Automated graded release stent delivery system

Abstract

The present invention relates to an automatic graded release stent delivery system, which includes a conveyor and a fixed arm; the conveyor includes a handle, a chip reader, a control device, a motor, a control line, a push device, an outer sheath, a wire collection device, a tangent device, and a guide head; the control device is located in the handle at the end of the conveyor, including a surgical remote controller and a control button, which is integrated with the chip reader; the tangent device is composed of a tangent button, a tangent knife rod, a blade, and an elastic sheet fixed to the outer sheath; the push device includes a push rod, a push separation disk, an inner core, and a fixed rotating gear; the fixed arm includes a mechanical arm base; a bedside fixture is provided under the mechanical base. Its advantages are: automatic, electrically controllable, reusable and environmentally friendly, suitable for patients with mitral regurgitation who need artificial valve implantation treatment, and also includes other stent delivery for other parts.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, in particular to an automatic graded release stent delivery system. Background Art

[0002] Stents are often used in minimally invasive surgical treatments, including vascular stents that provide support, valve stents for valve disease replacement, digestive tract stents for stenting or anastomosis with digestive tract diseases, endotracheal stents for lung disease treatment, etc. Currently, they are widely used in clinical practice and have brought good news to clinicians and patients.

[0003] The implantation of stents requires a delivery system for stent intervention or endoscopic implantation. There are still many problems with the delivery system: including how to accurately locate the desired position; how to firmly anchor it at the desired position; how to adapt to the differences in physiological structures; and how to make the operation controllable.

[0004] With the continuous maturity of AI technology and the rapid development of science and technology, the role of intelligent robots in the medical field will become increasingly important in the future. Stent implantation will also tend to adopt robotic surgery, so automated equipment designed according to the patient's specific data will be indispensable.

[0005] With the aging of the population and the development of medical technology, valvular heart disease (VHD) has become the third largest cardiovascular disease, seriously endangering human health. In recent years, interventional treatment technology for valvular heart disease has developed rapidly and achieved major breakthroughs. Among them, delivery system interventional treatment has become the mainstream procedure.

[0006] With the promotion of artificial valves in clinical use, their scope of use has also been expanded. In recent years, there have been more and more mature treatment methods for mitral regurgitation disease. However, due to the complex anatomical structure and etiology of mitral valve disease, mitral valve interventional treatment is still in the research stage. Similarly, the research on stent delivery systems is also a key area of ​​current research. Due to the complexity and particularity of mitral valve stents, the requirements for delivery systems are also special. At present, the requirements for delivery systems mainly have the following problems: insufficient control when releasing the stent, relatively high requirements for surgeons, based on the experience of surgeons, and slow release and gradual adjustment under DSA or endoscopic observation during surgery, which is prone to mistakes. With the gradual increase in the clinical use of robotic surgery, more and more experts are studying and thinking about whether robots can be used for stent implantation surgery.

[0007] The following is an example of mitral valve interventional valve replacement: At present, the main way to treat mitral valve disease is valve replacement, and transcatheter valve implantation is the hotspot and difficulty of current research, that is, the valve is transported from the outside of the body to the mitral valve by a conveyor for replacement. Due to the complex anatomical structure and etiology of mitral valve disease, the stent delivery devices currently used are all manually released step by step, and the stent cannot be automatically implanted according to the different conditions of the stent and the patient. Not only does the operator have to be exposed to radiation for a long time, but the operation process is complicated and cannot be accurate. Moreover, there are many types of existing delivery devices and the structure is immature. Therefore, the valve cannot be accurately positioned at the desired position, and the carrier of the artificial valve cannot be firmly fixed at the desired position. In addition, some delivery devices have low controllability during the operation, resulting in a high failure rate and high surgical risk.

