An interventional surgical robot system

Abstract

This invention is applicable to the technical field of medical devices and discloses an interventional surgical robot system. The invention proposes an interventional surgical robot system comprising a bed for a patient to lie on during treatment; an extension arm mechanism detachably mounted on the bed; a delivery device mounted on the extension arm mechanism for delivering one or more elongated medical interventional devices into the patient's body; and a remote control system for remotely controlling the delivery device's movement in delivering the medical devices. This solves the technical problem of the existing technology's single function.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an interventional surgery robot system. Background Art

[0002] Vascular interventional surgery is a minimally invasive procedure used to treat vascular diseases or cancer. It involves inserting a thin catheter (catheter) with a diameter of several millimeters or less through the blood vessels percutaneously to the lesion site, primarily based on X-ray fluoroscopy. The catheter then reaches the target organ for treatment. Currently, representative vascular interventional procedures performed around the world, including Korea, include transarterial chemoembolization (TACE) for liver cancer, percutaneous angioplasty, and stent implantation for aortic disease.

[0003] Catheters and other elongated medical devices (EMDs) are used in minimally invasive medical procedures for the diagnosis and treatment of various vascular conditions, including neurovascular intervention (NVI) (also known as neurointerventional procedures), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve navigating a guidewire through the vasculature and advancing a catheter over the guidewire to deliver the therapy. The catheterization procedure begins by gaining access to an appropriate vessel (such as an artery or vein) through an introducer sheath using standard percutaneous techniques. Through the introducer sheath, a sheath or guide catheter is then advanced over the diagnostic guidewire to the primary location, such as the internal carotid artery for NVI, the coronary ostium for PCI, or the superficial femoral artery for PVI. A guidewire appropriate for the vasculature is then navigated through the sheath or guide catheter to the target location in the vasculature. In some cases, such as in tortuous anatomy, a support catheter or microcatheter is inserted over the guidewire to assist in guiding the guidewire. The physician or operator can use an imaging system (e.g., a fluoroscope) to obtain a movie with contrast injection and select a fixed frame to use as a roadmap to navigate the guidewire or catheter to the target location, such as a lesion. While the physician delivers the guidewire or catheter, contrast-enhanced images can also be obtained, allowing the physician to verify that the device is moving along the correct path toward the target location. While visualizing the anatomy using fluoroscopy, the physician manipulates the proximal end of the guidewire or catheter to guide the distal tip toward the lesion or target anatomical location into the appropriate vessel and avoid advancement into side branches.

[0004] The current interventional surgical robot system has a single function and cannot meet the needs. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and to provide an interventional surgical robot system, which aims to solve the technical problem of single function in the prior art.

[0006] To achieve the above-mentioned objectives, the present invention proposes an interventional surgical robot system, comprising a bed for patients to lie on during treatment; an extension arm mechanism that is detachably mounted on the bed; a conveying device mounted on the extension arm mechanism for conveying medical interventional devices into the patient's body, the conveying device being used to convey one or more slender medical interventional devices; and a remote control system for remotely controlling the action of the conveying device in conveying the medical devices.

[0007] Preferably, the conveying device includes a guide wire driving device, which includes a conveying body and a rotating gear installed on one side of the conveying body; the conveying gear is rotatably installed on the other side of the conveying body, and the conveying body, the rotating gear and the conveying gear are axially penetrated by an opening, and the guide wire is clamped into the driving device through the opening; a conveying mechanism driven by the conveying gear is provided on the conveying body, and the conveying gear drives the conveying mechanism to convey the guide wire through a transmission mechanism, and the transmission mechanism includes a clutch mechanism that can be disengaged from the conveying gear during the lifting process; a wire clamping mechanism is provided on the conveying body, which is used to press the guide wire into the conveying mechanism along the opening.

[0008] Preferably, the conveying mechanism includes a driving gear driven by the conveying gear, a driving silicone roller driven by the driving gear, and a pressing silicone roller corresponding to the driving silicone roller; a transmission mechanism is provided between the driving gear and the conveying gear.

[0009] Preferably, the rotating gear is a helical gear, a first small helical gear is connected to the rotating gear, the conveying gear is a double-sided helical gear, the end of the conveying gear away from the conveying body is connected to the second helical gear, and the end of the conveying gear close to the conveying body is connected to the transmission mechanism.

[0010] Preferably, the transmission mechanism includes a helical gear and a driving cylindrical gear coaxially mounted with the helical gear, and the driving cylindrical gear drives the driving gear to rotate; the helical gear is rotatably connected to a mounting base, and the mounting base is mounted on the conveying body.

[0011] Preferably, the clutch mechanism includes a clutch protrusion engaged with the helical gear and a push rod for installing the clutch protrusion; the push rod is the central axis of the clutch protrusion, and the helical gear and the driving cylindrical gear are coaxially connected to the push rod.

[0012] Preferably, the clutch protrusion includes a disc and a boss arranged at the bottom of the disc; the bevel gear is provided with a groove that cooperates with the boss; the clutch protrusion is arranged between the bevel gear and the driving cylindrical gear, and a spring is provided between the driving cylindrical gear and the conveying body.

[0013] Preferably, a clutch drive mechanism is connected to the clutch mechanism, and the clutch drive mechanism includes a first motor, a crank installed on the first motor, a slider installed on the crank, a lifting slot provided on the slider, and a lifting push rod lifted and lowered along the lifting slot, and the lifting push rod controls the clutch of the clutch mechanism.

[0014] Preferably, the crank is an L-shaped crank, and a movable groove is provided on the side of the crank close to the first motor; a turntable is provided on the first motor, and a movable shaft is eccentrically provided on the turntable, and the movable shaft moves in the movable groove; a guide plate is also provided between the slider and the crank.

[0015] Preferably, the conveying body includes a base, a first stop block and a second stop block installed on the base, an installation groove is formed between the first stop block and the second stop block, and the wire clamping mechanism includes a knob block rotatably arranged on the second stop block and a gate plate connected to the knob block, and the gate plate is tightly attached to the second stop block and moves up and down in the installation groove.

[0016] Preferably, the mounting groove includes an upper mounting groove and a lower mounting groove arranged below the upper mounting groove, the opening of the upper mounting groove is larger than the lower mounting groove, and the opening of the lower mounting groove is adapted to the thickness of the gate plate.

[0017] Preferably, a guide block is further provided on the second stop block, and the guide block is driven up and down by the knob block, and the guide block drives the gate plate to move up and down; the guide block and the gate plate are connected by a number of connecting shafts; a tensioning spring is provided on the connecting shaft to make the gate plate close to the second stop block.

[0018] Preferably, an arc guide groove is provided on the second stop block, and a guide shaft moving along the arc guide groove is provided on the knob block; a lock hole is provided at the bottom end of the arc guide groove; a notch is provided on the part of the guide shaft within the arc guide groove, and the guide shaft can be rotatably set on the knob block, and the guide shaft is fixed to the lock hole after rotation.

[0019] Preferably, a locking plate buckle is provided on the guide shaft to control its rotation; a clamping device is provided on the base, and the clamping device includes a movable seat for installing the clamping silicone roller and an adjusting rod for controlling the radial movement of the movable seat.

[0020] Preferably, a bevel groove is provided at the bottom of the adjusting rod, and a guide column is provided on the movable seat, and the guide column moves along the bevel groove; a socket is provided on the adjusting rod, and a pin is connected to the socket; the pin extends upward and passes through the adjusting rod.

[0021] Preferably, a release protrusion is provided on the knob block, and when the knob block rotates to the lowest point, the release protrusion presses down the latch to disengage it from the socket.

[0022] Preferably, a push block protrusion is provided on the adjusting rod, and a push block is provided on the knob block; when the knob block rotates from the lowest point to the highest point, the push block pushes the push block protrusion to move the clamping silicone roller away from the guide wire.

[0023] Preferably, a plurality of guide grooves are provided on the second stopper, and ribs matching the guide grooves are provided on the gate plate.

[0024] Preferably, the extension arm mechanism includes a support mechanism, a support column provided on the support mechanism, a bracket arm rotatably arranged on the support column, a bracket middle arm rotatably arranged on the bracket arm, and a bracket small arm rotatably arranged on the bracket middle arm; the bracket middle arm can be tilted in the height direction.

[0025] Preferably, the support mechanism is provided with a slot that is slidably connected to the bed, and the support mechanism is rotatably provided with a cam wrench, and the support mechanism is fixed by rotating the cam wrench; the cam wrench is provided with a wrench arm, and the wrench arm is provided with a limit block.

[0026] Preferably, a clamping plate connected to the cam wrench is provided in the slot, a guide shaft is provided on the clamping plate, and a spring is provided on the guide shaft to push the clamping plate closer to the cam wrench; a support plate is provided on the support mechanism.

[0027] Preferably, the middle arm of the bracket includes a middle arm rotating seat rotatably arranged on the upper arm of the bracket, a middle arm frame rotatably mounted on the middle arm rotating seat, and a buffer cylinder; one end of the buffer cylinder is rotatably mounted on the middle arm rotating seat, and the other end is rotatably mounted on the middle arm frame.

