Automated conveying device with precise conveying function

Abstract

The present invention discloses an automated delivery device with a precise delivery function, comprising a catheter, a guidewire, and a sheath, as well as a drive device connected to the catheter and / or guidewire and a control device connected to the drive device, so as to control the drive device to drive the catheter and / or guidewire to move; a delivery device for delivering liquid and capable of detecting catheter air pressure is provided within the sheath, the control device is connected to the delivery device so as to receive air pressure signals from the delivery device and control the delivery of liquid by the delivery device; and the control device is connected to a CT scanner so as to receive CT scan data. The automated delivery device with a precise delivery function provided by the present invention has a wide range of applications and has the advantages of high precision, intelligence, and good delivery performance.

Description

Technical Field

[0001] The present invention relates to the field of intelligent medical technology, and more specifically, to an automated delivery device with a precise delivery function. Background Art

[0002] Currently, most applications involving vascular stent delivery, targeted therapy, angiography, thrombolysis, and vascular repair technology require coronary intervention (CI), also known as heart stent surgery. This involves puncturing a blood vessel, advancing a catheter through the vessel, and reaching the opening of the coronary artery. A special delivery system is then used to deliver the stent to the desired location. The stent is then placed and the catheter is removed to conclude the procedure. Stents support and maintain postoperative vascular dilation while minimizing the impact of damage and repair, preventing vascular narrowing for an extended period. Stents are typically made of a special alloy and fashioned into cylindrical shapes of varying structures. They are implanted via catheter into the narrowed lesion of the vessel and are passed through a balloon to maintain unobstructed blood flow and increase perfusion. This procedure offers the advantages of a short treatment course, minimal trauma, and significant efficacy.

[0003] Conventional interventional procedures typically involve inserting a catheter through a peripheral artery. The doctor then manually controls the catheter's movement, delivering stents, medications, contrast agents, and other devices to the narrowed coronary arteries. However, during the catheter's delivery process, friction buildup, the complex distribution of blood vessels, and atherosclerotic plaques blocking the vessels can make it difficult for stents, medications, and contrast agents to pass through the lesions. Furthermore, manual manipulation is difficult to ensure, making interventional procedures inherently risky.

[0004] During delivery, the following issues can easily occur: Pushing, pulling, or rotating the catheter can cause it to bend and occlude, leading to breakage or inability to remove it. The front end of the catheter can damage the vessel wall, potentially causing coronary artery dissociation, perforation, rupture, or damage. The catheter can also be incapable of delivering targeted therapy or extracting blood clots. This significantly reduces the deliverability of stents, drugs, or contrast agents, ultimately lowering the success rate of interventional procedures.

[0005] In summary, how to provide a device with higher precision and better transportability is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide an automated conveying device with a precise conveying function, which has a wide range of applications and has the advantages of high precision, intelligence, and good conveyability.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] An automated delivery device with a precise delivery function, comprising a catheter, a guidewire, a sheath, a drive device connected to the catheter and / or the guidewire, and a control device connected to the drive device, so as to drive the catheter and / or the guidewire to move by controlling the drive device;

[0009] A delivery device for delivering liquid and capable of detecting the air pressure of the catheter is provided in the sheath, and the control device is connected to the delivery device so that the control device receives the air pressure signal of the delivery device and controls the delivery device to deliver the liquid;

[0010] The control device is connected to the CT scanner so that the control device receives CT scanning data.

[0011] Preferably, the driving device includes a connecting device connected to a guidewire handle for driving the guidewire to move and / or a catheter handle for driving the catheter to move, and the connecting device is connected to the control device.

[0012] Preferably, the connecting device is provided with a movable first clamping member for clamping the catheter handle and a movable second clamping member for clamping the guidewire handle, and the first clamping member and the second clamping member are both connected to the control device.

[0013] Preferably, the driving device includes a servo motor connected to the control device and a rotating shaft connected to the servo motor, and the rotating shaft is connected to the connecting device to drive the connecting device to rotate.

[0014] Preferably, the rotating shaft is connected to the connecting device via a connecting shaft to prevent the rotating shaft from being too long.

[0015] Preferably, the rotating shaft is provided with balls and bushings to support and position the rotating shaft.

[0016] Preferably, the driving device is provided with a base for supporting and fixing the driving device.

[0017] Preferably, the delivery device includes a pressure sensor for detecting the air pressure in the catheter and a liquid input device for inputting the liquid, the liquid input device is connected to the delivery tube arranged in the catheter, and the pressure sensor and the liquid input device are both connected to the control device.

