The second delivery mechanism passes through the channel in the subsequent delivery process. The second delivery mechanism and the first delivery mechanism partially overlap or even exchange positions, so that the second delivery mechanism moves to a more forward position, thereby increasing the effective delivery length of the medical device, which is conducive to completing more surgeries and improving the diversity and compatibility of the interventional surgical robot. Attached Figure Description

[0022] Figure 1 This is a flowchart of the delivery method provided in an embodiment of the present invention;

[0023] Figure 2 This is an assembly diagram of the delivery device provided in an embodiment of the present invention. Figure 1 ;

[0024] Figure 3 This is a schematic diagram of the structure of the first delivery mechanism of the delivery device provided in this embodiment of the invention. Figure 1 ;

[0025] Figure 4 This is a schematic diagram of the structure of the first delivery mechanism of the delivery device provided in this embodiment of the invention. Figure 2 ;

[0026] Figure 5 This is an assembly diagram of the first delivery mechanism of the delivery device provided in an embodiment of the present invention;

[0027] Figure 6 This is an assembly diagram of the delivery device provided in an embodiment of the present invention. Figure 2 ;

[0028] Figure 7 This is an assembly diagram of the delivery device provided in an embodiment of the present invention. Figure 3 ;

[0029] Figure 8 This is an assembly diagram of the interventional surgical robot provided in an embodiment of the present invention.

[0030] 100-Delivery Device

[0031] 10-First delivery mechanism, 11-Clamping assembly, 111-First clamping unit, 1111-Housing, 1112-Second slot, 1113-Spring, 112-Second clamping unit, 113-Control mechanism, 1131-Power assembly, 1132-Plug, 114-Roller, 115-Clamping block, 12-Channel, 13-Mounting bracket, 131-First slot, 132-Slider,

[0032] 20-Second delivery agency,

[0033] 31-Frame, 32-Offset bracket, 33-Drive motor, 34-Lead screw,

[0034] 40 - Medical devices, 41 - Catheters, 42 - Guide wires

[0035] 50-guidewire drive device

[0036] 200-Interventional surgical robot. Detailed Implementation

[0037] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present 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 merely illustrative of the present invention and are not intended to limit the present invention.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral part, or even a connection that allows relative movement; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In the description of this invention, the terms "length", "diameter", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0040] In this invention, the direction "far" refers to the direction towards the patient, and the direction "near" refers to the direction away from the patient. The terms "upper" and "upper part" refer to the general direction away from gravity, while the terms "bottom," "lower," and "lower part" refer to the general direction of gravity. The term "forward" refers to the side of the interventional surgical robot facing the user from the end device; "advancing" refers to the direction in which the guidewire or catheter is displaced into the patient's body. The term "rear" refers to the side of the interventional surgical robot facing away from the user from the end device; "retreating" refers to the direction in which the guidewire or catheter is displaced out of the patient's body. The term "inward" refers to the internal portion of the feature. The term "outward" refers to the external portion of the feature. The term "rotation" includes "forward rotation" and "reverse rotation," where "forward rotation" refers to the direction in which the guidewire or catheter is rotated into the patient's body, and "reverse rotation" refers to the direction in which the guidewire or catheter is rotated out of the patient's body.

[0041] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, "many" or "a plurality of" means two or more.

[0042] The guidewires mentioned here include, but are not limited to, guide wires, microguide wires and stents, and other guiding and supporting interventional medical devices. The catheters include, but are not limited to, guiding catheters, microcatheters, angiography catheters, multi-functional catheters (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters and balloon dilation stent catheters, and other therapeutic interventional medical devices.

