An electric stent delivery system based on remote control

Abstract

The present invention relates to an electric stent delivery system based on remote control, the electric stent delivery system based on remote control comprises a delivery device and a remote control device; the remote control device is composed of a control page and a control device; the delivery device comprises a guide head, an inner core, an outer sheath, a push rod, a wire release device, a wire cutting device, a valve stent traction line, a wire collection device, a push rod push device, an inner core push device, and a mounting seat; the control device comprises a main control board, a wire collection motor drive, a wire cutting motor drive, a push rod motor drive, and a power module. Its advantages are as follows: solving the problems of complex operation, low precision, and high failure rate of surgery in the current mitral valve replacement technology, effectively reducing patient trauma, reducing operator difficulty, improving the success rate of surgery, and reducing postoperative complications, being able to simplify the operation process, ensuring accurate positioning and accurate release of mitral valve implantation, and contributing to the development of mitral valve replacement technology.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an electric stent delivery system based on remote control. Background Art

[0002] Mitral regurgitation (MR) is the most common valvular disease, with an incidence of about 1.7% in the general population. Severe MR will seriously damage heart function, increase the risk of heart failure, and seriously threaten health and life expectancy. The main treatment for patients with severe MR is mitral valve repair or replacement under extracorporeal circulation. This method is mature and effective, but it is risky and has a high mortality rate for the elderly, patients with severe heart failure, or patients with serious complications, and surgery is not possible. For these patients, there is a lack of safe, minimally invasive, and rapid recovery valve replacement methods. Only relying on conservative drug treatment, the prognosis is poor. Transcatheter Mitral Valve Implantation (TMVI) is a minimally invasive valve replacement technology that has emerged in recent years. This technology performs valve replacement through the apex or femoral artery, making valve replacement as minimally invasive as coronary stent implantation, thereby avoiding traumatic operations such as sternotomy and extracorporeal circulation. It has the characteristics of low risk, minimal invasion, and rapid recovery. TMVI will provide elderly high-risk MR patients with the opportunity to receive valve replacement treatment, thereby reducing the degree of regurgitation and avoiding heart failure, thus benefiting them.

[0003] Due to the complexity of the anatomical structure of the mitral valve, 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. The operation process is complicated and cannot be accurate. It is very demanding on the surgeon, and the surgeon is exposed to radiation throughout the entire operation, which causes damage to the surgeon's body (the applicant has previously applied for relevant patent documents, application number: 2020109584189, application date 2020.9.14). The valve stent currently used for TMVI is still immature. The application of TMVI has problems such as difficult valve positioning, valve displacement, and sudden valve release. It has low controllability, high failure rate, high surgical risk, and is also prone to complications such as paravalvular leak and left ventricular outflow tract obstruction.

[0004] Chinese patent document: CN201310417098.6, application date 2013.09.13, patent name: A transcatheter implantable artificial aortic valve stent and its delivery system. A transcatheter implantable artificial aortic valve stent is disclosed, including a stent and an artificial valve. The stent is made of elastic fiber-like material and has a "dumbbell-shaped" structure, including a head, a waist and a tail. A layer of biocompatible film is coated on the outer surface of the stent head, and a mounting anchor is provided at the stent tail. A delivery system for delivering the stent is also provided, which is composed of an outer sheath, an inner core, a loader, a push rod and a fixed head, wherein the mounting anchor at the stent tail is installed on the fixed head, and the artificial aortic valve stent is delivered into the body by puncture.

[0005] Chinese patent document: CN201721155153.9, 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 and an aortic valve 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 connection part and a balloon expansion part connected to the columnar connection part, the columnar connection 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 connection part. 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 attached to the bottom of the human aortic valve through the positioning surface, which plays a role in positioning and reducing and / or preventing paravalvular leakage.

[0006] Although the above-mentioned patent document CN201310417098.6 discloses a transcatheter implanted artificial aortic valve stent and its delivery system, and the patent document CN201721155153.9 discloses an aortic valve stent delivery system and an aortic valve system, which can realize the delivery of the aortic valve, both methods are manual delivery methods, so there are problems of complex operation process and low precision.