[0018] Preferably, the delivery device includes a vacuum tube device for balancing the air pressure among the catheter, the blood vessel and the delivery tube, the vacuum tube device is communicated with the delivery tube, and the vacuum tube device is connected to the control device.

[0019] Preferably, the vacuum tube device is provided with a regulator for adjusting the air pressure of the vacuum tube.

[0020] When using the automated delivery device with precise delivery function provided by the present invention, the control device can monitor the situation inside the human body in real time after receiving the CT scanning data from the CT scanner, control the driving device to move, and can also control the driving device to selectively drive the catheter or guidewire to move.

[0021] During an interventional procedure, because the guidewire set in the catheter has the function of guiding and supporting the catheter, it is necessary to first control the driving device to only drive the guidewire to move, so that the guidewire can selectively enter the blood vessel that needs to be treated. Subsequently, the control device will control the driving device to only drive the catheter to move, so that the catheter also enters the blood vessel. Next, the control device will control the driving device to simultaneously drive the guidewire and catheter to move, so that they can reach the desired position. At the same time, since the control device can control the delivery device to deliver liquid after receiving the air pressure signal from the delivery device. Therefore, the control device can control and adjust the process of the delivery device delivering stents or drugs, contrast agents through real-time air pressure feedback signals, so that the delivery process will not cause damage to the blood vessels.

[0022] Since the guidewires, catheters and other equipment in the prior art are already quite mature, and the driving device and control device of the automated delivery device with precise delivery function provided by the present invention can be connected and used in conjunction with different catheters, the application range of the device is wide, without limitations, and will not cause waste of existing catheter resources.

[0023] In addition, since this device does not require manual operation when performing interventional surgery, the conditions in the human body and the air pressure in the blood vessels can be monitored in real time, and the movement of the catheter, liquid delivery and other processes are all controlled and operated by the control device, the automated delivery device with precise delivery function provided by the present invention has the advantages of high precision, intelligence, and good deliverability.

[0024] In summary, the automated conveying device with precise conveying function provided by the present invention has a wide range of applications and no limitations, and also has the advantages of high precision, intelligence, and good conveyability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0026] Figure 1This is a schematic structural diagram of the automated conveying device with precise conveying function provided by the present invention.

[0027] Figure 1 middle:

[0028] 1 is a catheter, 2 is a guidewire, 3 is a sheath, 4 is a catheter handle, 5 is a guidewire handle, 6 is a servo motor, 7 is a rotating shaft, 8 is a connecting shaft, 9 is a control device, 10 is a ball bearing, 11 is a sleeve, 12 is a base, 13 is a pressure sensor, 14 is a liquid input device, 15 is a vacuum tube device, 16 is a connecting device, and 17 is a delivery tube. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] The core of the present invention is to provide an automated conveying device with precise conveying function, which has a wide range of applications and also has the advantages of high precision, intelligence, and good conveyability.

[0031] Please refer to Figure 1 , Figure 1 This is a schematic structural diagram of the automated conveying device with precise conveying function provided by the present invention.

[0032] The automated delivery device with precise delivery function provided by the present invention includes a catheter 1, a guidewire 2, and a sheath 3, and also includes a driving device connected to the catheter 1 and / or the guidewire 2 and a control device 9 connected to the driving device, so as to drive the catheter 1 and / or the guidewire 2 to move by controlling the driving device; a delivery device for delivering liquid and capable of detecting the air pressure of the catheter 1 is provided in the sheath 3, and the control device 9 is connected to the delivery device so as to receive the air pressure signal of the delivery device and control the delivery device to deliver liquid; the control device 9 is connected to the CT scanner so as to receive CT scanning data.

[0033] It should be noted that the driving device here is connected to the catheter 1 and / or the guidewire 2 and to the control device 9. The driving device is used to drive the catheter 1 and / or the guidewire 2 to move, which means that the driving device can selectively drive the catheter 1 and / or the guidewire 2 to move under the control operation of the control device 9, that is, the driving device can only drive the guidewire 2 to move, or only drive the catheter 1 to move, or drive the guidewire 2 and the catheter 1 to move together, and the specific movement of the guidewire 2 and the catheter 1 is determined according to the various signal data received by the control device 9. Therefore, this device can complete the interventional surgery very accurately and intelligently.

[0034] In addition, the sheath 3 here is provided with a conveying device for conveying liquid and capable of detecting the air pressure of the catheter 1, which means that the conveying device includes a device for detecting the air pressure of the catheter 1 and a device for conveying liquid, wherein the device for conveying liquid needs to be connected to the conveying tube 17 in the catheter 1 specifically for conveying drugs or contrast agents to realize liquid delivery.