[0028] Preferably, the middle arm frame includes multiple connecting rods parallel to each other, one end of the connecting rod is rotatably connected to the middle arm rotating seat, and the other end of the connecting rod is rotatably connected to the connecting block; the buffer cylinder is rotatably connected to one of the connecting rods; and a lower limit pin is provided on one of the connecting rods.

[0029] Preferably, the bracket arm includes an adapter and an extension rod detachably mounted on the adapter; the adapter is provided with a rotating shaft rotatably connected to the middle arm of the bracket; a connecting head is provided at the end of the extension rod away from the adapter; the adapter is provided with a fixing knob for fixing the extension rod; a damping friction plate is provided on the driving arm; and an encoder is provided at the end of the driving arm away from the adapter.

[0030] Preferably, the bracket arm includes a locking tongue mechanism, a large brake tooth arranged on the support column and a middle brake tooth arranged on the middle arm of the bracket; the locking tongue mechanism includes a first connecting plate, a first locking tongue arranged on the first connecting plate, a second connecting plate and a second locking tongue arranged on the second connecting plate; the first locking tongue and the large brake tooth form a braking effect when connected, and the bracket arm can rotate when separated; the second locking tongue forms a braking effect when connected to the middle brake tooth, and the middle arm of the bracket can rotate when separated.

[0031] Preferably, a control mechanism is provided on the lock tongue mechanism, and the control mechanism includes a control motor, a double-headed screw controlled by the control motor, a first movable seat and a second movable seat installed on the double-headed screw; the first movable seat is connected to the first connecting plate, and the second movable seat is connected to the second connecting plate.

[0032] Preferably, the control mechanism also includes a first microswitch and a second microswitch communicatively connected to the control motor; the first microswitch controls the distance that the first movable seat moves away from the large tooth of the brake, and the second microswitch controls the distance that the second movable seat moves toward the middle tooth of the brake.

[0033] Preferably, a manual release mechanism is provided on the locking tongue mechanism, and the manual release mechanism includes a release button, a power rod connected to the release button, and a cam block provided on the power rod, and the cam block is connected to the first connecting plate and the second connecting plate.

[0034] Preferably, a square nut is provided between the first movable seat and the double-ended screw rod, and a square nut is provided between the second movable seat and the double-ended screw rod; and a spring is connected to the first lock tongue and the second lock tongue.

[0035] Preferably, the conveying device includes a base, on which a toothed catheter is installed, the toothed catheter includes a flexible tube, a rack is provided on the outer side of the flexible tube, and a notch is provided at the distal end of the flexible tube; it also includes a gear arranged on the base and meshing with the rack, the gear is controlled by a motor, and a rigid channel for the movement of the flexible tube is provided on the base, and a portion of the rigid channel is arched.

[0036] Preferably, the flexible tube is made of at least one material selected from PDFE and PTFE; the flexible tube is a hollow circular tube, and a connecting section is provided at the distal end of the flexible tube; the flexible tube and the rack are an integral structure, or the flexible tube and the rack are connected in a split manner; a long slit is provided in the length direction of the flexible tube, and the long slit is connected to the notch; a long slit is provided in the length direction of the flexible tube, and the long slit is connected to the notch.

[0037] Preferably, the base is provided with a manual-automatic switching device for catheter transportation, including a flexible tube and a catheter driving mechanism for driving the flexible tube to move; the catheter driving mechanism includes an upper gear disc and a lower gear disc engaged with the upper gear disc, the lower gear disc is driven to rotate by the second motor, and the lower gear disc is driven to rise and fall by the third motor through a gear disc lifting mechanism; when the upper gear disc engages and rotates with the lower gear disc, the flexible tube is driven to move; when the upper gear disc separates and rotates from the lower gear disc, the flexible tube can be pulled manually.

[0038] Preferably, the lifting mechanism includes a lifting push rod and an inclined groove provided on the lifting push rod; the lower gear plate is connected to the inclined groove; the end of the lifting push rod close to the third motor is a rack, and the third motor is provided with a round gear plate engaged with the rack; the end of the lifting push rod close to the lower gear plate is U-shaped, and the inclined grooves are symmetrically arranged on both sides of the lifting push rod.

[0039] Preferably, the lifting mechanism also includes a lifting slider that is lifted and lowered along the inclined groove, an angular contact bearing is provided in the lifting slider, and a lower gear plate is provided on the angular contact bearing; the lower gear plate and the second motor are in sliding fit; and a thrust spring is provided on the lifting slider.

[0040] Preferably, the delivery device is connected to a front-end snap-fit mechanism of the hemostatic valve, including an adapter for cooperating with the hemostatic valve, a connector detachably connected to the adapter, and a connecting section detachably connected to the connector. The adapter is provided with a clamping groove for clamping the hemostatic valve and a hollow portion connected to one end of the clamping groove. The adapter is provided with a connecting portion for cooperating with the connector at one end close to the hollow portion, and the connecting portion is provided with a first through hole that penetrates the setting and is connected to the hollow portion.

[0041] Preferably, it also includes a catheter sheath adapted to the flexible tube and the connector, the catheter sheath is detachably mounted on the flexible tube, and one end of the catheter sheath is detachably connected to the connector; the catheter sheath includes a first splint and a second splint, one side of the first splint is connected to one side of the second splint by an elastic connecting portion, and a catheter groove adapted to the flexible tube and a sheath opening groove connected to the catheter groove are provided between the first splint and the second splint.

[0042] Preferably, a locking member is provided between the first splint and the second splint for locking the first splint and the second splint; a protruding sheath plug-in portion is provided on the catheter sheath near the end of the connector, and the connector is provided with a socket adapted to the sheath plug-in portion; the connecting portion includes a first part integrally formed with the body and a second part detachably connected to the first part, the first through hole being provided between the first part and the second part; a first connecting half-block and a second connecting half-block detachably connected to the first connecting half-block on one side are fixedly provided on the connector at one end near the adapter, a connecting cavity for cooperating with the connecting portion is provided between the first connecting half-block and the second connecting half-block; a protruding column is also provided on the side of the connecting portion, and a semi-column slot cooperating with the column is provided between the first connecting half-block and the second connecting half-block; a connecting hole is provided in the connector and axially runs through it, and a connecting groove is provided on the side wall of the connector to connect the connecting hole, and the connecting groove is plugged and matched with the sheath plug-in portion.

[0043] Preferably, the conveying device is connected to a hemostatic valve fastener, comprising a main body and an elastic clamp provided on the main body, the elastic clamp being provided with a clamping groove for clamping the hemostatic valve, a hollow portion being adapted to the hemostatic valve adjustment position and connected to the clamping groove is provided on the main body near one end of the elastic clamp, a slider being slidably connected to the main body, the elastic clamp being fixedly connected to the slider, and an adjusting mechanism being provided on the main body for driving the slider to move back and forth in a direction away from or close to the hollow portion.

[0044] Preferably, the adjustment mechanism includes a plurality of teeth evenly arranged on the main body, the slider is provided with a gear meshing with the teeth and a knob for driving the gear to rotate; the knob is provided with a worm, and the gear is provided with a worm wheel meshing with the worm.

[0045] Preferably, a slide rail is provided on the main body, and a sliding portion that slides with the slide rail is provided on the slider; a connecting portion that protrudes away from the hollow portion is provided on one end of the main body close to the hollow portion, and a through hole that is coaxial with the elastic clamp is provided in the connecting portion; the connecting portion includes a first part that is integrally formed with the main body and a second part that is detachably connected to the first part, and the through hole is provided between the first part and the second part; a protruding column is also provided on the side of the connecting portion, and the column includes a first half column and a second half column that are respectively fixed on the first part and the second part; a branch pipe opening groove is provided on the clamping groove.

[0046] Compared with the prior art, the interventional surgical robot system provided by the present invention has the following beneficial effects:

[0047] 1. The drive mechanism is provided with an axially penetrating opening, and the guide wire is installed from the opening. Compared with the method of threading the wire from one end to the other end, it is more efficient and less difficult to install.

[0048] 2. The guide wire is rotated by the rotation of the rotating gear, and the guide wire is axially transported by the rotation of the conveying gear.

[0049] 3. When the rotation speed of the rotating gear and the conveying gear is the same, the guide wire performs rotational motion, which makes it easier to pass through tortuous and bifurcated blood vessels; when the rotation speed of the rotating gear and the conveying gear is different, the guide wire performs axial and rotational motion at the same time. Adjusting the speed and direction of the rotating gear and the conveying gear can control the speed and direction of the guide wire's rotational and axial motion.

[0050] 4. The conveyor gear drives the conveyor body to transport the guide wire. The guide wire is inserted into the conveyor body and the conveyor gear through the opening. During the conveying process, the conveyor gear rotates continuously, and the opening of the conveyor gear and the opening of the conveyor body separate. When it is necessary to remove the guide wire, the clutch mechanism separates the transmission mechanism and the conveyor gear. While the conveyor gear continues to rotate, the guide wire will not move forward or backward.