[0043] As attached Figure 1 The image shows a method for delivering a medical device according to an embodiment of the present invention. The delivery device includes a frame, a first delivery mechanism mounted on the frame, and a second delivery mechanism. Specific steps include:

[0044] S1. Initial state: The first delivery mechanism and the second delivery mechanism are sequentially mounted on the frame along the axial direction of the medical device. In this preferred embodiment, the first and second delivery mechanisms are movably mounted on the frame. Their initial positions are adjusted by controlling their movement along the axial direction of the medical device on the frame. In other embodiments, the first delivery mechanism may be fixedly mounted at a designated position on the frame, while only the second delivery mechanism is movably mounted on the frame. The first delivery mechanism clamps the distal end of the medical device, and the second delivery mechanism clamps the proximal end. The distance between the first and second delivery mechanisms is less than the length of the medical device clamped between them. The medical device is bent and clamped between the first and second delivery mechanisms, and the medical device located between them is in a relaxed state. This bent clamping of the medical device in the initial state shortens the installation distance between the first and second delivery mechanisms, thus reducing the space occupied by the delivery device.

[0045] The first delivery mechanism delivers the medical device along its axial direction, gradually reducing the degree of bending of the medical device. During this process, the medical device can be delivered by keeping the first delivery mechanism stationary on the frame and using delivery elements, such as rollers, to drive the distal end of the medical device forward; alternatively, the first delivery mechanism can move relative to the frame and clamp the distal end of the medical device as it advances. While the first delivery mechanism delivers the medical device, the second delivery mechanism holds the proximal end of the medical device stationary.

[0046] S2. Detect whether the medical device between the first delivery mechanism and the second delivery mechanism is straightened. If not, the first delivery mechanism continues to deliver the medical device; if yes, it indicates that the medical device between the first delivery mechanism and the second delivery mechanism has been straightened and is in a taut state. To prevent the medical device from breaking, drive the second delivery mechanism to move closer to the first delivery mechanism and deliver the proximal end of the medical device. During this process, drive the second delivery mechanism to move relative to the frame, and the second delivery mechanism advances while holding the proximal end of the medical device. Since the medical device is in a straightened state at this time, the second delivery mechanism advancing while holding the proximal end of the medical device can drive the entire medical device forward. In this embodiment, it is preferred to detect whether the medical device between the first delivery mechanism and the second delivery mechanism is straightened by a detection mechanism. Of course, in other embodiments, other methods can also be used to detect whether the medical device between the first delivery mechanism and the second delivery mechanism is straightened, and this is not limited here.

[0047] Because the delivered medical device has a certain length, for smoother delivery, this embodiment preferably includes a first delivery mechanism cooperating with a second delivery mechanism. Specifically, when the medical device is in a straightened state, the first delivery mechanism continues to deliver the distal end, while the second delivery mechanism simultaneously delivers the proximal end, until the second delivery mechanism moves to a first position. The preferred first position in this embodiment is a safe critical position near the first delivery mechanism. At this first position, the second delivery mechanism maintains a safe distance from the first delivery mechanism. If the second delivery mechanism moves beyond the first position and continues forward, there is a risk of collision with the first delivery mechanism. There are various ways to determine whether the second delivery mechanism has moved to the first position, and no specific limitation is made here. For example, sensors can detect the dynamic distance between the second and first delivery mechanisms in real time. When the dynamic distance equals the safe distance, it is determined that the second delivery mechanism has moved to the first position. Alternatively, the initial distance between the second delivery mechanism and the first delivery mechanism before movement, and the dynamic distance of the second delivery mechanism's movement can be identified. The difference between the initial distance and the dynamic distance can be calculated, and when the difference equals the safe distance, it is determined that the second delivery mechanism has moved to the first position.

[0048] S3. When the second delivery mechanism moves to the first position, it drives the first delivery mechanism to release the medical device, forming a channel for the second delivery mechanism to pass through axially. As described above, the simultaneous delivery of the straightened medical device by the first and second delivery mechanisms helps the medical device to move forward smoothly. When designing the first position, the delivery function of the first delivery mechanism and the collision risk of the second delivery mechanism need to be considered simultaneously, and the first position should be set in a suitable location. After the first delivery mechanism releases the medical device, it continues to increase the distance between the clamping components of the first delivery mechanism to form a channel. This channel should have sufficient space to allow the second delivery mechanism to pass through axially.