[0007] In summary, there is an urgent need for a remote-controlled electric stent delivery system that can be used to solve the problems of complex equipment operation, low precision, and high surgical failure rate in the current mitral valve replacement technology, effectively reduce patient trauma, reduce operator difficulty, improve the success rate of the operation, and reduce postoperative complications. It can simplify the operation process, ensure the precise positioning and release of the mitral valve implantation, improve the success rate of the operation, avoid secondary operations, and contribute to the development of mitral valve replacement technology. However, there are currently no relevant reports on this stent delivery system. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a system that can be used to solve the problems of complex equipment operation, low precision and high surgical failure rate in the current mitral valve replacement technology, effectively reduce the trauma of patients, reduce the difficulty of operators, improve the success rate of operations, and reduce postoperative complications. It can simplify the operation process, ensure the precise positioning and release of mitral valve implantation, improve the success rate of operations, avoid secondary operations, and contribute to the development of mitral valve replacement technology. A remote-controlled electric stent delivery system.

[0009] To achieve the above object, the technical solution adopted by the present invention is:

[0010] A remote-controlled electric stent delivery system, the remote-controlled electric stent delivery system comprising a delivery device and a remote control device; the delivery device and the remote control device constitute an operating end; the remote control device is composed of a control page and a control device; the delivery device comprises a guide head, an inner core, an outer sheath, a push rod, a wire-releasing device, a wire-cutting device, a valve stent traction line, a wire-collecting device, a push rod pushing device, an inner core pushing device, and a mounting seat; the guide head is arranged at the top end of the inner core; the inner core is placed inside the inner sheath; the push rod is arranged at the end of the outer sheath, and the end of the push rod is opposite to the push rod pushing device; the inner core pushing device is arranged at the end of the inner core and is opposite to the position of the inner core; the wire-releasing device, the wire-cutting device, the valve stent traction line and the wire-collecting device are respectively connected to each other and are respectively arranged at the front end position inside the delivery device; the mounting seat is arranged at the rear section of the delivery device, and the push rod, the push rod pushing device and the inner core pushing device are all arranged on the surface of the mounting seat; the control page is controlled by Microsoft Visual Studio The system is developed on the C# platform and used with the entire operation terminal. The control page runs under the Windows system of the PC, remotely transmits the patient's personalized data to the operation terminal, and controls the start, emergency stop, and reset actions of the operation terminal. The control device is composed of a main control board, a wire-reeling motor driver, a wire-cutting motor driver, a push rod motor driver, and a power module. The control device adopts a 32-bit high-performance ARM Cortex-M3 processor. A TCP connection management module is provided inside the control device, which establishes a TCP connection with the remote control device via Wi-Fi to achieve real-time response to data and instructions.

[0011] As a preferred technical solution, the conveying device includes 5 motors and corresponding mechanisms, which can complete corresponding actions under the control of the control device.

[0012] As a preferred technical solution, the push rod pushing device is composed of a push rod rack, a push rod gear, and a push rod motor; the push rod rack is installed at the end of the push rod, and the push rod gear is installed on the output shaft of the push rod motor and meshes with the push rod rack.

[0013] As a preferred technical solution, the inner core includes an integrated inner core head and an inner core, and the inner core is a hollow structure; the guide head and the inner core head are connected by threads; the inner core pushing device is composed of an inner core pushing rack, an inner core gear, and an inner core pushing motor.

[0014] As a preferred technical solution, one end of the valve stent traction wire is connected to the tail end of the artificial valve and is a loop wire, and the other end is connected to the wire-retracting device controlled by the engine. The control wire passes between the outer sheath and the push rod to assist in the release of the stent.

[0015] As a preferred technical solution, the tangent device consists of a tangent motor, a flat key, a tangent motor screw, a knife seat, a knife head, a tangent baffle, and a tangent baffle; the device is installed in a shell connected to the outer sheath, the tangent head is installed on the tangent knife seat through a threaded connection, and the tangent knife seat is positioned through a key and a knife seat guide rail; the tangent knife seat cooperates with the tangent screw motor shaft through a screw hole to form a screw slider device; when the wire winding action is completed, by driving the screw tangent motor to rotate forward or reverse, the tangent knife seat and the knife seat guide rail can be moved relative to each other, so that the tangent head can be extended and retracted, cutting off the valve stent traction line that is tight on the wire winding pulley group.