[0051] 5. The spring keeps the helical gear and the driving cylindrical gear engaged, allowing the guide wire to be delivered during the rotation of the delivery gear. When the push rod is lifted, the helical gear and the driving cylindrical gear separate, and the driving cylindrical gear remains stationary during the rotation of the helical gear.

[0052] 6. The first motor drives the crank to rotate, and the crank drives the slider to move radially to drive the push rod to move up and down, thereby controlling the state of the clutch mechanism.

[0053] 7. Turn the knob to drive the gate to move up and down. The downward movement can press the guide wire into the specified position.

[0054] 8. The opening of the upper mounting groove is larger than the lower mounting groove. When the gate is in the upper mounting groove, the guide wire can be placed under the gate to facilitate pressing the guide wire in. The opening of the lower mounting groove is equal to the thickness of the gate to prevent the guide wire from detaching from the gate during the downward pressing process.

[0055] 9. Tighten the spring to keep the gate close to the second stopper, so that there is a gap between the upper mounting groove and the gate to facilitate the insertion of the guide wire.

[0056] 10. Lock the guide shaft in the lock hole by turning the locking plate buckle to prevent the gate from rising and the guide wire from detaching from the gate during the guide wire delivery process.

[0057] 11. During the rising process of the gate, the rotary dial block rotates counterclockwise. A push block is provided on the knob dial block. The push block pushes the push block protrusion of the adjusting rod to the right, pressing the silicone roller away from the driving silicone roller to release the guide wire.

[0058] 12. The upper and lower gear discs are engaged by controlling the lifting and lowering of the lower gear disc. In the engaged state, the second motor rotates to drive the upper gear disc to rotate, thereby driving the catheter to move. In the disengaged state, the catheter can be manually pulled.

[0059] 13. The rotation of the third motor drives the movement of the lifting push rod, which has an inclined groove. The lifting slider moves up and down along the inclined groove, thereby driving the lower gear plate to move up and down.

[0060] 14. The elastic force of the thrust spring moves the lifting slider upward so that the lifting slider is always connected to the upper wall of the inclined groove, which can better perform lifting.

[0061] 15. The support mechanism is supported on the bed. The upper arm, middle arm and small arm of the support can rotate 360 degrees around the z-axis direction. The middle arm of the support can be raised and lowered and tilted along the height direction of the z-axis.

[0062] 16. The support mechanism is fixed and loosened by turning the cam wrench. The support column can prevent the mechanism from tilting and tipping over.

[0063] 17. The state of the connecting rod is controlled by the buffer cylinder. When unloaded, the connecting rod is set horizontally. When loaded, the end of the connecting rod away from the bracket arm tilts downward, the buffer cylinder contracts, and the tilt angle is controlled by the lower limit pin.

[0064] 18. The damping friction plate allows the extension rod to rotate only when there is a certain amount of energy, and the mechanism does not shake after the force is released. The encoder can feedback the rotation angle, prompting the operator to adjust to the appropriate position within a certain range.

[0065] 19. The rotation of the bracket arm and the bracket middle arm is controlled by the locking tongue mechanism. When the first locking tongue is engaged with the brake large tooth and the second locking tongue is engaged with the brake middle tooth, the bracket arm and the bracket middle arm cannot rotate. When separated, they can rotate again.

[0066] 20. Manual and automatic are integrated, with a high degree of automation and good safety. A micro switch is added to the control mechanism. A contact is provided below the first micro switch and the second micro switch respectively. A trigger block is provided on the first movable seat and the second movable seat respectively, and a bevel structure is provided above the trigger block. When the first connecting plate and the second connecting plate move toward each other, the motor stops moving when the first movable seat triggers the contact; when the first connecting plate and the second connecting plate move away from each other, the motor stops moving when the second movable seat triggers the contact. Springs are provided on the first lock tongue and the second lock tongue, and a square nut is provided on the movable seat, realizing the function of unlocking and locking by rotating the manual release mechanism.

[0067] 21. A gear is mounted on the base and a rack is mounted on the flexible tube. The motor drives the gear, which in turn drives the flexible tube. The motor provides high control precision and a self-locking function, allowing the flexible tube to be positioned in a fixed position without the need for additional locking tools.

[0068] 22. A rack and a long slit are provided on the flexible tube. When the rack and the gear are engaged, the position of the long slit is fixed and will not rotate. The guide wire will not deviate from the long slit and bend or become difficult to enter the flexible tube.

[0069] 23. The flexible catheter material is one or more components of PDFE or PTFE, and has self-lubricating and bendable properties.

[0070] 24. By setting an adapter and setting a clamping groove in the adapter, the main part of the hemostatic valve can be adapted to the clamping groove and clamped by the clamping groove, and the hollow part can be adapted to the adjustment position of the hemostatic valve. When the hemostatic valve is fixed on the adapter, the adjustment position of the hemostatic valve is just located in the hollow part, which is convenient for the operator to control the opening and closing of the hemostatic valve by rotating the adjustment position of the hemostatic valve through the hollow part, and the operation is more convenient. The flexible catheter is hollow inside and is used to supply pipelines, guide wires and other equipment to pass through the hemostatic valve and protect the equipment. The connector and the flexible catheter and adapter are all detachably connected, which is convenient for disassembly and replacement, and maintenance. A catheter sheath is provided to cover and protect the notch, thereby improving the bending resistance of the notch position and avoiding damage to the flexible catheter caused by bending.

[0071] 25. By providing an elastic clamp body and providing a clamping groove on the elastic clamp body, the clamping groove can cooperate with the main part of the Y-type hemostatic valve to fix the hemostatic valve, and the adjustment part of the fixed hemostatic valve is just located in the hollow part, which is convenient for the operator to control the opening and closing of the hemostatic valve by rotating the adjustment part of the hemostatic valve, and adjust the position of the elastic clamp body through the adjustment mechanism to make it close to or away from the clamping groove, and adjust the length of the clamping groove so that it can be suitable for hemostatic valves of various lengths, with wider applicability.

[0072] The features and advantages of the present invention will be described in detail through embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 It is a schematic diagram of the overall structure of a guide wire driving device according to the first embodiment of the present invention.

[0074] Figure 2 It is a schematic diagram of the overall structure of a guide wire driving device according to the first embodiment of the present invention.

[0075] Figure 3 It is a schematic diagram of the main structure of a guide wire driving device according to the first embodiment of the present invention.

[0076] Figure 4 It is a structural schematic diagram of the internal conveying mechanism of a guide wire driving device according to the first embodiment of the present invention.

[0077] Figure 5 It is a structural schematic diagram of an enlarged portion A of a guide wire driving device in Example 1 of the present invention.

[0078] Figure 6 This is a structural schematic diagram of a guide wire driving device from another angle according to the first embodiment of the present invention.

[0079] Figure 7 It is a structural schematic diagram of a guide wire driving device according to embodiment 2 of the present invention.

[0080] Figure 8 It is a structural schematic diagram of the second stopper in embodiment 1 of the present invention.

[0081] Figure 9 It is a structural schematic diagram of the wire clamping mechanism of embodiment 1 of the present invention.

[0082] Figure 10 This is a structural schematic diagram of a guide wire driving device according to embodiment 1 of the present invention, with the first stopper and the second stopper removed.

[0083] Figure 11 It is a structural schematic diagram of the pressing device of embodiment 1 of the present invention.

[0084] Figure 12It is a structural schematic diagram of the adjustment rod according to the first embodiment of the present invention.

[0085] Figure 13 It is a schematic diagram of the mechanism of installing the flexible tube on the base according to the first embodiment of the present invention.

[0086] Figure 14 Schematic diagram of the structure of the flexible pipe according to the first embodiment of the present invention.

[0087] Figure 15 It is an enlarged structural diagram of point A in Example 1 of the present invention.

[0088] Figure 16 It is a structural schematic diagram of a manual-automatic switching device for catheter delivery according to a second embodiment of the present invention.

[0089] Figure 17 This is a schematic diagram of the main structure of the manual-automatic switching device for catheter delivery according to the second embodiment of the present invention.

[0090] Figure 18 This is a schematic diagram of the main structure of the manual-automatic switching device for catheter delivery according to the second embodiment of the present invention.

[0091] Figure 19 This is a schematic diagram of the exploded structure of the components of the front-end snap mechanism of a hemostatic valve according to the third embodiment of the present invention.

[0092] Figure 20 It is a schematic diagram of the three-dimensional structure of an adapter of a front-end snap-fit mechanism of a hemostatic valve according to a third embodiment of the present invention.

[0093] Figure 21 It is a schematic diagram of the three-dimensional structure of a connector of a front-end snap-fit mechanism of a hemostatic valve according to a third embodiment of the present invention.

[0094] Figure 22 This is a schematic diagram of the three-dimensional structure of the assembled front-end snap-fit mechanism of a hemostatic valve according to the third embodiment of the present invention.

[0095] Figure 23 This is a schematic diagram of the main structure of a hemostatic valve front end buckle mechanism after assembly according to embodiment 3 of the present invention.

[0096] Figure 24 This is a schematic diagram of the top view of the assembled front-end snap mechanism of a hemostatic valve according to the third embodiment of the present invention.