[0049] S4. Drive the second delivery mechanism to move through the channel to the second position. In this embodiment, the preferred second position is where the second delivery mechanism is at least partially moved into the channel; or, the second position is where the second delivery mechanism moves through the channel to the other side of the first delivery mechanism. To achieve the maximum effective delivery length of the medical device, the extreme position of the second position is the furthest position the second delivery mechanism can advance. This method allows for partial overlap between the second and first delivery mechanisms, or even positional exchange between them, maximizing the distal end of the medical device's advance to the extreme position, increasing the effective delivery length of the medical device, facilitating the completion of more surgeries, and improving the diversity and compatibility of interventional surgical procedures using the robot.

[0050] As attached Figure 2As shown, an embodiment of the present invention provides a medical device delivery device for implementing the aforementioned medical device delivery method. The delivery device 100 includes: a frame 31, a first delivery mechanism 10 mounted on the frame 31, and a second delivery mechanism 20. The first delivery mechanism 10 and the second delivery mechanism 20 are used to clamp the medical device 40. The first delivery mechanism 10 and the second delivery mechanism 20 are movably mounted on the frame 31. In a preferred embodiment, the frame 31 is provided with a lead screw 34 along the axial direction of the medical device 40. The first delivery mechanism 10 and the second delivery mechanism 20 are respectively provided with drive motors 33 corresponding to the lead screw 34. The nuts built into the drive motors 33 cooperate with the lead screw 34 to realize the movement of the first delivery mechanism 10 and the second delivery mechanism 20 along the lead screw 34, so as to adjust the position of the first delivery mechanism 10 and the second delivery mechanism 20 relative to the frame 31. In other embodiments, the first delivery mechanism 10 can be fixedly mounted on the frame 31, and only the second delivery mechanism 20 can be movably mounted on the frame 31.

[0051] As attached Figure 2 , 3 As shown, the first delivery mechanism 10 includes a mounting frame 13 and a clamping assembly 11 with adjustable clearance mounted on the mounting frame 13. The clamping assembly 11 can form a channel 12 for the second delivery mechanism 20 to pass through axially. Correspondingly, the mounting frame 13 is also provided with a cutout to accommodate the passage of the second delivery mechanism 20.

[0052] As attached Figure 4 , 5 As shown, in this preferred embodiment, the clamping assembly 11 includes a first clamping unit 111, a second clamping unit 112, and a control mechanism 113. The control mechanism 113 controls the first clamping unit 111 and / or the second clamping unit 112 to move in a direction that reduces or increases the distance between them, so as to clamp or release the medical device 40. To simplify the control method, in this preferred embodiment, the first clamping unit 111 is movably mounted on the mounting bracket 13, and the second clamping unit 112 is fixedly mounted on the mounting bracket 13. The control mechanism 113 controls the first clamping unit 111 to move in a direction perpendicular to the axial direction of the medical device 40, that is, to move closer to or further away from the second clamping unit 112, so as to reduce or increase the distance between the first clamping unit 111 and the second clamping unit 112. Of course, in other embodiments, the second clamping unit 112 can be movably mounted on the mounting frame 13 and the first clamping unit 111 can be fixedly mounted on the mounting frame 13, or both the first clamping unit 111 and the second clamping unit 112 can be movably mounted on the mounting frame 13. The specific installation method is not limited here, as long as the purpose of adjusting the distance between the first clamping unit 111 and the second clamping unit 112 is achieved through the control mechanism 113.

[0053] As attached Figure 4 , 5As shown, the preferred first clamping unit 111 in this embodiment includes a housing 1111 and a spring 1113. A second slot 1112 is provided on the side of the housing 1111 facing the control mechanism 113. One end of the spring 1113 abuts against the extension of the mounting bracket 13, and the other end of the spring 1113 abuts against the upper surface of the housing 1111. A roller 114 for delivering the medical device 40 and a clamping block 115 for assisting in clamping the medical device 40 are provided at the end of the housing 1111 away from the spring 1113. The second clamping unit 112 is provided with a roller 114 and a clamping block 115 corresponding to those of the first clamping unit 111. At least one active roller 114 is provided on either the first clamping unit 111 or the second clamping unit 112 to provide power for delivering the medical device 40.