[0008] Chinese patent document: CN201320096427.7, application date 2013.03.04, patent name: A delivery system for an aortic stent or an aortic valve stent. Disclosed is an aortic stent or an aortic valve stent delivery system, comprising an outer sheath, a middle sheath and an inner sheath, wherein the inner sheath is a hollow tube, which is arranged inside the middle sheath, and the middle sheath is arranged inside the outer sheath, wherein the middle sheath is a variable diameter hollow tube, and the diameter of the distal end portion thereof is larger than the diameter of the remaining portion; the distal end of the outer sheath is connected to the proximal end of the large diameter distal end portion of the middle sheath; the system also comprises a protector and a protector limiting device, which are both placed between the outer sheath and the small diameter portion of the middle sheath, and the proximal end of the protector is fixedly connected with a traction wire, and the protector is overlapped with the protector limiting device through the traction wire.

[0009] Chinese patent document: CN201710810761.7, application date 2017.09.11, patent name: A kind of aortic valve stent delivery system and aortic valve system. Disclosed is an aortic valve stent delivery system, including a push release device for delivering an aortic valve stent, in particular, the aortic valve stent delivery system also includes a special-shaped balloon catheter arranged at the front end of the push release device, the special-shaped balloon catheter includes a balloon, the balloon has a columnar connecting part and a balloon expansion part connected to the columnar connecting part, the columnar connecting part is connected to the front end of the push release device, and the balloon is designed as follows: after expansion, the balloon expansion part forms a positioning surface on the side close to the columnar connecting part, and when the aortic valve stent delivery system is used, the balloon expansion part of the balloon is located in the left ventricular outflow tract and is tightly fitted with the bottom of the human aortic valve through the positioning surface.

[0010] The aortic stent or aortic valve stent delivery system in the above patent document CN201320096427.7, the utility model, while integrated delivery, uses a traction wire to retract the protector into the sheath and evacuate the human body, effectively avoiding bleeding and dissection caused by pushing the outer sheath to scrape the blood vessel wall, and increasing safety; and the aortic valve stent delivery system and aortic valve system in the patent document CN201710810761.7, the aortic valve stent delivery system also includes a special-shaped balloon catheter arranged at the front end of the push release device, the special-shaped balloon catheter includes a balloon, the balloon expansion part of the balloon is located in the left ventricular outflow tract and is tightly fitted with the bottom of the human aortic valve through the positioning surface, which plays a role in positioning and reducing and / or preventing paravalvular leakage. However, there is no relevant report on an automatic, electrically controllable, reusable and environmentally friendly stent delivery system suitable for patients with mitral regurgitation who need artificial valve implantation treatment, and also includes other stents for other parts.

[0011] In summary, there is an urgent need for an automatic, electrically controllable, reusable and environmentally friendly stent delivery system suitable for patients with mitral regurgitation who require artificial valve implantation, as well as other stents for other parts of the body. Summary of the invention

[0012] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automatic, electrically controllable, reusable and environmentally friendly stent delivery system suitable for patients with mitral regurgitation who require artificial valve implantation for treatment, and also includes other stents for other parts of the body.

[0013] To achieve the above object, the technical solution adopted by the present invention is:

[0014] An automatic graded release stent delivery system, the automatic graded release stent delivery system comprises a conveyor and a fixed arm; the conveyor comprises a handle, a chip reader, a control device, an engine, a control line, a pushing device, an outer sheath, a wire take-up device, a wire cutting device, and a guide head; the engine, control line, pushing device, outer sheath, wire take-up device, and wire cutting device are all arranged inside the handle; the control device is located in the handle at the end of the conveyor, and comprises a surgical remote controller and a control button, which are integrated with the chip reader; the wire cutting device is composed of a wire cutting button, a wire cutting knife rod, a blade, and an elastic sheet fixed to the outer sheath, and the wire cutting button and the blade are respectively arranged at the front end and the end of the wire cutting knife rod; the pushing device comprises a pushing rod, a pushing dividing plate, an inner core, and a fixed rotating gear; the fixed arm comprises a mechanical arm base; a bedside fixer is provided under the mechanical base.

[0015] As a preferred technical solution, the handle surface is provided with a screen and an input board, and the input board is provided with a plurality of input buttons.

[0016] As a preferred technical solution, a power supply and a chip reader are respectively provided at the upper and lower positions of the inner end of the handle, and a guide wire hole is also provided between the two.

[0017] As a preferred technical solution, there are three engines, and the first two engines away from the bottom of the handle are connected to fixed rotating gears.