[0097] Figure 25 This is a schematic diagram of the rear side structure of a hemostatic valve front end buckle mechanism assembly according to embodiment three of the present invention.

[0098] Figure 26 It is a schematic diagram of the three-dimensional structure of the connector, flexible tube, and catheter sheath of the front end snap mechanism of a hemostatic valve according to the third embodiment of the present invention.

[0099] Figure 27 This is a schematic diagram of the main structure of a connector, a flexible tube, and a catheter sheath of a front-end snap-fit mechanism of a hemostatic valve according to a third embodiment of the present invention.

[0100] Figure 28 The third embodiment Figure 27 Schematic diagram of the BB cross-section structure.

[0101] Figure 29 The third embodiment Figure 28 Schematic diagram of the CC cross-section structure.

[0102] Figure 30 The third embodiment Figure 27 Side view structural diagram.

[0103] Figure 31 This is a schematic diagram of the main structure of a hemostatic valve fastener according to the fourth embodiment of the present invention.

[0104] Figure 32 This is a schematic side view of the structure of a hemostatic valve fastener according to embodiment 4 of the present invention.

[0105] Figure 33 yes Figure 32 Schematic diagram of the AA cross-section structure.

[0106] Figure 34 It is a schematic diagram of the three-dimensional structure of a hemostatic valve fastener according to the fourth embodiment of the present invention.

[0107] Figure 35 This is a bottom view structural diagram of a hemostatic valve fastener according to a fourth embodiment of the present invention.

[0108] Figure 36 It is a schematic diagram of the three-dimensional structure of a hemostatic valve fastener and a hemostatic valve in combination according to a fourth embodiment of the present invention.

[0109] Figure 37 This is a schematic diagram of the main structure of a hemostatic valve fastener and a hemostatic valve in accordance with a fourth embodiment of the present invention when in cooperation.

[0110] Figure 38 This is a schematic diagram of the internal three-dimensional structure of a hemostatic valve fastener after removing the slider according to embodiment 4 of the present invention.

[0111] Figure 39 This is a schematic diagram of the internal main structure of a hemostatic valve fastener after removing the slider according to embodiment 4 of the present invention.

[0112] Figure 40 This is a structural diagram of a hemostatic valve fastener in accordance with a fourth embodiment of the present invention when it cooperates with a connector, a flexible tube, and a catheter sheath.

[0113] Figure 41 It is a schematic diagram of the three-dimensional structure of the connector, catheter sheath, and catheter sheath according to the fourth embodiment of the present invention.

[0114] Figure 42 It is a schematic diagram of the enlarged three-dimensional structure of the connector according to the fourth embodiment of the present invention.

[0115] Figure 43 yes Figure 44 Schematic diagram of the three-dimensional structure after the middle catheter sheath is separated from the catheter sheath.

[0116] Figure 44 It is a schematic diagram of the three-dimensional structure of the connector and catheter sheath according to the fourth embodiment of the present invention.

[0117] Figure 45 yes Figure 44 Side view structural diagram.

[0118] Figure 46 Schematic diagram of the connector, catheter sheath, and catheter sheath main view structure.

[0119] Figure 47 yes Figure 46 Schematic diagram of the BB cross-section structure.

[0120] Figure 48 yes Figure 47 Schematic diagram of the CC cross-section structure.

[0121] Figure 49 yes Figure 46 Side view structural diagram.

[0122] Figure 50 It is a structural schematic diagram of an extension arm mechanism according to the first embodiment of the present invention.

[0123] Figure 51 This is a structural schematic diagram from another angle of an extension arm mechanism according to the first embodiment of the present invention.

[0124] Figure 52 It is a schematic diagram of the enlarged structure of point C in the first embodiment of the present invention.

[0125] Figure 53 It is a structural schematic diagram of the bracket arm of embodiment 1 of the present invention.

[0126] Figure 54 It is a schematic diagram of the internal structure of the bracket arm of the first embodiment of the present invention.

[0127] Figure 55 It is a schematic diagram of the internal structure of the bracket middle arm and bracket small arm of embodiment 1 of the present invention.

[0128] Figure 56 It is an enlarged view of point D of Example 1 of the present invention.

[0129] In the figure: 10, conveying body; 11, rotating gear; 12, conveying gear; 13, opening; 14, conveying mechanism; 15, driving gear; 16, driving silicone roller; 17, pressing silicone roller; 18, first small bevel gear; 19, second bevel gear; 20, transmission mechanism; 21, borrowing bevel gear; 22, driving cylindrical gear; 23, intermediate gear; 24, clutch mechanism; 241, clutch protrusion; 242, push rod; 243, shoulder; 244, disc; 245, groove; 25, mounting seat; 26, clutch driving mechanism; 261, first motor; 262, crank; 263, slider; 264, lifting slot; 265, lifting push rod; 266, moving slot; 267, turntable; 268, moving 1. Shaft; 269. Guide plate; 30. Base; 31. First stopper; 32. Second stopper; 321. Arc guide groove; 322. Lock hole; 323. Guide groove; 33. Mounting groove; 331. Upper mounting groove; 332. Lower mounting groove; 34. Knob dial block; 341. Guide shaft; 342. Lock plate buckle; 343. Release protrusion; 344. Push block; 35. Gate; 351. Raised rib; 36. Guide block; 37. Connecting shaft; 40. Clamping device; 41. Moving seat; 411. Guide column; 42. Adjusting rod; 421. Bevel groove; 422. Socket; 423. Push block protrusion; 43. Latch; 50. Support mechanism; 51. Slot; 52. Cam wrench; 521. Wrench arm; 522. Limit 53. Clamp; 54. Guide shaft; 55. Support plate; 60. Support column; 70. Bracket arm; 71. Locking tongue mechanism; 711. First connecting plate; 712. First locking tongue; 713. Second connecting plate; 714. Second locking tongue; 72. Control mechanism; 721. Control motor; 722. Double-ended screw; 723. First moving seat; 724. Second moving seat; 725. First micro switch; 726. Second micro switch; 727. Square nut; 728. Concave ring; 729. Concave ring mounting seat; 73. Manual release mechanism; 731. Release button; 732. Power lever; 733. Cam block; 74. Brake large tooth; 75. Brake middle tooth; 80. Bracket middle arm; 81. Middle arm rotating seat; 8 2. Middle arm; 821. Connecting rod; 83. Buffer cylinder; 84. Connecting block; 85. Lower limit pin; 90. Bracket arm; 91. Adapter; 92. Extension rod; 93. Connector; 94. Fixing knob; 95. Damping friction plate; 96. Encoder; 1060. Catheter drive mechanism; 61. Upper gear plate; 62. Lower gear plate; 63. Second motor; 64. Third motor; 65. Gear plate lifting mechanism; 651. Lifting push rod; 652. Inclined slot; 653. Rack; 654. Round gear plate; 655. Lifting slide; 101. Flexible tube; 1011. Notch; 1012. Long slit; 1013. Connecting section; 102. Rack; 103. Base; 104. Gear; 105. Rigid channel;201-adapter, 202-connector, 204-catheter sheath, 2011-clamping groove, 2012-hollow portion, 2013-connecting portion, 20131-first through hole, 20132-first part, 20133-second part, 20134-front end buckle; 201321-first half column, 201331-second half column, 2021-first connecting half block, 2022-second connecting half block, 2023-half column slot, 2024-connecting hole, 2025-connecting slot, 2 032 - Catheter teeth, 2041 - First clamping plate, 2042 - Second clamping plate, 2043 - Elastic connection portion, 2044 - Catheter groove, 2045 - Sheath opening groove, 2046 - Locking member, 2047 - Sheath plug-in portion; 301 - Main body, 3012 - Elastic clamping body, 3013 - Slider, 3014 - Gear, 3015 - Knob, 3016 - Worm, 3017 - Worm gear, 30111 - Hollow portion, 30112 - Teeth, 30113 - Slide rail; 301141 - Through hole. DETAILED DESCRIPTION

[0130] To make the objectives, technical solutions, 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. However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the present invention.

[0131] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0132] In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0133] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances. Example 1:

[0134] See Figure 1 、 Figure 2 and Figure 6In an optional embodiment, an embodiment of the present invention provides a guide wire drive device, comprising a conveying body 10 and a rotating gear 11 mounted on one side of the conveying body 10. The conveying gear 12 is rotatably mounted on the other side of the conveying body 10. The conveying body 10, the rotating gear 11, and the conveying gear 12 are axially penetrated by an opening 13, and the guide wire is clamped into the drive device through the opening 13. In the initial state, the opening 13 is located in the upper half of the drive mechanism. The height of the opening 13 is equal to the radius of the rotating gear 11, and the size of the opening 13 is larger than the guide wire. A conveying mechanism 14 driven by the conveying gear 12 is provided on the conveying body 10. The conveying gear 12 drives the conveying mechanism 14 to convey the guide wire through a transmission mechanism 20. The transmission mechanism 20 includes a clutch mechanism 24 that can be disengaged from the conveying gear 12 during the lifting process. A wire clamping mechanism is provided on the conveying body 10 for pressing the guide wire into the conveying mechanism 14 along the opening 13. The opening 13 and the guide wire are relatively small, and manual insertion is difficult. An additional wire clamping mechanism is used to clamp the guide wire from above the opening 13 into the conveying mechanism 14 for conveying.