[0035] It should also be noted that the specific settings of the drive device, control device 9, and conveying device here can be determined according to actual conditions and actual needs during actual use, but it is necessary to ensure that they can comply with the above-mentioned connection relationship and specific functions.

[0036] In addition, it should be noted that when using the automated conveying device with precise conveying function provided by the present invention, the control device 9 can monitor the situation inside the human body in real time after receiving the CT scanning data from the CT scanner, control the driving device to move, and can also control the driving device to selectively drive the catheter 1 and / or guide wire 2 to move.

[0037] During an interventional procedure, because the guidewire 2 provided in the catheter 1 has the function of guiding and supporting the catheter 1, it is necessary to first control the driving device so that it only drives the guidewire 2 to move, so that the guidewire 2 selectively enters the blood vessel that needs to be treated. Subsequently, the control device 9 will control the driving device to only drive the catheter 1 to move, so that the catheter 1 also enters the blood vessel. Next, the control device 9 will control the driving device to simultaneously drive the guidewire 2 and the catheter 1 to move, so that they can reach the desired position. At the same time, since the control device 9 can control the conveying device to convey liquid after receiving the air pressure signal of the conveying device. That is, the control device 9 can control and adjust the process of the conveying device conveying stents or drugs or contrast agents through real-time air pressure feedback signals, so that the conveying process will not cause damage to the blood vessels.

[0038] Since the guide wire 2, catheter 1 and other equipment in the prior art are already quite mature, and the driving device and control device 9 of the automated conveying device with precise conveying function provided by the present invention can be connected and used in conjunction with different catheters 1, the application range of the device is wide, there is no limitation, and it will not cause waste of existing catheter 1 resources.

[0039] In addition, since the device does not require manual operation when performing interventional surgery, the conditions in the human body and the air pressure in the blood vessels can be monitored in real time, and the movement of the catheter 1, liquid delivery and other processes are all controlled and operated by the control device 9. Therefore, the automated delivery device with precise delivery function provided by the present invention has the advantages of high precision, intelligence, and good deliverability.

[0040] In summary, the automated conveying device with precise conveying function provided by the present invention has a wide range of applications and no limitations, and also has the advantages of high precision, intelligence, and good conveyability.

[0041] Based on the automated conveying device with precise conveying function in the above-mentioned first specific embodiment, preferably, the driving device includes a connecting device 16 connected to the guidewire handle 5 for driving the guidewire 2 to move and / or the catheter handle 4 for driving the catheter 1 to move, and the connecting device 16 is connected to the control device 9.

[0042] It should be noted that the connecting device 16 is used to selectively connect to the guidewire handle 5 and / or the catheter handle 4, wherein the guidewire handle 5 is used to drive the movement of the guidewire 2, and the catheter handle 4 is used to drive the movement of the catheter 1, and the connecting device 16 is connected to the control device 9. Therefore, the control device 9 can control the connecting device 16 to connect the connecting device 16 to the guidewire handle 5 and / or the catheter handle 4, so that when the driving device moves, the guidewire handle 5 and / or the catheter handle 4 can be driven to move, thereby realizing the movement of the guidewire 2 and / or the catheter 1.

[0043] That is to say, the control device 9 can control the connecting device 16 to be connected only to the guidewire handle 5, so the guidewire handle 5 can be driven to move together by the driving device after it moves, and the guidewire 2 moves under the drive of the guidewire handle 5; the control device 9 can also control the connecting device 16 to be connected only to the catheter handle 4, so the catheter handle 4 can be driven to move together by the driving device after it moves, and the catheter 1 moves under the drive of the catheter handle 4; the control device 9 can also control the connecting device 16 to be connected to both the guidewire handle 5 and the catheter handle 4, so the guidewire handle 5 and the catheter handle 4 can be driven to move together by the driving device after it moves, and the guidewire 2 and the catheter 1 move together.

[0044] Since the guidewire 2 has the function of guiding and supporting the catheter 1, when performing an interventional surgery, it is necessary to first control the connecting device 16 to be connected only to the guidewire handle 5, so that the driving device only drives the guidewire 2 to move, thereby allowing the guidewire 2 to selectively enter the blood vessel that needs to be treated. Subsequently, the control device 9 will control the connecting device 16 to be connected only to the catheter handle 4, so that the driving device only drives the catheter 1 to move, thereby allowing the catheter 1 to also enter the blood vessel. Next, the control device 9 will control the connecting device 16 to be connected to both the guidewire handle 5 and the catheter handle 4, so that the driving device can drive the guidewire 2 and the catheter 1 to move together, thereby allowing the guidewire 2 and the catheter 1 to reach the desired position.