[0018] As a preferred technical solution, one end of the control line is connected to the tail end of the artificial valve, which is a return line. 1-3 columns can be designed according to the needs of the stent, and the other end is connected to the engine at the front end of the handle.

[0019] As a preferred technical solution, the outer sheath is the outermost layer, the proximal end of which is connected to the handle, the push rod is the middle layer, and the inner core is the innermost layer; the outer sheath, the push rod, and the inner core are all hollow.

[0020] As a preferred technical solution, the farthest end of the inner core is connected to the guide head as a whole, and its inner hollow structure can pass through the guide wire hole and can always pass through the guide head.

[0021] As a preferred technical solution, the guide head is adjacent to the outer sheath and has a fixed sheath with a diameter smaller than that of the outer sheath. After the stent is released, it can be retracted into the outer sheath and withdrawn, and it is tightly connected to the inner core.

[0022] As a preferred technical solution, an electrocardiogram connection hole is also provided at the bottom of the handle; the conveyor and the fixed arm are equipped with a remote controller for remotely controlling various actions of the conveying system.

[0023] As a preferred technical solution, an up and down moving motor and a forward and backward moving motor are provided above the robot arm base, the motor shaft of the up and down moving motor is connected to the up and down moving action arm, the up and down moving action arm is connected to the large arm, a clamp is installed at the end of the large arm, the motor shaft of the forward and backward moving motor is connected to the parallel moving action arm, the end of the parallel moving action arm is connected to the end of the large arm through a connecting shaft, and the up and down moving motor and the forward and backward moving motor are connected to the insulating bracket of the fixed arm.

[0024] The advantages of the present invention are:

[0025] 1. It has electric remote control, can release the stent in stages, can automatically implant the stent according to the different conditions of the stent and the patient, and can be connected to the ECG to automatically adjust according to the condition of the heart valve.

[0026] 2. The remote control device can monitor the real-time positioning, accurately locate, and has strong controllability. It can be paused and adjusted at any time to ensure accuracy.

[0027] 3. With the help of the bedside fixing arm, the stent delivery system can be firmly fixed in the required position. At the same time, it can be recovered and released again at different stages. When withdrawing, the fixed sheath of the guide head can automatically retract into the outer sheath and withdraw gradually.

[0028] 4. The traction line can also be automatically stretched according to the different positions of the bracket release. After the bracket is released, one end of the traction line can be automatically released, and the traction line can be pulled out as the conveyor withdraws through the fixing device at the other end. The operation process is simple, the machinery is integrated, and the structure is mature.

[0029] 5. The delivery system can electrically remotely position and control the release of the implanted stent, allowing the operator to avoid radiation hazards during valve implantation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Attached Figure 1 It is a schematic diagram of the external structure of a conveyor of an automatic graded release stent conveying system of the present invention.

[0031] Attached Figure 2 It is a schematic diagram of the internal structure of a conveyor of an automatic graded release stent conveying system of the present invention.

[0032] Attached Figure 3 It is a schematic diagram of a handle input device of an automatic graded release stent delivery system of the present invention.

[0033] Attached Figure 4 It is a schematic diagram of a remote control device of an automatic graded release stent delivery system of the present invention.

[0034] Attached Figure 5 It is a structural schematic diagram of a first engine, a second engine, an inner core and a push rod of an automatic graded release stent delivery system of the present invention.

[0035] Attached Figure 6a-6c The present invention is a schematic diagram of the position of a guide head of an automatic graded release stent delivery system and an artificial valve, that is, a pushing device.

[0036] Attached Figure 7a-7b It is a structural schematic diagram of a third engine and a wire-receiving device of an automatic graded-releasing stent delivery system of the present invention.

[0037] Attached Figure 8 The diagram is a schematic diagram of the relationship between an outer sheath tube and a tangent device of an automatic graded release stent delivery system of the present invention.

[0038] Attached Fig. 9 It is a schematic diagram of a wire-receiving device of an automatic graded-release stent delivery system of the present invention.

[0039] Attached Fig.10The present invention is a side view of a rubber guide wire hole of an automatic graded release stent delivery system.