[0135] Preferably, the rotating gear 11 and the conveying gear 12 are respectively arranged on the left and right sides of the conveying body 10, and the rotating gear 11 and the conveying body 10 are fixed together, and the rotating gear 11 will rotate together with the conveying body 10. The diameters of the rotating gear 11 and the conveying gear 12 are equal. Among them, the rotation of the rotating gear 11 drives the driving mechanism to rotate, which can make the guide wire change its direction and position to facilitate the passage in the tortuous and bifurcated blood vessels. The rotation of the conveying gear 12 drives the guide wire to move forward or backward in the blood vessel. The two are used in combination to better control the movement of the guide wire. The overall shape of the conveying body 10 is circular and the same size as the rotating gear 11. The rotation and axial movement of the guide wire require separate control structures for control. Such a setting has stronger integrity, smaller size, easier placement and beautiful appearance. The guide wire can be any tubular or strip-shaped medium that can be transported in the blood vessel of the percutaneous interventional device. The guide wire is not limited to the conveying medium.

[0136] See Figure 2 and Figure 4 In an optional embodiment, the conveying mechanism 14 includes a driving gear 15 driven by the conveying gear 12, a driving silicone roller 16 driven by the driving gear 15, and a pressing silicone roller 17 corresponding to the driving silicone roller 16. A transmission mechanism 20 is provided between the driving gear 15 and the conveying gear 12.

[0137] The driving gear 15 is coaxially mounted with the driving silicone roller 16, while the compression silicone roller 17 corresponds to the driving silicone roller 16 and compresses the guidewire. There is one driving gear 15 and one compression silicone roller 17. The rotation of the driving gear 15 drives the synchronous rotation of the driving silicone roller 16. The friction of the driving silicone roller 16 drives the rotation of the driving silicone roller 16, which compresses the guidewire and moves it. The silicone material used contacts the guidewire to prevent hard contact and wear on the guidewire.

[0138] There can be two or more driving gears 15. Power is transmitted between the driving gears 15 via an intermediate gear 23. The tooth diameter of the intermediate gear 23 is smaller than that of the driving gear 15, ensuring smoother transmission. Preferably, there are three driving gears 15, evenly distributed axially on the drive mechanism, providing more contact points, more stable guidewire delivery, and less likely to cause guidewire bending during delivery.

[0139] See Figure 3 In an optional embodiment, the rotating gear 11 is a helical gear, and a first small helical gear 18 is connected to the rotating gear 11. The rotating gear 11 is fixed to the conveying body 10, and a gear end is provided on the side away from the conveying body 10. The rotating gear 11 is automatically driven by the first small helical gear 18, thereby driving the rotation of the conveying body 10 and the guidewire.

[0140] See Figure 3 In an optional embodiment, the conveying gear 12 is a double-sided helical gear. The end of the conveying gear 12 away from the conveying body 10 is connected to a second helical gear 19, and the end of the conveying gear 12 closer to the conveying body 10 is connected to a transmission mechanism 20. The conveying gear 12 is rotatably connected to the conveying body 10. Gear surfaces are provided on both the left and right sides of the conveying gear 12. The end away from the conveying body 10 meshes with the second helical gear 19, which automatically controls the rotation of the conveying gear 12 and thus the delivery status of the guidewire.

[0141] See Figure 4 In an optional embodiment, the transmission mechanism 20 includes a helical gear 21 and a driving cylindrical gear 22 coaxially mounted with the helical gear 21. The driving cylindrical gear 22 drives the driving gear 15 to rotate. The helical gear 21 and the driving cylindrical gear 22 are connected by a fixed shaft and have the same angular velocity. The driving cylindrical gear 22 is directly or indirectly connected to the rightmost driving gear 15.

[0142] When there are preferably three driving gears 15, the driving cylindrical gear 22 can be directly connected to the driving gears 15, and the thickness of the rightmost driving gear 15 can be thicker. The lower half of the rightmost driving gear 15 meshes with the driving cylindrical gear 22, and the upper half meshes with the intermediate gear 23. In this case, the two left driving gears 15 do not need to mesh with the driving cylindrical gear 22 and can be thinner. Other cases where there is only one driving gear 15 and the driving cylindrical gear 22 is indirectly connected to the driving gear 15 are merely the addition or subtraction of gears or other mechanical structures and are not detailed in the embodiments.

[0143] See Figure 5 In an optional embodiment, the clutch mechanism 24 includes a clutch protrusion 241 that engages with the helical gear 21 and a push rod 242 for mounting the clutch protrusion 241. The push rod 242 serves as the central axis of the clutch protrusion 241, and the helical gear 21 and the driving cylindrical gear 22 are coaxially connected to the push rod 242. The helical gear 21 has a through hole in the center for inserting the push rod 242. The clutch protrusion 241 includes a disk 244 and a boss 243 disposed at the bottom of the disk 244. Preferably, there are two bosses 243, evenly distributed on the bottom of the disk 244. The helical gear 21 is provided with a groove 245 that mates with the boss 243. The groove 245 is a cross-shaped groove. The helical gear 21 is rotatably connected to a mounting base 25, which is mounted on the conveying body 10. The mounting base 25 is Z-shaped and fixed to the bottom of the conveying body 10.

[0144] In an optional embodiment, the clutch protrusion 241 is provided between the helical gear 21 and the driving cylindrical gear 22, and a spring is provided between the driving cylindrical gear 22 and the conveying body. The top of the push rod 242 is provided with a spring receiving cavity.

[0145] See Figure 1 and Figure 9 In an optional embodiment, the conveying body 10 includes a base 30, a first stopper 31 and a second stopper 32 mounted on the base 30, a mounting groove 33 is formed between the first stopper 31 and the second stopper 32, and the wire clamping mechanism includes a knob block 34 rotatably mounted on the second stopper 32 and a gate plate 35 connected to the knob block 34, the gate plate 35 is tightly attached to the second stopper 32 and moves up and down in the mounting groove 33. The guide wire is placed in the mounting groove 33 and below the gate plate 35. The knob block 34 is rotated clockwise to press the guide wire down to the specified position. This solves the problem that the guide wire is relatively thin and it is troublesome to place it manually.

[0146] See Figure 9In an optional embodiment, the mounting groove 33 includes an upper mounting groove 331 and a lower mounting groove 332 disposed below the upper mounting groove 331. The opening of the upper mounting groove 331 is larger than the lower mounting groove 332. The smooth connection between the upper mounting groove 331 and the lower mounting groove 332 prevents the gate plate 35 from getting stuck during its descent. The opening of the lower mounting groove 332 is adapted to, and is approximately equal to, the thickness of the gate plate 35. When the guidewire is placed in the lower mounting groove 332, the gate plate 35 presses downward, pressing the guidewire to the designated position without getting stuck on the inner wall.

[0147] See Figure 10 In an optional embodiment, a guide block 36 is further provided on the second stopper 32. A guide groove for the guide block 36 is provided on the second stopper 32, and the guide block 36 moves up and down along the guide groove. The guide block 36 is driven up and down by the knob 34, and the guide block 36 drives the gate plate 35 up and down. The guide block 36 and the gate plate 35 are connected by a plurality of connecting shafts 37. The second stopper 32 is provided with a guide groove for the connecting shaft 37, which prevents the connecting shaft 37 from shaking left and right and moves only in the height direction. A tension spring is provided on the connecting shaft 37 to keep the gate plate 35 in close contact with the second stopper 32. There is a gap between the gate plate 35 and the upper mounting groove 331, and the guide wire is inserted into the lower mounting groove 332 through the gap. As the gate plate 35 moves downward, it slowly enters the lower mounting groove 332 from the upper mounting groove 331 until the guide wire is pressed into the designated position for delivery.

[0148] See Figure 10 In an optional embodiment, the second stopper 32 is provided with a plurality of guide grooves 323, and the gate plate 35 is provided with ribs 351 that mate with the guide grooves 323. The ribs 351 move up and down along the guide grooves 323, increasing the contact area and ensuring smoother movement without tilting, thereby enhancing the guidewire compression effect. Due to the small size of the overall device, the ribs 351 also increase the strength of the gate plate 35, making it less susceptible to breakage.

[0149] See Figure 8 and Figure 10In an optional embodiment, the second stopper 32 is provided with an arcuate guide groove 321, and the knob selector 34 is provided with a guide shaft 341 that moves along the arcuate guide groove 321. A hook-shaped locking hole 322 is provided at the bottom end of the arcuate guide groove 321. The portion of the guide shaft 341 within the arcuate guide groove 321 is notched, giving the end of the guide shaft 341 a semicircular shape that moves within the arcuate guide groove 321. The guide shaft 341 is rotatably mounted on the knob selector 34 and secured to the locking hole 322 upon rotation. A locking plate 342 is provided on the guide shaft 341 to control its rotation. Rotating the locking plate 342 engages the semicircular end of the guide shaft 341 within the locking hole 322, with the smooth surface of the guide shaft 341 facing upward and the arcuate surface facing downward, preventing the knob selector 34 from moving. The smooth surface of the guide shaft 341 faces upwards and the arc surface faces downwards, so that the knob block 34 cannot move. The locking plate buckle 342 is L-shaped and has a raised baffle in both the locked and unlocked states for easy operation.