[0045] It should also be noted that when using this device for interventional surgery, the movement of the guidewire 2 and catheter 1 are controlled by the control device 9, eliminating the need for manual operation, thereby improving the accuracy and precision of the operation. Furthermore, the specific configuration of the connecting device 16 can be determined based on actual conditions and needs during actual use, but it must ensure that it can selectively connect to the guidewire handle 5 and / or catheter handle 4.

[0046] Based on the above-mentioned automated conveying device with precise conveying function, preferably, the connecting device 16 is provided with a movable first clamping member for clamping the catheter handle 4 and a movable second clamping member for clamping the guide wire handle 5, and the first clamping member and the second clamping member are both connected to the control device 9.

[0047] It should be noted that the connecting device 16 is provided with a movable first clamping member for clamping the catheter handle 4 and a movable second clamping member for clamping the guidewire handle 5, and both the first clamping member and the second clamping member are connected to the control device 9. This is so that after receiving an operation instruction from the control device 9, the first clamping member or the second clamping member can clamp the catheter handle 4 or the guidewire handle 5, so that the catheter handle 4 or the guidewire handle 5 is fixedly connected to the connecting device 16, thereby allowing the drive device to drive the catheter 1 or the guidewire 2 to move.

[0048] It should also be noted that the movable first clamping member for clamping the catheter handle 4 herein refers to the first clamping member corresponding to the position of the catheter handle 4, and the first clamping member can be moved relative to the catheter handle 4 so that the first clamping member can move to a position where it engages with the catheter handle 4 and then clamps the catheter handle 4. The movable second clamping member for clamping the guidewire handle 5 refers to the second clamping member corresponding to the position of the guidewire handle 5 and the second clamping member can be moved relative to the guidewire handle 5 so that the second clamping member can move to a position where it engages with the guidewire handle 5 and then clamps the guidewire handle 5.

[0049] It should also be noted that the specific position, shape, and size of the first and second clamping members need to be determined based on the specific circumstances of the catheter handle 4 and guidewire handle 5. Furthermore, since the first and second clamping members need to securely secure the catheter handle 4 and guidewire handle 5, they should possess a certain strength and wear resistance to better perform their clamping function. Therefore, in actual use, the position, shape, size, and material of the first and second clamping members can be determined based on actual circumstances and needs.

[0050] In addition, it should be noted that the first clamping member and the second clamping member mentioned here are only used to distinguish the difference in position and there is no order of precedence.

[0051] Based on the above-mentioned automated conveying device with precise conveying function, preferably, the driving device includes a servo motor 6 connected to the control device 9 and a rotating shaft 7 connected to the servo motor 6, and the rotating shaft 7 is connected to the connecting device 16 to drive the connecting device 16 to rotate.

[0052] It should be noted that the drive device includes a servo motor 6 connected to the control device 9 and a rotating shaft 7 connected to the servo motor 6. The rotating shaft 7 is connected to the connecting device 16 to drive the connecting device 16 to rotate. This is so that the control device 9 can achieve the pushing, retraction, and twisting of the catheter 1 by controlling the forward and reverse rotation of the servo motor 6.

[0053] Optionally, the rotating shaft 7 is connected to the servo motor 6 via a belt or gear, so that the rotating shaft 7 can rotate under the drive of the servo motor 6. The forward and reverse rotation of the servo motor 6 will drive the rotating shaft 7 forward or backward, causing the rotating shaft 7 to rotate clockwise or counterclockwise, which in turn will drive the connecting device 16 to rotate clockwise or counterclockwise, and the guidewire handle 5 or catheter handle 4 connected to the connecting device 16 will also rotate clockwise or counterclockwise, ultimately achieving the pushing, retraction, and twisting of the guidewire 2 or catheter 1. Among them, the rotating shaft 7 can be set to a threaded shape to facilitate the forward or backward movement of the rotating shaft 7 and help improve the accuracy of the device movement.

[0054] On the basis of the above-mentioned automated conveying device with precise conveying function, preferably, the rotating shaft 7 is connected to the connecting device 16 via a connecting shaft 8 to prevent the rotating shaft 7 from being too long.