[0016] As a preferred technical solution, the wire taking-up device is composed of a wire taking-up drum, a wire taking-up pulley group and a wire taking-up motor, and the wire paying-out device is composed of a wire paying-out drum and a wire paying-out pulley; when the wire taking-up motor is driven to rotate to take up the wire, the left and right wire taking-up drums rotate, and the left and right wire paying-out reels are driven by the valve stent traction wire until the valve stent traction wires on both sides are tightened.

[0017] As a preferred technical solution, the conveying system is also equipped with a mechanical arm, and the mechanical arm has two movable joints that can adjust the angle and direction of the extension arm.

[0018] The advantages of the present invention are:

[0019] 1. Remote control: The valve delivery system changes from manual gradual release to electric automatic remote positioning control to reduce radiation.

[0020] 2. Precise release: Individualized input of heart valve data to automatically adjust the precise release steps and distance.

[0021] 3. Release in stages and adjust at any time: The valve is released in stages and grades, with preset release steps and multi-faceted coordinated control. It can be readjusted or recovered and released again at different stages.

[0022] 4. Solve the problems of complex equipment operation, low precision and high failure rate of operation in the current mitral valve replacement technology, effectively reduce the trauma of patients, reduce the difficulty of operators, improve the success rate of operations, reduce postoperative complications, simplify the operation process, ensure the precise positioning and release of mitral valve implantation, improve the success rate of operations, avoid secondary operations, and contribute to the development of mitral valve replacement technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Attached Figure 1 It is the front view of the pushing device and the control device of the present invention.

[0024] Attached Figure 2 It is a schematic diagram of the overall three-dimensional structure of the conveying device of the present invention.

[0025] Attached Figure 3 It is a front view of the conveying device of the present invention.

[0026] Attached Figure 4 It is a top view of the conveying device of the present invention.

[0027] Attached Figure 5 It is a schematic structural diagram of the guide head and the guide core of the present invention.

[0028] Attached Figure 6 It is a top view of the guide head and the push rod of the present invention.

[0029] Attached Figure 7 It is a cross-sectional view of the push rod head of the present invention.

[0030] Attached Figure 8 It is a schematic diagram of the control page of the present invention.

[0031] Attached Figure 9a-9g Schematic diagram of graded and staged release of the stent delivery system of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with embodiments and with reference to the accompanying drawings.

[0033] The reference numerals and components involved in the drawings are as follows:

[0034] 100. Guide head 200. Inner core

[0035] 201.Inner core head 300.Outer sheath

[0036] 400. Push rod 401. Push rod head

[0037] 402. Pushing the split plate 500. Paying off mechanism

[0038] 510. Pay-off reel 520. Pay-off pulley block

[0039] 600. Thread cutting mechanism 610. Thread cutting motor

[0040] 620.Thread trimmer motor screw 630.Flat key

[0041] 640.Knife holder 650.Knife head

[0042] 660. Tangent baffle 670. Tangent baffle screw

[0043] 700. Valve stent traction line 800. Wire collection mechanism

[0044] 810. Take-up reel 820. Take-up pulley block

[0045] 830. Take-up motor 900. Push rod push mechanism

[0046] 910. Push rod rack 920. Push rod gear

[0047] 1000. Inner core pushing mechanism 1010. Inner core pushing rack

[0048] 1020. Inner core gear 1030. Inner core push motor

[0049] 1100. Mounting seat 1200. Valve support

[0050] 1201. Valve stent hook 1300. Shell

[0051] 1400. Control device 1410. Main control board

[0052] 1420. Take-up motor drive 1430. Thread cutting motor drive

[0053] 1440. Push rod motor drive 1450. Power module

[0054] 1451.3V power module 1452.3.3V power module

[0055] 1453.5V power module

[0056] Example 1

[0057] The electric stent delivery system based on remote control of the present invention is composed of a delivery device and a remote control device, the remote control device is composed of a control device and a control page, and the operation end is composed of the control device and the delivery device; the control page is developed through the Microsoft Visual Studio C# platform, can be run under the PC Windows system, remotely transmit the patient's personalized data to the operation end, and control the operation end to start, emergency stop, reset and other actions; the control device adopts a 32-bit high-performance ARM Cortex-M3 processor, which has a high data processing capability; the delivery device includes 5 motors and corresponding mechanisms, which can complete corresponding actions under the control of the control device; Wi-Fi communication is adopted between the control page and the control device, which has the advantages of high transmission rate and long effective distance, and communication can be achieved within the effective range of the wireless router radio wave coverage; the device has an appearance size of 45cmx20cmx7.75cm, can be installed on a six-axis robotic arm, and is connected to an ordinary socket through a switch power supply to ensure continuous and stable power supply;

[0058] In order to make the technical solutions and advantages of the present invention more clearly understood, the following parameters, figures and embodiments are given to further describe the present invention in detail:

[0059] Please see attached Figure 1 , Figure 1 It is the front view of the pushing device and the control device of the present invention. The conveying device is composed of a guide head 100, an inner core 200, an outer sheath 300, a push rod 400, a wire release device 500, a wire cutting device 600, a valve stent traction line 700, a wire collection device 800, a push rod pushing device 900, an inner core pushing device 1000 and a mounting seat 1100; the control device 1400 is composed of a main control board 1410, a wire collection motor drive 1420, a wire cutting motor drive 1430, a push rod motor drive 1440 and a power module 1450; wherein the power module 1450 is composed of a 3V power module 1451, a 3.3V power module 1452 and a 5V power module 1453; the operating end is composed of a control device and a conveying device; the main control board 1410, the wire collection motor drive 1420, the wire cutting motor drive 1430, the push rod motor drive 1440 and the power module 1450 are respectively symmetrically arranged at the inner end of the outer sheath 300 of the pushing device;

[0060] Please see attached Figure 2 , Figure 2The figure is a schematic diagram of the overall three-dimensional structure of the delivery device of the present invention. The delivery device is composed of a guide head 100, an inner core 200, an outer sheath 300, a push rod 400, a wire release device 500, a wire cutting device 600, a valve stent traction wire 700, a wire collection device 800, a push rod push device 900, an inner core push device 1000 and a mounting seat 1100; the guide head 100 is arranged at the top of the inner core 200; the inner core 200 is placed inside the inner sheath; the push rod 400 is arranged at the end of the outer sheath 300, and the end of the push rod 400 is connected to the push rod push rod 1000. The inner core pushing device 1000 is arranged at the end of the inner core 200 and is opposite to the inner core 200; the wire releasing device 500, the wire cutting device 600, the valve stent traction wire 700 and the wire collecting device 800 are respectively connected to each other and are respectively arranged at the front end position inside the conveying device; the mounting seat 1100 is arranged at the rear section of the conveying device, and the pushing rod, the pushing rod pushing device 900 and the inner core pushing device 1000 are all arranged on the surface of the mounting seat 1100;

[0061] Please see attached Figure 3 , Figure 3 The push rod pushing device 900 is composed of a push rod rack 910, a push rod gear 920, and a push rod motor 930; the push rod rack 910 is installed at the end of the push rod 400, and the push rod gear 920 is installed on the output shaft of the push rod motor 930 and meshes with the push rod rack 910; the inner core pushing device 1000 is composed of an inner core pushing rack 1010, an inner core gear 1020, and an inner core pushing motor 1030; the inner core pushing rack 1010 is installed at the end of the inner core 200, and the inner core gear 1020 is installed on the output shaft of the push rod motor 930 and meshes with the push rod rack 910. Installed on the output shaft of the inner core pushing motor 1030, meshing with the inner core pushing rack 1010; the pushing rod motor 930 and the inner core pushing motor 1030 are both worm gear motors, connected by bolts, and installed on the mounting seat 1100; driving the pushing rod motor 930 and the inner core pushing motor 1030 can drive the pushing rod gear 920 and the inner core gear 1020 to rotate, so that the pushing rod 400 and the inner core 200 can make reciprocating motions respectively; the release device 500 is composed of a release reel 510 and a release pulley 520;