[0054] The control mechanism 113 includes a power component 1131 and a insertion rod 1132. The power component 1131 drives the insertion rod 1132 to move. The mounting bracket 13 has a first slot 131 corresponding to the insertion rod 1132. The first slot 131 is a through slot, through which the insertion rod 1132 is inserted into the second slot 1112 of the first clamping unit 111. When the power component 1131 drives the insertion rod 1132 to move vertically up and down, it can drive the housing 1111 of the first clamping unit 111 to move up and down, thereby controlling the first clamping unit 111 to move closer to or further away from the second clamping unit 112. Preferably, in this embodiment, the upward movement of the insertion rod 1132 lifts the first clamping unit 111, increasing the distance between the first clamping unit 111 and the second clamping unit 112, compressing the spring 1113. When the force of the insertion rod 1132 is released, the spring 1113 returns to its original position, reducing the distance between the first clamping unit 111 and the second clamping unit 112. As attached Figure 5 As shown, in order to better guide the insertion rod 1132 to move in the vertical direction, the preferred mounting bracket 13 in this embodiment is provided with a slider 132 in the vertical direction. The power assembly 1131 includes a mounting plate with a groove corresponding to the slider 132. The insertion rod 1132 is fixed on the mounting plate. The motor drives the rack on the mounting plate to move through the gear assembly, and guides the insertion rod 1132 to move in the first slot 131 through the cooperation of the groove and the slider 132. The insertion rod 1132 contacts the groove wall of the second slot 1112, driving the first clamping unit 111 to move.

[0055] As attached Figure 2 , Figure 4 As shown, when the clamping assembly 11 is adjusted to the first gap, the distance between the first clamping unit 111 and the second clamping unit 112 is the shortest, and the first delivery mechanism 10 clamps and delivers the distal end of the medical device 40. (See attached diagram) Figure 3 , Figure 7As shown, when the clamping assembly 11 is adjusted to the second gap, the distance between the first clamping unit 111 and the second clamping unit 112 is the longest, and the second gap forms a channel 12 through which the second delivery mechanism 20 passes axially.

[0056] As attached Figure 2 , Figure 3 , Figure 7 As shown, the second delivery mechanism 20 is used to mount and deliver the proximal end of the medical device 40. The second delivery mechanism 20, through the cooperation of the drive motor 33 and the lead screw 34, delivers the medical device 40 along the axial direction of the medical device 40 in a unibody manner, and can also drive the medical device 40 to rotate. When the clamping assembly 11 is adjusted to the second gap, the second delivery mechanism 20 at least partially moves into the channel 12; or, the second delivery mechanism 20 moves through the channel 12 to the other side of the first delivery mechanism 10. To enable the second delivery mechanism 20 to pass through the channel 12, in this embodiment, a offset bracket 32 ​​is preferably provided between the second delivery mechanism 20 and the frame 31. The offset bracket 32 ​​is used to adjust the mounting position of the second delivery mechanism 20 so that the second delivery mechanism 20 is correspondingly positioned with respect to the channel 12. In this embodiment, one end of the offset bracket 32 ​​is fixedly mounted on the second delivery mechanism 20, and the other end is fixedly mounted on the drive motor 33. When the drive motor 33 moves relative to the lead screw 34 along the axial direction of the medical device 40, it drives the second delivery mechanism 20 to move through the offset bracket 32.

[0057] The delivery device of this embodiment includes at least one second delivery mechanism 20. Clamping components 11 on the first delivery mechanism 10 are correspondingly arranged with the second delivery mechanism 20, meaning that one second delivery mechanism 20 and a set of clamping components 11 cooperate to complete the delivery of a medical device 40. To accommodate more surgical procedures, as shown in the appendix... Figure 2 As shown, the preferred delivery device in this embodiment includes two second delivery mechanisms 20, which are symmetrically mounted on the upper and lower surfaces of the frame 31. The first delivery mechanism 10 is provided with two sets of clamping components 11, which are arranged vertically and correspond to the two second delivery mechanisms 20. In other embodiments, two first delivery mechanisms 10 may also be provided, each with a set of clamping components 11, and the two first delivery mechanisms 10 correspond to the two second delivery mechanisms 20 respectively.