[0055] It should be noted that the connection between the rotating shaft 7 and the connecting device 16 via the connecting shaft 8 is intended to avoid the problem of the rotating shaft 7 being too long when the rotating shaft 7 and the connecting device 16 are directly connected, which would cause the rotating shaft 7 to rotate unstably or even break. Therefore, the connection between the rotating shaft 7 and the connecting device 16 via the connecting shaft 8 can avoid the above-mentioned problem and thus increase the service life of the device.

[0056] It should also be noted that the rotating shaft 7 and the connecting device 16 are connected by the connecting shaft 8. Therefore, the connecting shaft 8 can be nested inside the rotating shaft 7 and the connecting device 16 to make the overall structure of the device more compact. Of course, the position and shape of the connecting shaft 8 can also be determined according to actual conditions and actual needs during actual use.

[0057] On the basis of the above-mentioned automated conveying device with precise conveying function, preferably, a ball 10 and a bushing 11 are provided on the rotating shaft 7 to support and position the rotating shaft 7 .

[0058] It should be noted that the balls 10 and the sleeve 11 are provided on the rotating shaft 7, which can lubricate and protect the rotating shaft 7 during its rotation, thereby preventing wear of the rotating shaft 7, and can also effectively support and position the rotating shaft 7. Therefore, by providing the balls 10 and the sleeve 11 on the rotating shaft 7, the service life and rotation effect of the rotating shaft 7 can be improved.

[0059] On the basis of the above-mentioned automated conveying device with precise conveying function, preferably, a base 12 for supporting and fixing the driving device is provided on the driving device.

[0060] It should be noted that the base 12 is provided on the drive device to better support and secure the drive device, thereby preventing the unstable placement of the drive device from affecting the delivery operation of the catheter 1. The specific position, material, and shape of the base 12 can be determined according to actual conditions and actual needs during actual use.

[0061] Based on the above-mentioned automated conveying device with precise conveying function, preferably, the conveying device includes a pressure sensor 13 for detecting the air pressure of the catheter 1 and a liquid input device 14 for inputting liquid. The liquid input device 14 is connected to the conveying tube 17 arranged in the catheter 1, and the pressure sensor 13 and the liquid input device 14 are both connected to the control device 9.

[0062] It should be noted that the delivery device includes a pressure sensor 13 and a liquid input device 14, and the liquid input device 14 is connected to the delivery tube 17. The pressure sensor 13 and the liquid input device 14 are both connected to the control device 9. Among them, the pressure sensor 13 is used to detect the pressure in the catheter 1, and the liquid input device 14 is used to input liquid. The delivery tube 17 is arranged in the catheter 1, and is mainly used to input or output liquid or air. Therefore, the control device 9 can control the liquid input device 14 to perform liquid delivery operations after receiving the air pressure signal feedback from the pressure sensor 13, so that targeted drugs can be delivered, thrombolytic agents can be injected, contrast agents can be delivered, etc. can be delivered well. Therefore, the automated delivery device with precise delivery function provided by the present invention can realize functions such as targeted therapy, thrombolysis, and angiography.

[0063] It should also be noted that when using the automated delivery device with precise delivery function provided by the present invention to deliver targeted drugs, inject thrombolytic agents, and deliver contrast agents, the pushing force of the delivery process is measured in real time by the precision force sensor in the control device 9 and recorded by special testing software. Therefore, the accuracy of liquid input can be guaranteed and damage to the blood vessel wall can be avoided.

[0064] In addition, the liquid delivery speed can be set by the control device 9. For example, the delivery speed can be set to 2.5 mm / s, 3.2 mm / s, 4.5 mm / s or 5.2 mm / s. The specific setting of the delivery speed is related to the actual blood vessel distribution. That is: if the delivery distance of the target blood vessel is short, a smaller delivery speed can be selected to avoid damage to the blood vessel wall; if the target blood vessel distribution is complex and the delivery distance is long, a larger delivery speed can be selected to shorten the operation time and improve the operation efficiency.

[0065] Based on the above-mentioned automated delivery device with precise delivery function, preferably, the delivery device includes a vacuum tube device 15 for balancing the air pressure among the catheter 1, the blood vessel and the delivery tube 17. The vacuum tube device 15 is connected to the delivery tube 17, and the vacuum tube device 15 is connected to the control device 9.

[0066] It should be noted that the delivery device includes a vacuum tube device 15, which is connected to a delivery tube 17 and is in turn connected to the control device 9. The vacuum tube device 15 is used to balance the air pressure among the catheter 1, the blood vessel, and the delivery tube 17, thereby better enabling the delivery of targeted drugs, thrombolytic agents, contrast agents, etc. Furthermore, the vacuum tube device 15 can also be used to remove thrombi or plaques within the blood vessels.