[0150] See Figure 11 In an optional embodiment, a clamping device 40 is provided on the base 30. The clamping device 40 includes a movable seat 41 for mounting the clamping silicone roller 17 and an adjustment rod 42 for controlling the radial movement of the movable seat 41. When the adjustment rod 42 moves to the right, the movable seat 41 drives the clamping silicone roller 17 away from the driving silicone roller 16, loosening the guide wire. The movable seat 41 is provided with a spring to cause it to move toward the driving silicone roller 16. When the adjustment rod 42 moves to the left, the movable seat 41 will gradually move closer to the driving silicone roller 16 until it compresses the guide wire.

[0151] See Figure 12 In an optional embodiment, a beveled groove 421 is provided at the bottom of the adjusting rod 42, and a guide post 411 is provided on the movable seat 41. The guide post 411 moves along the beveled groove 421. A sliding groove is provided on the base 30 only for the adjusting rod 42. When the adjusting rod 42 moves axially, the guide post 411 moves along the beveled groove 421, and the movable seat 41 moves radially, thereby achieving clamping and loosening of the guide wire.

[0152] See Figure 12 In an optional embodiment, the adjustment rod 42 is provided with a socket 422, to which a latch 43 is connected, with a spring positioned below the latch 43. The latch 43 extends upward and out of the adjustment rod 42. The adjustment rod 42 is provided with a hole for the latch 43, so that the adjustment rod 42 is not affected by the latch 43 during movement. The socket 422 has a right-angled trapezoidal cross-section, and the latch 43 corresponds to the socket 422, thereby limiting the position of the adjustment rod 42.

[0153] See Figure 10In an optional embodiment, a release protrusion 343 is provided on the knob 34. When the knob 34 is rotated to its lowest point, the release protrusion 343 presses down on the latch 43, disengaging it from the socket 422. When the knob 34 is in its highest position, the latch 43 engages the socket 422. The adjustment rod 42, via a spring, constantly presses the compression silicone roller 17 against the drive silicone roller 16. The latch 43, also via a spring, is constantly held upward, effectively locking the adjustment rod 42. When the latch 43 engages the adjustment rod 42, the distance between the compression silicone roller 17 and the drive silicone roller 16 is maximized. When the knob 34 is rotated to its lowest point, the release protrusion 343 presses down on the latch 43, disengaging it from the socket 422. The compression silicone roller 17 moves leftward, compressing the guide wire. As the knob 34 rotates upward, it drives the adjustment rod 42 radially, gradually increasing the distance between the compression silicone roller 17 and the drive silicone roller 16, allowing the guide wire to be removed.

[0154] See Figure 3 In an optional embodiment, a push block protrusion 423 is provided on the adjustment rod 42, and a push block 344 is provided on the knob 34. As the knob 34 rotates from its lowest point to its highest point, the push block 344 pushes the push block protrusion 423, moving the installation and compression silicone roller 17 away from the guidewire. When the knob 34 reaches its highest point, the distance between the compression silicone roller 17 and the drive silicone roller 16 is at its maximum. At this point, the latch 43 rises and engages the socket 422, preventing the adjustment rod 42 from moving axially.

[0155] The specific working method is:

[0156] In the initial state, the gate 35 is in the upper mounting groove 331 and is close to the second stopper 32. The latch 43 is stuck in the socket 422 of the adjustment rod 42, and the distance between the compression silicone roller 17 and the driving silicone roller 16 is at its maximum. The guide wire is placed in the lower mounting groove 332, and the knob 34 is turned clockwise. The gate 35 moves downward to press the guide wire downward. When the knob 34 is pressed to the lowest point, the guide wire is between the compression silicone roller 17 and the driving silicone roller 16. The release block 343 presses down the latch 43 to disengage it from the socket 422, and the compression silicone roller 17 moves to the left to compress the guide wire. Pulling the locking plate buckle 342 causes the semicircular end of the guide shaft 341 to be stuck in the lock hole 322, and the knob 34 is fixed. The rotation of the driving gear can drive the driving silicone roller 16 to rotate, thereby driving the guide wire for transportation. The delivery gear 12 is aligned with the opening 13 of the delivery body 10, and the spring presses against the clutch protrusion 241 to engage the groove 245. After the guidewire is inserted, the delivery gear 12 is rotated to drive the guidewire. When the guidewire reaches the designated position in the blood vessel, the delivery gear 12 stops rotating.

[0157] When the guide wire needs to be replaced, pull the locking plate buckle 342 to disengage the semicircular end of the guide shaft 341 from the lock hole 322, and then turn the knob 34 counterclockwise. The push block 344 of the knob 34 pushes the push block protrusion 423 to move the adjustment rod 42 to the right. The pressing silicone roller 17 releases the guide wire and the distance between it and the driving silicone roller 16 increases during the counterclockwise rotation of the knob 34. When the knob 34 is rotated to the highest point, the pin 43 moves upward under the action of the spring to clamp the adjustment rod 42. Lift the push rod 242 to separate the clutch protrusion 241 from the groove 245. At this time, rotate the conveying gear 12 again to keep the conveying body 10 and the opening 13 of the conveying gear 12 consistent, and remove the guide wire. The push rod 242 is no longer pushed up, and the spring presses the push rod 242 down. After reloading the medium from the opening 13 or replacing another guide wire, the conveying gear 12 is rotated. After rotating to a certain angle, the clutch protrusion 241 and the groove 245 will be re-engaged, and the guide wire will rotate together with the conveying gear 12 again.

[0158] See Figure 13 , an embodiment of the present invention provides an interventional surgical robot system, which uses the following toothed catheter, including a base 103 for installing the toothed catheter, the toothed catheter provides a channel for slender medical devices, and is used to assist tubular or long percutaneous interventional medical devices such as guide wires or catheters to enter the patient's body. A gear 104 is arranged on the base 103 and meshes with the rack 102. The gear 104 is controlled by a motor, and the flexible tube 101 is moved by the gear 104, and the automation is improved by the motor. The self-locking function can be achieved by the motor, and the flexible tube 101 will not move when it reaches the specified position. Because the flexible tube 101 needs to be connected to the patient end, the current existing technology cannot be controlled by a motor. After the flexible tube 101 is pulled to the specified position, a bump or other device is required to lock it.

[0159] See Figure 13 In an optional embodiment, a rigid channel 105 is provided on the base 103 for the flexible tube 101 to move. The channel's internal dimensions are larger than the tube's external dimensions, and a portion of the channel 105 is arcuate. This allows the flexible tube 101 to move without a specific trajectory and easily disengage from the gear 104. The rigid channel 105 defines the flexible tube's 101 movement position.

[0160] The tooth-type catheter is described in detail below through examples.

[0161] See Figure 14In an optional embodiment, a toothed catheter includes a flexible tube 1; a rack 2 is provided on the outer side of the flexible tube 1, and a notch 11 is provided at the distal end of the flexible tube 1. In the initial state, the flexible tube 1 is conveyed by a motor so that the notch 11 is at the distal end of the base 3, and the sheath and hemostatic valve connected to the patient's wound are fixed to the base, wherein the sheath enters the flexible tube 1 through the notch 11. When the flexible tube 1 moves toward the distal end, the sheath slowly enters the flexible tube 1 until the distal end of the flexible tube 1 is connected to the patient and stops. After reaching the designated position, the gear 4 driven by the motor has a self-locking effect and will not deviate, thereby improving safety.

[0162] In an optional embodiment, the flexible tube 1 is made of at least one of PDFE and PTFE, and has self-lubricating and bendable properties. Since the flexible tube 1 bends during use, it should also be bendable and have a certain elasticity so that the sheath tube will not be damaged therein.

[0163] See Figure 13 and Figure 14 In an optional embodiment, the flexible tube 1 is a hollow circular tube, and a connecting section 13 is provided at the distal end of the flexible tube 1. The connecting section 13 is connected to the connecting mechanism close to the human body end or is connected to the connecting mechanism at the human body end through a sheath clamp. The sheath clamp can use the patent number CN2014800566205, the patent name of which is the sheath clamp structure in the flexible track of the guide catheter control, and is connected to the human body by pulling the sheath clamp. Alternatively, it can also be connected to the human body through the patent number CN2020800137690, the patent name of which is the sheath clamp structure in the robotic catheter system adapter. As long as the connection between the connecting section 13 and the human body end can be achieved, it will be sufficient.

[0164] See Figure 14 In an optional embodiment, the flexible tube 1 and the rack 2 are integrally formed. The rack 2 is typically made of a hard material for ease of transport. If the rack 2 is present only on a section of the flexible tube 1, it can be integrally formed for ease of molding. Alternatively, the flexible tube 1 and the rack 2 are connected in a separate manner, with the rack 2 and the flexible tube 1 being manufactured separately and secured together using snaps or glue. It should be understood that all methods of connecting the rack 2 and the flexible tube 1 fall within the scope of the separate connection.