[0040] Attached Fig.11 It is a side view of the connection between the first engine and the inner core of an automatic graded release stent delivery system of the present invention.

[0041] Attached Fig.12 It is a side view of the connection between a first engine and a push rod of an automatic graded release stent delivery system of the present invention.

[0042] Attached Fig.13 It is a side view of a push separation plate of an automatic graded release stent delivery system of the present invention.

[0043] Attached Fig.14 It is a three-dimensional structural schematic diagram of a fixed arm of an automatic graded release stent delivery system of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with embodiments and with reference to the accompanying drawings.

[0045] The reference numerals and components involved in the drawings are as follows:

[0046] 100. Handle 110. Screen

[0047] 120. Input pad 121. Input button

[0048] 200. Outer sheath 300. Guide head

[0049] 400. Thread trimming button 410. Thread trimming knife bar

[0050] 411. Blade 420. Elastic sheet

[0051] 500. Power supply 600. Chip reader

[0052] 700. Wire guide hole 800. First engine

[0053] 810. First rotating rod 820. First transverse connecting rod

[0054] 830. First rotating shaft 840. First vertical connecting rod

[0055] 850. First fixed plate 900. First fixed rotating gear

[0056] 901. First connecting rod 910. First rotating gear

[0057] 920. First rotating secondary wheel 1000. Inner core

[0058] 1100. Second engine 1101. Second rotating rod

[0059] 1120. Second transverse connecting rod 1130. Second rotating shaft

[0060] 1140. Second vertical connecting rod 1150. Second fixing plate

[0061] 1200. Second fixed rotating gear 1201. Second connecting rod

[0062] 1210. Second rotating gear 1220. Second rotating secondary wheel

[0063] 1300. Push rod 1400. Third engine

[0064] 1410. Third connecting rod 1500. Wire taking-up device

[0065] 1510.Fixed line 1600.Control line

[0066] 1700. Pushing separator plate 1800. Bracket

[0067] 1900.Rubber guide wire hole 2000.ECG connection hole

[0068] 2100. Surgical remote controller 2101. Control buttons

[0069] 2201. Robotic arm base 2202. Up and down moving motor

[0070] 2203. Front and rear moving motor 2204. Up and down moving action arm

[0071] 2205. Big arm 2206. Clamp

[0072] 2207. Parallel motion arm 2208. Connecting shaft

[0073] 2209. Fixed arm insulation bracket 2210. Bedside fixer

[0074] 1010. Matching sawtooth

[0075] Example 1

[0076] An automatic graded release stent delivery system of the present invention is composed of a delivery device and a fixed arm; the delivery device is composed of a handle 100, a control device, a power supply 500, an engine, a control line 1600, a pushing device, an outer sheath 200, a wire collection device 1500, a tangent device, and a guide head 300; the control device includes a surgical remote controller 2100 and a control button 2101; the engine includes a first engine 800, a second engine 1100 and a third engine 1400; the delivery device includes an inner core 700, a delivery rod 1300, and a delivery separation plate 1700; the tangent device includes a tangent button 400 and a tangent knife rod 410;

[0077] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples (taking a novel mitral valve stent as an example);

[0078] The distal end of the present invention refers to the end away from the handle 100, and the proximal end refers to the end close to the handle 100;

[0079] Please see attached Figure 1 , Figure 1 The figure is a schematic diagram of the external structure of a delivery device of an automatic graded stent delivery system of the present invention. The delivery device is provided with a handle 100 on the outside, the front end of the handle 100 is connected to an outer sheath tube 200, and the front end of the outer sheath tube 200 is provided with a guide head 300; the surface of the handle 100 is provided with a screen 110 and an input board 120, and the input board 120 is provided with a plurality of input buttons 121; a tangent button 400 is also provided between the front section of the handle 100 and the end of the outer sheath tube 200;