[0067] It should also be noted that, after receiving the air pressure signal feedback from the pressure sensor 13, if the control device 9 indicates that the catheter 1 or delivery tube 17 has negative pressure, the control device 9 will control the vacuum tube device 15 to push the hydraulic pressure in the delivery tube 17 forward to prevent liquid backflow, thereby enabling better delivery of targeted drugs, thrombolytic agents, contrast agents, etc. Furthermore, after receiving the air pressure signal feedback from the pressure sensor 13, if the control device 9 indicates that the catheter 1 or delivery tube 17 has positive pressure, the control device 9 will control the vacuum tube device 15 to aspirate the thrombus or plaque in the blood vessel.

[0068] On the basis of the above-mentioned automated conveying device with precise conveying function, preferably, the vacuum tube device 15 is provided with a regulator for adjusting the air pressure of the vacuum tube.

[0069] It should be noted that the vacuum tube device 15 is equipped with a regulator for adjusting the air pressure within the vacuum tube. This is because the vacuum tube device 15 operates based on the principle of atmospheric pressure to propel the hydraulic fluid forward and aspirate blood clots or plaques within the blood vessels. Therefore, by adjusting the air pressure within the vacuum tube, the pressure applied by the vacuum tube device 15 during hydraulic propulsion and aspiration of blood clots or plaques within the blood vessels can be adjusted, thereby preventing damage to the blood vessel walls caused by excessive pressure.

[0070] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. Any combination of all the embodiments provided by the present invention is within the scope of protection of this invention and will not be described in detail here.

[0071] The above is a detailed introduction to the automated conveying device with precise conveying function provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in several ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An automated delivery device with a precise delivery function, comprising a catheter (1), a guide wire (2), and a sheath (3), characterized in that: a drive device connected to the catheter (1) and / or the guide wire (2) and a control device (9) connected to the drive device, so as to drive the catheter (1) and / or the guide wire (2) to move by controlling the drive device; A conveying device for conveying liquid and capable of detecting the air pressure of the catheter (1) is provided in the sheath (3), and the control device (9) is connected to the conveying device so that the control device (9) receives the air pressure signal of the conveying device and controls the conveying device to convey the liquid; The control device (9) is connected to the CT scanner so that the control device (9) receives CT scan data; The driving device comprises a connecting device (16) connected to a guidewire handle (5) for driving the guidewire (2) to move and / or a catheter handle (4) for driving the catheter (1) to move, and the connecting device (16) is connected to the control device (9); the connecting device (16) is provided with a movable first clamping member for clamping the catheter handle (4) and a movable second clamping member for clamping the guidewire handle (5), and the first clamping member and the second clamping member are both connected to the control device (9); the driving device comprises a servo motor (6) connected to the control device (9) and a rotating shaft (7) connected to the servo motor (6), and the rotating shaft (7) is connected to the connecting device (16) to drive the connecting device (16) to rotate.

2. The automated conveying device with precise conveying function according to claim 1, characterized in that: The rotating shaft (7) is connected to the connecting device (16) via a connecting shaft (8) to prevent the rotating shaft (7) from being too long.

3. The automated conveying device with precise conveying function according to claim 2, characterized in that: The rotating shaft (7) is provided with a ball (10) and a shaft sleeve (11) to support and position the rotating shaft (7).

4. The automated conveying device with precise conveying function according to any one of claims 1 to 3, characterized in that: The driving device is provided with a base (12) for supporting and fixing the driving device.

5. The automated conveying device with precise conveying function according to any one of claims 1 to 3, characterized in that: The delivery device comprises a pressure sensor (13) for detecting the air pressure of the conduit (1) and a liquid input device (14) for inputting the liquid, wherein the liquid input device (14) is connected to a delivery pipe (17) arranged in the conduit (1), and the pressure sensor (13) and the liquid input device (14) are both connected to the control device (9).

6. The automated conveying device with precise conveying function according to claim 5, characterized in that: The delivery device includes a vacuum tube device (15) for balancing the air pressure among the catheter (1), the blood vessel and the delivery tube (17). The vacuum tube device (15) is connected to the delivery tube (17) and is connected to the control device (9).

7. The automated conveying device with precise conveying function according to claim 6, characterized in that: The vacuum tube device (15) is provided with a regulator for adjusting the air pressure of the vacuum tube.

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