[0062] Please see attached Figure 4 , Figure 4It is a top view of the conveying device of the present invention. The tangent device 600 is composed of a tangent motor 610, a tangent motor screw 620, a flat key 630, a knife seat 640, a knife head 650, a tangent baffle 660, and a tangent baffle screw 670; the knife seat 640 is installed in the mounting frame 1100 and positioned by the key 620. The tangent motor screw 630 is driven by the tangent motor 610 to rotate so that the knife seat 640 and the knife head 650 perform a lateral feeding movement. The tangent baffle 660 and the tangent baffle screw 670 play a limiting role. After cutting off the valve stent traction line 700, the tangent motor 610 drives the knife head 650 to withdraw; the wire take-up device 800 is composed of a wire take-up reel 810, a wire take-up pulley set 820 and a wire take-up motor 830;

[0063] Please see attached Figure 5 , Figure 5 The schematic diagram of the structure of the guide head and the guide core of the present invention. The inner core head 201 is integrated with the inner core 200, and the inner core 200 is a hollow structure; the replaceable guide head 100 is connected to the inner core head 201 by threads; the guide head 100 can be replaced together with the valve according to the needs of the operation, so that the delivery device can be reused;

[0064] Please see attached Figure 6 , Figure 6 It is a top view of the guide head and the push rod of the present invention. The valve stent traction line 700 is one strand on each side, and four wire holes are distributed on the push rod head 401 and the push separation disk 402. When the push rod 400 pushes the valve stent 1200 out, the valve stent traction line 700 is stressed, driving the left and right pay-off reels 510 to rotate, passing through the pay-off pulley groups 520 on both sides to introduce the outer sheath 300, passing through the upper holes of the push separation disk 402 and the push rod head 401, hooking the left and right hook feet 1201 of the valve stent, and passing out from the lower hole to form a ring structure; the traction line 700 that passes through the outer sheath 300 is wound around the left and right take-up pulley groups 820, and the tail is connected to the left and right take-up reels 810; the drive take-up motor 830 is a double-headed worm gear motor; when the drive take-up motor 830 rotates to take up the line, the left and right take-up reels 810 rotate, and the left and right pay-off reels 510 are driven by the valve stent traction line 700 until the valve stent traction lines 700 on both sides are tightened;

[0065] Please see attached Figure 7 , Figure 7 The guide head and the push rod are composed of the guide head 100, the valve stent 1200, the valve stent hook 1201, the inner core 200, the valve stent traction line 700, the push rod 400, the push separation plate 402, the push rod head 401, and the outer sheath 300; the side view of the push rod head is similar to the side view of the push separation plate in size and shape, and the position relationship is as shown in FIG. Figure 6 ;

[0066] Please see attached Figure 8 , Figure 8 The schematic diagram of the control page of the present invention is as follows. The control page enables the PC to establish a WIFI connection with the single-chip microcomputer;

[0067] The operating process of the remote-controlled electric stent delivery system of the present invention is as follows:

[0068] The present invention provides a remote control method, which allows the user to input data and control the device in the remote control room to complete the entire surgical process; before the operation begins, the user places the conveying system on the corresponding mechanical arm beside the bed and adjusts the posture of the mechanical arm; after the preparation work is completed, the user can exit the operating room and enter the remote control room; Figure 8 As shown, at the beginning of the operation, the surgeon starts the control page and first clicks the "Connect" button, and the PC software establishes a Wi-Fi connection with the microcontroller; after the connection is successful, the word "Connected" is displayed in the connection status bar; if the connection is not successful, "Connection Failed" is displayed, and you can wait for the network status to recover and click "Link" again until the connection is successful;

[0069] The present invention provides two control modes: "automatic delivery" and "manual delivery". The user can select the control mode or switch the control mode in the drop-down box at the upper right corner of the control page. The selection and switching of the control mode can be performed before the operation starts or after an emergency stop during the operation. Before the operation starts, if "automatic delivery" is selected, the delivery device will automatically complete the delivery process according to the input data and the specified program; if "manual delivery" is selected, the user manually controls the delivery process through the motor selection button and the direction control button.