[0058] When the medical device 40 is delivered by the delivery device 100 of this embodiment, the initial state is as shown in the attached figure. Figure 2 As shown, the medical device 40 is bent and clamped between the first delivery mechanism 10 and the second delivery mechanism 20. The spacing between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10 is shown in the attached figure. Figure 4 As shown. The first delivery mechanism 10 delivers the medical device 40 along the axial direction of the medical device 40 via rollers 114, thereby gradually reducing the degree of bending of the medical device 40.

[0059] The delivery device 100 also includes a detection mechanism (not shown), which detects whether the medical device 40 is straightened between the first delivery mechanism 10 and the second delivery mechanism 20 during delivery. Of course, in other embodiments, other methods can also be used to detect whether the medical device 40 is straightened between the first delivery mechanism 10 and the second delivery mechanism 20; this is not limited here. If the medical device 40 is straightened, as shown in the attached... Figure 6 As shown, the second delivery mechanism 20 is driven to move closer to the first delivery mechanism 10 and deliver the proximal end of the medical device 40. Simultaneously, the first delivery mechanism 10 assists in delivering the distal end of the medical device 40. It can be understood that the straightening here occurs when the medical device 40 is in a taut state. Due to the structural layout, even if the two ends of the medical device 40 held by the first delivery mechanism 10 and the second delivery mechanism 20 are not on the same straight line, if the medical device 40 is in a taut state, it can be considered as if the medical device 40 is straightened.

[0060] When the second delivery mechanism 20 is detected to have moved to the first position, it indicates that the second delivery mechanism has moved to a safe critical position near the first delivery mechanism, and the first delivery mechanism 10 is driven to release the medical device 40. The spacing between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10 is as shown in the attached figure. Figure 3 As shown, a channel 12 is formed for the second delivery mechanism 20 to pass through axially. (See attached diagram) Figure 7 As shown, the second delivery mechanism 20 is driven to move at least partially to a position in the channel 12; or, the second delivery mechanism 20 is driven to move through the channel 12 to a position on the other side of the first delivery mechanism 10, and the second delivery mechanism 20 moves to a more forward position, increasing the effective delivery length of the medical device 10.

[0061] As attached Figure 8As shown, an interventional surgical robot 200 is provided according to an embodiment of the present invention for delivering a catheter 41 and a guidewire 42. The interventional surgical robot 200 includes the aforementioned delivery device 100 and a guidewire driving device 50. The first delivery mechanism 10 and the second delivery mechanism 20 of the delivery device 100 cooperate to deliver the catheter 41, and the guidewire driving device 50 delivers and rotates the guidewire 42. The guidewire 42 passes through the catheter 41. The guidewire driving device 50 is correspondingly arranged with the second delivery mechanism 20. For example, this embodiment includes two second delivery mechanisms 20. Correspondingly, the interventional surgical robot 200 is provided with two guidewire driving devices 50, which are staggered and mounted on the frame 31. In this preferred embodiment, the guidewire driving device 50 is movably mounted on the frame 31. Specifically, the guidewire driving device 50 is provided with a drive motor 33 corresponding to a lead screw 34. The nut built into the drive motor 33 cooperates with the lead screw 34 to realize the movement of the guidewire driving device 50 along the lead screw 34 to adjust the position of the guidewire driving device 50 relative to the frame 31.

[0062] Initially, the catheter 41 is bent and clamped between the first delivery mechanism 10 and the second delivery mechanism 20. The proximal end of the guidewire 42 is installed in the guidewire drive device 50, and the distal end of the guidewire 42 passes through the catheter 41, maintaining the same bent posture as the catheter 41. The guidewire drive device 50 delivers the distal end of the guidewire 42 to the designated position. The first delivery mechanism 10 and the second delivery mechanism 20 work together to deliver the medical device 40 from a bent state to a straightened state, and adjust the spacing between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10, as shown in the attached figure. Figure 3 As shown, a channel 12 is formed for the second delivery mechanism 20 to pass through axially, driving the second delivery mechanism 20 to move at least partially into a position within the channel 12; or, driving the second delivery mechanism 20 through the channel 12 to a position on the other side of the first delivery mechanism 10, thus moving the second delivery mechanism 20 to a more forward position. Once the second delivery mechanism 20 has moved to the other side of the first delivery mechanism 10, when appropriate, if it is necessary to keep the guide wire 42 stationary, the spacing between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10 can be readjusted, as shown in the attached diagram. Figure 4 As shown, the guide wire 42 is clamped between the first clamping unit 111 and the second clamping unit 112 to provide auxiliary clamping for the guide wire 42.