[0080] Please see attached Figure 2 , Figure 2The present invention is a schematic diagram of the internal structure of a conveyor of an automatic graded stent delivery system. A power source 500 and a chip reader 600 are respectively provided at the upper and lower positions of the internal end of the conveyor, and a guide wire hole 700 is also provided between the two; a first engine 800 is provided at the front end of the power source 500 and the chip reader 600, and a first fixed rotating gear 900 is provided on the surface of the first engine 800; the first fixed rotating gear 900 includes a first connecting rod 901, a first rotating gear 910, and a first rotating secondary wheel 920; a second engine 1100 is provided at the front end of the first engine 800, and a push rod 1300 is provided on both sides of the second engine 1100; a second fixed rotating gear 1200 is provided on the surface of the second engine 1100 at a position relative to the push rod 1300; the second fixed rotating gear 1200 includes a second connecting rod 1201, a second rotating gear 1210, and a second rotating secondary wheel 1220; a third engine 1400 is provided at the front end of the second engine 1100 and outside the push rod 1300; the third engine 1400 A wire take-up device 1500 is provided in the front, and a wire cutting knife bar 410 is provided above the wire take-up device 1500 at a position relative to the wire cutting button 400; a control line 1600 is connected to the surface of the wire take-up device 1500; a push separation plate 1700 and a bracket 1800 are provided at a position relative to the front end of the outer sheath tube 200 inside the conveyor; the surface of the guide wire hole 700 is connected to the first engine 800, the second engine 1100, the third engine 1400, the push separation plate 1700 and the bracket 1800, and an inner core 1000 is provided; the power supply 500 is respectively connected to the chip reader 600, the first engine 800, the second engine 1100 and the third engine 1400;

[0081] Please see attached Figure 3 , Figure 3 It is a schematic diagram of a handle input device of an automatic graded stent delivery system of the present invention. The handle 100 is provided with a screen 110; the screen 110 is provided with an input board 120; the input board 120 is provided with an input button 121; the handle input device is connected to a chip reader 600;

[0082] Please see attached Figure 4 , Figure 4 The figure is a schematic diagram of a remote control device of an automatic graded release stent delivery system of the present invention. The remote control device includes a surgical remote controller 2100 and a control button 2101; the remote control device is a device that exists independently of the delivery device, and is connected to the chip reader 600 to control the operation of the entire delivery device; the remote control device has an electric remote control device (but each step of the operation can also be changed to manual control);

[0083] Please see attached Figure 5 , Figure 5 It is a structural schematic diagram of the first engine, the second engine, the inner core and the push rod of an automatic graded release stent delivery system of the present invention. The inner core 1000 and the push rod 1300 are connected and arranged on the first engine 800 and the second engine 1100 respectively; the first connecting rod 901 and the second connecting rod 1201 are respectively arranged below the first engine 800 and the second engine 1100, and the front ends of the first connecting rod 901 and the second connecting rod 1201 are respectively connected with the first rotating gear 910 and the second rotating gear 1210; the first rotating secondary wheel 920 and the second rotating secondary wheel 1220 are respectively arranged between the inner core 1000 and the first rotating gear 910, and the push rod 1300 and the second rotating gear 210; the surfaces of the inner core 1000 and the push rod 1300 are also respectively provided with matching saw teeth 1010 that cooperate with the first rotating secondary wheel 920 and the second rotating secondary wheel 1220;

[0084] Please see attached Figure 6a-6c , Figure 6a-6c This is a schematic diagram of the position of the guide head of an automatic graded release stent delivery system of the present invention, and an artificial valve, i.e., a pushing device. The outer sheath tube 200 is the outermost layer; the control line 1600 is arranged between the outer sheath tube 200 and the pushing rod 1300, the pushing rod 1300 is the middle layer, and the inner core 1000 is the innermost layer; the outer sheath tube 200, the pushing rod 1300 and the inner core 1000 are all hollow structures; the outer sheath tube 200 is connected to the pushing separation plate 1700 at the distal end, and connected to the handle 100 at the proximal end; the stent 1800 is arranged at the position of the front end inside the outer sheath tube 200 and the guide head 300; the guide head 300 is adjacent to the outer sheath tube 200, and its cross-sectional diameter is slightly smaller than that of the outer sheath tube 200. After the stent 1800 is released, it can be retracted into the outer sheath tube 200, and it is tightly connected to the inner core 1000; the farthest end of the inner core 1000 is connected to the guide head 300. The proximal end of the motor is closely connected to the guide wire hole 700, and the two sides are consistent with the first fixed rotating gear 900 and the second fixed rotating gear 1200; the first fixed rotating gear 900 and the second fixed rotating gear 1200 are consistent with the first engine 800 and the second engine 1100 respectively;