[0070] During the automatic control process, the user first needs to input the patient's cardiac anatomical data measured in advance; the user inputs the patient's cardiac anatomical data measured in advance through the keyboard and clicks the "Submit" button, and all the data will be displayed in the submission preview box in sequence; the user checks the data, and after checking that it is correct, clicks "Confirm Submission" to send the data to the control device via Wi-Fi; if the user finds that the data input is incorrect when checking the data, the user can re-enter the data in the input box and click the "Submit" button again until it is correct and clicks "Confirm Submission"; after clicking "Confirm Submission", if the data is sent successfully, the sending status bar will display "Sent Successfully"; otherwise, it will display "Sending Failed", and the user can repeatedly click "Confirm Submission" until the data is sent successfully;

[0071] In the automatic control mode, the user controls the motor status through the three buttons of "Start", "Emergency Stop" and "Reset". The status display bar on the right shows the current running status of the conveying device. When the control device is initialized and successfully receives the command sent by the PC, the status is displayed as "Ready". When the motor starts running according to the specified program, the status is displayed as "Running". After the execution is completed, the running status is "Execution Ended". If an error is encountered during the execution, the running status bar will display the word "Error".

[0072] When the control device receives the patient data sent by the remote control page through the Wi-Fi module, the main control board 1410 will calculate the running time of each motor in this release process according to the data; when the user clicks "Start running";

[0073] like Figure 1 / 2 / 3 / 4, first, the entire robotic arm drives the conveying system to the specified position (such as Figure 9a ); then, the motor driver 1440 drives the push rod motor 930 and the inner core push motor 1030 to start rotating at the same time, driving the push rod gear 920 and the inner core gear 1020 to rotate, so that the push rod 400 and the inner core 200 move forward to release the distal end of the valve (such as Figure 9b ); then, the motor driver 1440 controls the inner core push motor 1030 to stop rotating, the inner core 200 stops moving forward, the motor driver 1440 drives the push rod motor 930 to rotate, and the push rod 400 continues to move forward, so that the push rod head 401 is against the proximal end of the valve (such as Fig.9c ); When the pushing action is completed, the motor driver 1420 controls the take-up motor 830 to start rotating the take-up, and the left and right take-up reels 810 rotate, driving the left and right pay-off reels 510 through the valve stent traction line 700 until the valve stent traction lines 700 on both sides are tightened (such as Figure 9d ); then, the motor driver 1440 controls the push rod motor 930 to stop rotating, the push rod 400 stops moving forward, the motor driver 1440 drives the inner core push motor 1030 to rotate, the inner core 200 continues to move forward, and the proximal end of the valve is released (such as Fig.9e ); After the wire-retrieving action is completed, the motor driver 1430 drives the screw tangent motor 610 to rotate, so that the tangent knife seat 640 and the knife seat guide rail move relative to each other, so that the tangent knife head 650 extends and cuts off the valve stent traction line 700 (such as the valve stent traction line 700) that is tight on the wire-retrieving pulley group Figure 9f); after the valve stent traction line is cut off, the tangent motor drives the cutter head to withdraw; the release process ends here; then the motor driver 1440 controls the push rod motor 930 and the inner core push motor 1030 to start rotating in the opposite direction at the same time, driving the push rod gear 920 and the inner core gear 1020 to rotate in the opposite direction until the push rod 400 returns to the initial position, and then the inner core push motor 1030 continues to rotate in the opposite direction until the inner core 200 returns to the initial position (such as Figure 9g ); At this point, the entire conveying process is completed, all motors stop, and the operating status is displayed as "execution completed";