[0063] Finally, it should be noted that, unless otherwise specified, the embodiments of the present invention and the various features thereof can be combined with each other, all of which are within the protection scope of the present invention. Furthermore, all or part of the steps in the above methods can be executed in a computer system such as a set of computer-executable instructions, and although the steps are listed in the order 1, 2, 3…, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0064] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the claims of the present invention.

Claims

1. A computer storage medium, characterized by: The computer storage medium stores a set of computer instructions, which, when executed, implement a delivery method for a medical device. The delivery method is used for a delivery device for delivering a medical device. The delivery device includes a frame, a first delivery mechanism mounted on the frame, and a second delivery mechanism. The specific steps of the delivery method include: S1. Initial state: The medical device is bent and clamped between the first delivery mechanism and the second delivery mechanism; the first delivery mechanism delivers the medical device axially, gradually reducing the degree of bending of the medical device; S2. Detect whether the medical device between the first delivery mechanism and the second delivery mechanism is straightened; if so, drive the second delivery mechanism to move closer to the first delivery mechanism and deliver the medical device. S3. When the second delivery mechanism moves to the first position, the first delivery mechanism is driven to release the medical device, forming a channel for the second delivery mechanism to pass through axially; S4. Drive the second delivery mechanism to move to the second position through the channel.

2. A computer storage medium as described in claim 1, characterized in that: Step S2 further includes the first delivery mechanism cooperating with the second delivery mechanism to deliver the medical device until the second delivery mechanism moves to the first position.

3. A computer storage medium as described in claim 1 or 2, characterized in that: The first position is the safe critical position where the second delivery mechanism moves to the vicinity of the first delivery mechanism.

4. A computer storage medium as described in claim 1, characterized in that: The second position is the position where the second delivery mechanism has at least partially moved into the channel; or, the second position is the position where the second delivery mechanism moves through the channel to the other side of the first delivery mechanism.

5. A delivery device for a medical device, used to implement the delivery method of the medical device according to any one of claims 1-4, characterized in that: The delivery device includes: a frame, a first delivery mechanism mounted on the frame, and a second delivery mechanism. The first delivery mechanism includes a clamping assembly with an adjustable gap. When the clamping assembly is adjusted to a first gap, the first delivery mechanism clamps and delivers the distal end of the medical device. When the clamping assembly is adjusted to a second gap, the second gap forms a channel through which the second delivery mechanism passes axially. The second delivery mechanism is used to mount and deliver the proximal end of the medical device. When the clamping assembly is adjusted to the second gap, the second delivery mechanism moves at least partially into the channel or moves through the channel to the other side of the first delivery mechanism.

6. The delivery device for a medical device as described in claim 5, characterized in that: The clamping assembly includes a first clamping unit, a second clamping unit, and a control mechanism. The control mechanism controls the first clamping unit and / or the second clamping unit to move in a direction that reduces or increases the spacing, so as to clamp or release the medical device.

7. The delivery device for a medical device as described in claim 5, characterized in that: An offset bracket is provided between the second delivery mechanism and the frame. The offset bracket is used to adjust the installation position of the second delivery mechanism so that the second delivery mechanism is aligned with the channel.

8. The delivery device for the medical device as described in claim 5, characterized in that: It includes at least one second delivery mechanism, and the clamping component on the first delivery mechanism is configured correspondingly to the second delivery mechanism.

9. The delivery device for a medical device as described in claim 8, characterized in that: It includes two second delivery mechanisms, which are symmetrically mounted on the upper and lower surfaces of the frame. The first delivery mechanism is provided with two sets of clamping components, which are arranged vertically and correspond to the two second delivery mechanisms.

10. An interventional surgical robot, characterized in that: Delivery device for the medical device as described in any one of claims 5-9.

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