[0085] Please see attached Figure 7a-7b , Figure 7a-7bIt is a structural schematic diagram of the third engine and the wire-receiving device of an automatic graded stent delivery system of the present invention. One end of the control wire 1600 is connected to the tail end of the artificial valve, and is a return line, symmetrically arranged on the left and right sides, and the other end is connected to the wire-receiving device 1500 connected to the third engine 1400; the wire-receiving device 1500 is connected to the third engine 1400; when the third engine 1400 rotates, the wire-receiving device 1500 is driven by the third connecting rod 1410, so that the wire-receiving device 1500 retracts the ring structure of the control wire 1600 into two layers, the outer layer of the control wire 1600 is used for the surface of the wire-receiving device 1500, which is convenient for contact with the tangent device and avoids contact with the inner layer of the control wire 1600, thereby completing the final wire withdrawal;

[0086] Please see attached Figure 8 , Figure 8 The figure is a schematic diagram of the relationship between the outer sheath tube and the tangent device of the automatic graded release stent delivery system of the present invention. The tangent device comprises a tangent button 400 and a tangent rod 410; a blade 411 is provided at the end of the tangent rod 410; elastic sheets 420 fixed to the surface of the outer sheath tube 200 are also provided on both sides above the tangent rod 410;

[0087] Please see attached Fig. 9 , Fig. 9 It is a schematic diagram of a wire take-up device of an automatic graded release stent delivery system of the present invention. The two ends of the wire take-up device 1500 are respectively connected to the third connecting rod 1410 and the control line 1600; the front end of the wire take-up device 1500 is also provided with a fixed wire head 1510;

[0088] Please see attached Fig.10 , Fig.10 It is a side view of the rubber guide wire hole of an automatic graded release stent delivery system of the present invention. A rubber guide wire hole 1900 is provided in the middle of the bottom end surface of the handle 100; an electrocardiogram connection hole 2000 is provided below the rubber guide wire hole 1900; the design of the electrocardiogram connection hole 2000 can be used to connect an external electrocardiogram display device, so that the release of the stent 1800 or the pulling of the traction line is synchronized with the contraction activity of the heart, thereby improving the effect of stent implantation and release;

[0089] Please see attached Fig.11 , Fig.11It is a side view of the connection between the first engine and the inner core of an automatic graded stent delivery system of the present invention. The surface of the first engine 800 is provided with a first rotating rod 810; a first horizontal connecting rod 820 is provided above the rotating rod 810; first rotating shafts 830 are provided at both ends of the first horizontal connecting rod 820; first vertical connecting rods 840 are connected to the first rotating shafts 830; first fixing plates 850 are provided above the first vertical connecting rods 840; first rotating gears 910 and first rotating secondary wheels 920 are provided on the first vertical connecting rods 840 below the first fixing plates 850; the inner core 1000 is between the first rotating secondary wheels 920 on both sides;

[0090] Please see attached Fig.12 , Fig.12 It is a side view of the connection between the first engine and the push rod of an automatic graded release stent delivery system of the present invention. The second engine 1100 is provided with a second rotating rod 1101 on the surface; a second transverse connecting rod 1120 is provided above the first rotating rod 1101; second rotating shafts 1130 are provided at both ends of the second transverse connecting rod 1120; second vertical connecting rods 1140 are connected to the second rotating shafts 1130; second fixing plates 1150 are provided above the second vertical connecting rods 1140; second rotating gears 1210 and second rotating secondary wheels 1220 are provided on the second vertical connecting rods 1140 below the second fixing plates 1150; a push rod 1300 is provided between the second rotating secondary wheels 1220 on both sides;

[0091] Please see attached Fig.13 , Fig.13 It is a side view of a push separation plate of an automatic graded release stent delivery system of the present invention. The outer surface of the push separation plate 1700 is an outer sheath tube 200, and the inner center position is an inner core 1000;