[0074] During the above automatic execution process, the "Emergency Stop" button is always valid; when the user finds an emergency during the operation, the "Emergency Stop" button can be used at any time to control the conveying device to stop urgently, and all motors will stop rotating immediately; after the problem is solved, the "Reset" button can be used to control the conveying device to return to the starting position; click "Start Running" again to run according to the data submitted before the termination; after the emergency stop, if the state of the conveying device needs to be adjusted, or if manual control of the conveying device is selected to complete the remaining process, the mode can be switched, that is, from "automatic delivery" to "manual delivery";

[0075] In manual control mode, the user can control the forward or reverse rotation of any motor individually; when switching to manual control mode, the user can select the motor to be controlled by clicking the mouse, and control its rotation by the "forward" and "backward" buttons; when the "forward" or "backward" button is pressed, the motor rotates, and when the button is released, the motor stops rotating; through manual control, the user can deal with special situations during the operation, or directly complete the entire delivery process through manual control.

[0076] 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. A remote-controlled electric stent delivery system, characterized in that: The electric stent delivery system based on remote control comprises a delivery device and a remote control device; the delivery device and the remote control device constitute an operating end; the remote control device consists of a control page and a control device; the delivery device comprises a guide head, an inner core, an outer sheath, a push rod, a wire-releasing device, a wire-cutting device, a valve stent traction line, a wire-retracting device, a push rod pushing device, an inner core pushing device, and a mounting seat; the guide head is arranged at the top end of the inner core; the inner core is placed inside the inner sheath; the push rod is arranged at the end of the outer sheath, and the end of the push rod is opposite to the push rod pushing device; the inner core pushing device is arranged at the end of the inner core and is opposite to the position of the inner core; the wire-releasing device, the wire-cutting device, the valve stent traction line and the wire-retracting device are respectively connected to each other and are respectively arranged at the front end position inside the delivery device; the mounting seat is arranged at the rear section of the delivery device, and the push rod, the push rod pushing device and the inner core pushing device are all arranged on the surface of the mounting seat; the control page is controlled by Microsoft Visual Studio The system is developed on the C# platform and used with the entire operation terminal. The control page runs under the Windows system of the PC, remotely transmits the patient's personalized data to the operation terminal, and controls the start, emergency stop, and reset actions of the operation terminal. The control device is composed of a main control board, a wire-reeling motor driver, a wire-cutting motor driver, a push rod motor driver, and a power module. The control device adopts a 32-bit high-performance ARM Cortex-M3 processor. A TCP connection management module is provided inside the control device, which establishes a TCP connection with the remote control device via Wi-Fi to achieve real-time response to data and instructions.

2. The electric stent delivery system based on remote control according to claim 1, characterized in that: The conveying device comprises 5 motors and corresponding mechanisms, and can complete corresponding actions under the control of the control device.

3. The electric stent delivery system based on remote control according to claim 1, characterized in that: The push rod pushing device is composed of a push rod rack, a push rod gear, and a push rod motor; the push rod rack is installed at the end of the push rod, and the push rod gear is installed on the output shaft of the push rod motor and meshes with the push rod rack.

4. The electric stent delivery system based on remote control according to claim 1, characterized in that: The inner core comprises an integrated inner core head, and the inner core is a hollow structure; the guide head is connected to the inner core head through threads; the inner core pushing device is composed of an inner core pushing rack, an inner core gear, and an inner core pushing motor.

5. The electric stent delivery system based on remote control according to claim 1, characterized in that: The tangent device consists of a tangent motor, a flat key, a tangent motor lead screw, a knife seat, a knife head, a tangent baffle, and a tangent baffle screw; the device is installed in a shell connected to the outer sheath, the tangent knife head is installed on the tangent knife seat through a threaded connection, and the tangent knife seat is positioned through a key and a knife seat guide rail; the tangent knife seat cooperates with the tangent screw motor shaft through a screw hole to form a lead screw slider device; when the wire-winding action is completed, the lead screw tangent motor is driven forward or reversely to make the tangent knife seat and the knife seat guide rail move relative to each other, so that the tangent knife head is extended and retracted, and the valve stent traction line tightened on the wire-winding pulley group is cut off.

6. The electric stent delivery system based on remote control according to claim 1, characterized in that: The conveying system is also equipped with a mechanical arm, which has two movable joints and can adjust the angle and direction of the extension arm.

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