[0165] See Figure 14 and Figure 15In an optional embodiment, a long slit 12 is provided in the length direction of the flexible tube 1. The long slit 12 is connected to the notch 11, and the sheath enters the flexible tube 1 through the notch 11. The notch 11 gradually opens and becomes smaller along the proximal end. The maximum opening of the notch 11 is at 45°~120°, preferably 90°, to facilitate the entry of medical catheters such as guide wires and sheaths into the flexible tube 1. The long slit 12 should not be simply understood as an opening. The long slit 12 can be in two situations. The first is that the long slit 12 is an opening in the flexible tube 1, such as Figure 15 In the second case, when the opening of the flexible tube 1 is not subjected to external forces, the upper and lower surfaces of the long slit 12 are attached together due to gravity, without any opening. When the flexible tube 1 moves toward the distal end, the sheath tube separates the upper and lower surfaces of the long slit 12 through the notch 11 and slowly enters the flexible tube 1.

[0166] See Figure 14 In an optional embodiment, the elongated slit 12 and the rack 2 are correspondingly provided on both sides of the flexible tube 1. Existing flexible tubes 1 do not have a rack 2. When the flexible tube 1 is manually pulled, the flexible tube 1 rotates, causing the notch 11 and the elongated slit 12 to deflect, resulting in a non-optimal angle for the sheath to enter the flexible tube 1. This angle requires constant adjustment based on actual conditions, making it more complicated to use. However, in the present invention, after the flexible tube 1 is fixed by the rack 2, the position of the elongated slit 12 is fixed, i.e., the optimal angle for the sheath to enter the flexible tube 1. This angle does not change and does not require readjustment.

[0167] See Figure 50 In an optional embodiment, an extension arm mechanism includes a support mechanism 50, a support column 60 provided on the support mechanism 50, a bracket arm 70 rotatably arranged on the support column 60, a bracket middle arm 80 rotatably arranged on the bracket arm 70, and a bracket small arm 90 rotatably arranged on the bracket middle arm 80; the bracket middle arm 80 can be tilted in the height direction.

[0168] Specifically, the support mechanism 50 is fixed to the edge of a hospital bed on which a patient lies. A guide wire conveying and rotating device is connected to the support arm 90. The guide wire conveying and rotating device is adjusted to the optimal position by rotating the support arm 70, the support middle arm 80 and the support arm 90. The support middle arm 80 can be tilted in the height direction. This mechanism realizes adjustment in the XYZ axis direction, providing a more suitable angle for conveying the guide wire. The guide wire conveying and rotating device can be any one on the market, as long as it can realize the rotation and conveying functions of the guide wire.

[0169] See Figure 51In an optional embodiment, a slot 51 slidably connected to the bed is provided on the support mechanism 50 , and the support mechanism 50 is rotatably provided with a cam wrench 52 , and the support mechanism 50 is fixed by rotating the cam wrench 52 .

[0170] Specifically, the bedside of the hospital bed is designed to engage with the slot 51. After the support mechanism 50 is inserted into the bedside through the slot 51, a slight gap is left to facilitate the support mechanism 50's sliding along the bedside. By rotating the cam wrench 52 on the support mechanism 50, the support mechanism 50 can be fixed to the bedside. As the cam wrench 52 rotates, the distance from the bedside changes. When fixed, the cam wrench 52 presses against the bedside.

[0171] See Figure 51 In an optional embodiment, the cam wrench 52 is provided with a wrench arm 521, and a stopper 522 is provided on the wrench arm 521. Generally, the wrench arm 521 of the cam wrench 52 is parallel to the edge of the bed. In this fixed position, the wrench arm 521 is hidden in the groove of the support mechanism 50. This provides greater safety and prevents the wrench arm from being hit and causing the support mechanism 50 to slide. When the support mechanism 50 is in a slidable position, the wrench arm 52 forms an acute angle with the edge of the bed and protrudes from the support mechanism 50. The stopper 522 prevents the cam wrench 52 from excessive rotation, which could damage the cam wrench 52 and the edge of the bed.

[0172] See Figure 51 and Figure 52 In an optional embodiment, a clamping plate 53 connected to the cam wrench 52 is provided within the slot 51. The addition of the clamping plate 53 increases the contact area, preventing the cam surface of the cam wrench 52 from directly contacting the bedside. If the force-bearing area is too small, the contact area is easily damaged, and the fixing effect deteriorates over time. A guide shaft 54 is provided on the clamping plate 53. A spring is installed on the guide shaft 54 to push the clamping plate 53 toward the cam wrench 52. The spring always pushes the clamping plate 53 away from the bedside, preventing excessive friction during the sliding of the support mechanism 50. Four guide shafts 54 are distributed at the four corners of the clamping plate 53. A notch is also provided at the bottom of the support frame body for the clamping plate 53 to enter. A through-hole is provided on the side away from the slot 51 for connecting to the guide shaft 54, and the guide shaft 54 partially extends into the through-hole. After the spring is installed in the spring hole, one end of the guide shaft 54 is inserted into the spring hole and then inserted into the clamping plate 53 through the notch. The guide shaft 54 passes through the clamping plate 53 and then snaps into the through-hole. During disassembly, it is only necessary to insert a thin tube from the through hole to separate the guide shaft 54 from the clamping plate 53. This makes the support mechanism more convenient to assemble and disassemble.

[0173] See Figure 51In an optional embodiment, a support plate 55 is provided on the support mechanism 50. The device consisting of the support mechanism 50, the bracket upper arm 70, the bracket middle arm 80, and the bracket lower arm 90 is relatively large in length and width, which can easily cause the support mechanism 50 to tilt. Simply connecting it to the bed edge through the slot 51 will cause large wear. The support plate 55 can reduce the tilting force. Because the specifications of the operating table are the same, the height of the support plate 55 does not need to be adjusted under normal circumstances. However, in order to account for errors or tolerances in the manufacturing process, two waist holes are provided on the support plate 55. The waist holes and screws are used to fix the support plate 55 to the support mechanism 50, and fine-tuning can be achieved.

[0174] See Figure 55 In an optional embodiment, the bracket middle arm 80 includes a middle arm rotating seat 81 rotatably mounted on the bracket upper arm 70, a middle arm frame 82 rotatably mounted on the middle arm rotating seat 81, and a buffer cylinder 83. One end of the buffer cylinder 83 is rotatably mounted on the middle arm rotating seat 81, and the other end is rotatably mounted on the middle arm frame 82. The height adjustment of the middle arm frame 82 in the Z-axis direction is achieved by the extension and retraction of the buffer cylinder 83. The bracket middle arm 80 is provided with a shell to wrap the above-mentioned device. The bracket middle arm 80 is set to be adjustable in height for easy folding when not in use. On the other hand, it can make the height adjustment of the guide wire conveying device smaller and safer.

[0175] See Figure 55 In an optional embodiment, the middle arm frame 82 includes multiple parallel connecting rods 821. One end of each connecting rod 821 is rotatably connected to the middle arm rotating base 81, and the other end of each connecting rod 821 is rotatably connected to the connecting block 84. The buffer cylinder 83 is rotatably connected to one of the connecting rods 821. The damping friction plate ensures that the extension rod can rotate only when a certain amount of force is applied, and the mechanism does not shake after the force is released. The encoder provides feedback on the rotation angle, prompting the operator to adjust the position within a certain range.

[0176] Specifically, two connecting rods 821 are preferably provided, with one end of the buffer cylinder 83 being rotatably fixed to the lower connecting rod 821 and the other end being rotatably fixed to the upper connecting rod 821. When unloaded, the two connecting rods 821 are horizontal, and the buffer cylinder 83 is extended. When a force is applied, the connecting rod 821, which is away from the mid-arm pivot base 81, slowly descends, while the other end remains at a constant height but can rotate, causing the buffer cylinder 83 to slowly retract.

[0177] See Figure 55 In an optional embodiment, a lower stop pin 85 is provided on one connecting rod 821. The lower stop pin 85 is positioned on the upper connecting rod 821 at an adjustable angle, typically set at 45°. When the connecting rod 821 is lowered away from the middle arm rotating base 81, the lower stop pin 85 abuts against the middle arm rotating base 81, preventing the connecting rod from further descending.

[0178] See Figure 55 In an optional embodiment, the bracket arm 90 includes an adapter 91, an extension rod 92 detachably mounted on the adapter 91, and a connector 93. The adapter 91 is provided with a rotating shaft rotatably connected to the bracket middle arm 80. A connector 93 is provided at the end of the extension rod 92 away from the adapter 91, and the connector 93 is used to connect to the guide wire delivery and rotation device. The adapter 91 is provided with a fixing knob 94 for fixing the extension rod 92 to prevent the extension rod 92 from loosening during the rotation process. Interventional surgeries are all precision surgeries with good firmness and high safety performance. The extension rod 92 is inserted into the adapter 91, and the side is also fixed by a positioning pin.