[0092] Please see attached Fig.14 , Fig.14The fixed arm of the automatic graded release stent delivery system of the present invention is a three-dimensional structural diagram. The fixed arm is used to fix the delivery device and is controlled by remote control. The specific position of the delivery device can be adjusted according to the position of the patient. The fixed arm includes a mechanical arm base 2201, on which an up-and-down moving motor 2202 and a forward-and-backward moving motor 2203 are installed. The motor shaft of the up-and-down moving motor 2202 is connected to an up-and-down moving action arm 2204, and the up-and-down moving action arm 2204 is connected to a large arm 2205. The large arm 2205 is bent, and a clamp 2206 is installed at the end of the large arm 2205. The forward-and-backward moving motor 2203 is connected to a large arm 2205. The motor shaft is connected to the parallel moving arm 2207, and the end of the parallel moving arm 2207 is connected to the end of the upper arm 2205 through the connecting shaft 2208, and the up and down moving motor 2202 and the front and back moving motor 2203 are connected to the fixed arm insulating bracket 2209, and are fixed to the operating table through the bedside fixture 2210. During the whole process, the conveyor is clamped by the clamp 2208, and the up and down moving motor 2202 and the front and back moving motor 2203 drive the up and down moving arm 2204 and the parallel moving arm 2207 to send the conveyor to the corresponding position, thereby completing the release of the bracket.

[0093] The operating process of an automatic graded release stent delivery system of the present invention is as follows:

[0094] The present invention is equipped with a remote controller for remotely controlling various actions of the conveying system; the design of the remote controller can refer to other remote controller designs, and in the present invention, it is used in conjunction with the conveying system;

[0095] like Figure 3 As shown, the patient's individualized data is first input into the delivery system using the input button 121 on the handle and the screen 110, and then read by the chip reader 600; wherein, the "input" key is pressed, and then the pre-measured data is input, and the chip system automatically converts the data into time, and then the "finish" key is pressed; there is also a "clear" key at the bottom to prevent the input data from being wrong; wherein the right side is the numeric key, which is prepared for inputting data; after the operator has prepared all operations before the implantation of the stent 1800, the operator places the delivery device on the corresponding mechanical arm beside the bed, and at this time the operator can remotely operate at the bedside, or exit the operating room and enter the remote control room;

[0096] like Figure 4, wherein the control room has a remote control button 2100. When "Forward 1" is pressed to control the conveyor to reach the position through the control robot arm, the stent 1800 is ready to be released. Through the remote control or manual control button 2101, the conveyor gradually releases the stent and the fixing line according to the pre-set program, and exits; as shown in Figure 6a,: when the "Forward 1 and +" button is pressed, the gear connected to the first engine 800 and the second engine 1100 will adjust the speed according to the instruction, so that the inner core 1000 and the push rod 1300 move forward the same distance. At this time, the valve stent compressed in the inner sheath tube 200 will move with the push rod 1300 and the inner core 1000, and the part of the outer sheath tube 200 exposed is 1 / 2 of its length in the compressed state; Figure 6b When the "Forward 2 and +" button is pressed, the inner core 1000 does not move, and the push rod 1300 moves forward, so that the atrial side of the valve is pressed into the guide head 300, so that it is firmly in the guide head 300; Figure 6c , when the "Forward 3 and +" button is pressed, the gears connected to the first engine 800 and the second engine 1100 will adjust the speed as indicated, the inner core will advance to the valve release position, and the push rod will push the push separation disk to the outer edge of the distal end of the outer sheath;

[0097] like Figure 5 , the first engine 800 and the second engine 1100 control the inner core 1000 and the push rod 1300 respectively;

[0098] like Figure 6a-6c As shown, it is a position view of the guide head 300, the artificial valve and the pushing device;

[0099] like Figure 7a-7b , is a view of the third engine 1400 and the wire-receiving device 1500, as shown Figure 7a , the wire-receiving device 1500 connected to the third engine 1400 has no passive effect on the control wire 1600; therefore, when the entire delivery device pushes the artificial valve to the distal end, the control wire 1600 will be pulled by the delivery device and released by the wire-receiving device 1500; Figure 7b , if the "Back 1 and -" button is pressed, the third engine 1400 will rotate and drive the wire-retracting device 1500 at the same time. At this time, the control line 1600 will be tightened toward the proximal end, and the fixed arm of the stent 1800 can be controlled to extend outward, and the first engine 800 and the second engine 1100 can be coordinated to hook the anterior and posterior leaflets of the mitral valve. Continuing to retract the wire can release the stent 1800 from the guide head, and the valve stent is completely released. Since the rotation speed of the third engine 1400 is accurate in advance, the stent 1800 exits the guide head 300 and the third engine 1400 stops working at the same time;

[0100] like Figure 8, is a cutting device connected to the outer sheath 200. At this time, since the artificial valve has been released, the operator can enter the operating room and press its cutting button 400;

[0101] like Fig. 9 The wire-retracting device 1500 retracts the ring structure of the control wire 1600 into two layers, inner and outer; when the button of the wire-cutting device is pressed, the wire-cutting device cuts off the outer layer of the control wire; at this time, press the "Back 2 and -" button, the inner core 1000 will drive the guide head 300 to retreat into the inner sheath tube 200. At this time, press "Back 3" to control the retraction of the robot arm, so that it exits the conveyor and can carry out the finishing work.

[0102] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the principle of the present invention. These improvements and supplements should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic graded release stent delivery system, characterized in that: The automatic graded release stent delivery system includes a conveyor and a fixed arm; the conveyor includes a handle, a power supply, a chip reader, a remote control device, an engine, a control line, a pushing device, an outer sheath, a wire taking-up device, a wire cutting device, and a guide head; the engine, control line, pushing device, outer sheath, wire taking-up device, and wire cutting device are all arranged inside the handle, the handle surface is provided with a screen and an input board, and the input board is provided with a plurality of input buttons; the remote control device includes a surgical remote controller and control buttons; the remote control device is a device that exists independently of the conveyor and is connected to the chip reader, the engine includes a first engine, a second engine, and a third engine, the power supply is respectively interconnected with the chip reader, the first engine, the second engine, and the third engine, the power supply and the chip reader are respectively provided at the upper and lower positions of the inner end of the handle, and a guide wire hole is also provided between the two, the power supply and the front end of the chip reader are provided with a first engine, and the surface of the first engine is provided with a first fixed rotating gear; the first The fixed rotating gear comprises a first connecting rod, a first rotating gear and a first rotating secondary wheel; a second engine is arranged at the front end of the first engine, and push rods are arranged on both sides of the second engine; a second fixed rotating gear is arranged on the surface of the second engine relative to the push rod; the second fixed rotating gear comprises a second connecting rod, a second rotating gear and a second rotating secondary wheel; a third engine is arranged on the outside of the push rod at the front end of the second engine; a wire taking-up device is arranged in front of the third engine, and a wire cutting knife rod is also arranged above the wire taking-up device at a position relative to the wire cutting button; a control line is connected to the surface of the wire taking-up device, and the wire cutting device is composed of a wire cutting button, a wire cutting knife rod, a blade and an elastic sheet fixed to the outer sheath, and the wire cutting button and the blade are respectively arranged at the front end and the end of the wire cutting knife rod; the pushing device comprises a push rod, a pushing separation plate, an inner core and a fixed rotating gear, and the fixed rotating gear comprises a first fixed rotating gear and a second fixed rotating gear; the fixed arm comprises a mechanical arm base; a bedside fixer is arranged below the mechanical arm base.

2. The automatic graded release stent delivery system according to claim 1, characterized in that: An up and down moving motor and a forward and backward moving motor are arranged above the mechanical arm base. The motor shaft of the up and down moving motor is connected to the up and down moving action arm, the up and down moving action arm is connected to the large arm, a clamp is installed at the end of the large arm, the motor shaft of the forward and backward moving motor is connected to the parallel moving action arm, the end of the parallel moving action arm is connected to the end of the large arm through a connecting shaft, and the up and down moving motor and the forward and backward moving motor are connected to the insulating bracket of the fixed arm.

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