[0179] See Figure 55 In an optional embodiment, a damping friction plate 95 is provided on the rotating shaft of adapter 91. An encoder 96 is provided at the end of the rotating shaft of adapter 91, distal from adapter 91. The rotating shaft of encoder 96 is fixed to the rotating shaft of adapter 91, and the two rotate together. Encoder 96 is a commercially available product that can monitor the rotation angle. The damping friction plate 95 ensures that the extension rod 92 can rotate only when a certain force is applied, and the mechanism does not shake after the force is released. Encoder 96 provides feedback on the rotation angle, prompting the operator to adjust the position appropriately within a certain range.

[0180] See Figure 54 In an optional embodiment, the bracket arm 70 includes a latch mechanism 71, a large brake tooth 74 disposed on the support column 60, and a middle brake tooth 75 disposed on the bracket middle arm 80. When the latch mechanism 71 abuts the large brake tooth 74, the bracket arm 70 cannot rotate. When the latch mechanism 71 abuts the middle brake tooth 75, the bracket middle arm 80 cannot rotate. The latch mechanism 71 does not need to abut both the large brake tooth 74 and the middle brake tooth 75 simultaneously; sequential braking should also be understood to fall within the scope of protection of the present invention.

[0181] See Figure 53 In an optional embodiment, the locking tongue mechanism 71 includes a first connecting plate 711, a first locking tongue 712 disposed on the first connecting plate 711, a second connecting plate 713, and a second locking tongue 714 disposed on the second connecting plate 713. When the first locking tongue 712 is connected to the large brake teeth 72, a braking effect is formed; when separated, the bracket arm 70 can rotate. When the second locking tongue 714 is connected to the middle brake teeth 75, a braking effect is formed; when separated, the bracket arm 80 can rotate. The first locking tongue 712 and the second locking tongue 714 both have teeth on their surfaces, which can engage with the large brake teeth 74 and the middle brake teeth 75, respectively, to prevent rotation.

[0182] See Figure 53In an optional embodiment, a control mechanism 72 is provided on the bolt mechanism 71 to enhance automated control. The control mechanism 72 includes a control motor 721, a double-ended screw 722 controlled by the control motor 721, and a first movable seat 723 and a second movable seat 724 mounted on the double-ended screw 722. The double-ended screw 722 and the control motor 721 are connected by a shaft sleeve. The first movable seat 723 is connected to the first connecting plate 711, and the second movable seat 724 is connected to the second connecting plate 712. Preferably, the first and second connecting plates 711 and 712 move simultaneously in opposite directions (increasing the distance between the first and second movable seats 723 and 724), allowing the first and second bolts 712 and 714 to simultaneously act as brakes to prevent rotation. The first and second connecting plates 711 and 712 simultaneously move relative to each other (decreasing the distance between the first and second movable seats 723 and 724), allowing the bolt mechanism 71, the large brake teeth 74, and the middle brake teeth 75 to rotate freely.

[0183] See Figure 54 In an optional embodiment, a manual release mechanism 73 is provided on the lock tongue mechanism 71, and the manual release mechanism 73 is used to deal with power outages or other emergency situations. The manual release mechanism 73 includes a release button 731, a power rod 732 connected to the release button 731, and a cam block 733 provided on the power rod 732. The cam block 733 is connected to the first connecting plate 711 and the second connecting plate 713. The power rod 732 is preferably a hexagonal power rod. The cam block 733 can be a non-circular cam block, preferably an elliptical one. When the release button 731 is turned manually, the first connecting plate 711 and the second connecting plate 712 move toward each other, releasing the brake.

[0184] Since the motor 721 itself has a self-locking function. After adding the manual release mechanism 73, the control mechanism needs to be improved accordingly. The control mechanism 72 includes a control motor 721, a double-headed screw 722 controlled by the control motor 721, and square nuts 727 symmetrically mounted on both sides of the double-headed screw 722. The two square nuts 727 are connected to the first movable seat 723 and the second movable seat 72 respectively. A concave ring 728 is provided in the middle of the double-headed screw 722. The concave ring 728 can be rotatably mounted on the concave ring mounting seat 729. The concave ring mounting seat 729 allows the double-headed screw 722 to only rotate around the axis and cannot move left and right along the axis. When the double-headed screw 722 rotates, the square nut 727 can move on the double-headed screw 722, and the convex ring mounting seat 729 increases the stability of the double-headed screw 722 in conveying. The double-headed screw 722 and the control motor 721 are connected by a shaft sleeve. The first movable seat 723 is connected to the first connecting plate 711, and the second movable seat 724 is connected to the second connecting plate 712. Springs (not shown) are connected to the first and second locking tongues 712, 714. The springs cause the first and second locking tongues 712, 714 to engage with the large brake teeth 74 and the middle brake teeth 75, respectively, to generate a braking effect.

[0185] To enhance the stability of the first and second connecting plates 711 and 712, the connecting plates are provided with movement slots, to which limit posts are connected. The limit posts secure the connecting plates, preventing them from bending downward or upward during movement. The movement slots also provide sufficient travel distance for the connecting plates.

[0186] See Figure 53 and Figure 56 In an optional embodiment, in order to improve safety and automation on the basis of the manual release mechanism 73, a micro switch is added to the control mechanism 72. The control mechanism 72 also includes a first micro switch 725 and a second micro switch 726 that are communicatively connected to the control motor 721. A contact is provided below the first micro switch 725 and the second micro switch 726. A trigger block is provided on the first movable seat 723 and the second movable seat 724, respectively, and a bevel structure is provided above the trigger block. When the first connecting plate 711 and the second connecting plate 712 move toward each other, the motor stops moving when the first movable seat 723 triggers the contact; when the first connecting plate 711 and the second connecting plate 712 move away from each other, the motor stops moving when the second movable seat 724 triggers the contact.

[0187] The specific working method is:

[0188] The initial state is locked. The teeth of the first and second locking tongues 712 and 714 engage with the large brake teeth 74 and middle brake teeth 75, respectively, preventing rotation. Pressing the release button (located on the operating arm of the guidewire delivery system) rotates the motor 721, causing the double-ended screw 722 to rotate on the concave ring mounting seat 729. A square nut 727 is located on the step between the first and second movable seats 723 and 724. This drives the first and second movable seats 723 and 724 toward each other. The first and second connecting plates 711 and 712 move toward each other, gradually separating the first and second locking tongues 712 and 714 from the large brake teeth 74 and middle brake teeth 75, respectively, releasing the brakes. The spring force gradually increases. After the brakes are released, the middle and upper arm joints can rotate freely. The motor 721 stops rotating when the trigger block on the first movable seat 723 triggers the contacts of the first microswitch 725.

[0189] When the release button is released, the motor 721 rotates in the opposite direction, rotating the double-ended screw 722 and causing the two square nuts 727 to move in opposite directions. The first and second connecting plates 711, 712 also move in opposite directions under the action of the spring force. When the trigger block of the second movable base 724 triggers the contacts of the second microswitch 726, the motor 721 stops rotating. At this point, the teeth of the first and second locking tongues 712, 714 engage with the large brake teeth 74 and the middle brake teeth 75, respectively, acting as brakes.

[0190] In an emergency or power outage, the locked state prevents the device from rotating freely. Turning the release button 73 overcomes the spring tension, causing the first and second connecting plates 711, 712 to move toward each other. The first and second locking tongues 712, 714 gradually separate from the large brake teeth 74 and middle brake teeth 75, respectively, releasing the brakes. Turning the release button 73 back to its original position causes the first and second connecting plates 711, 712 to move away from each other under the action of the spring, achieving the locked state. Example 2:

[0191] In order to improve the degree of automation, a clutch drive mechanism 26 is added on the basis of the first embodiment. The clutch drive mechanism 26 is described in detail below.

[0192] See Figure 7 In an optional embodiment, a clutch drive mechanism 26 is connected to the clutch mechanism 24. The clutch drive mechanism 26 includes a first motor 261, a crank 262 installed on the first motor 261, a slider 263 installed on the crank 262, a lifting groove 264 set on the slider 263, and a lifting push rod 265 that rises and falls along the lifting groove 264. The lifting push rod 265 controls the clutch of the clutch mechanism 24.

[0193] See Figure 7In an optional embodiment, the crank 262 is an L-shaped crank, and a movable slot 266 is provided on the side of the crank 262 close to the first motor 261. The L-shaped crank rotates along the rotating axis in the middle, and the movable slot 266 can be set to be open so that it will not disengage from the position during the forward and reverse rotation of the motor.

[0194] See Figure 7 In an optional embodiment, the first motor 261 is provided with a turntable 267, and a movable shaft 268 is eccentrically provided on the turntable 267, and the movable shaft 268 moves in the movable groove 266. The movable shaft 268 is adapted to the opening of the movable groove 266, and when the turntable 267 rotates, the crank 262 is driven to rotate.

[0195] See Figure 7 In an optional embodiment, a guide plate 269 is further provided between the slider 263 and the crank 262. The guide plate 269 is fixed to another large fixed plate (not shown). The large fixed plate is provided with a guide rail for the radial movement of the guide plate 269. The guide plate 269 can make the movement of the slider 263 more stable.

[0196] The specific working method is:

[0197] The first motor 261 drives the turntable 267 to rotate, and the movable shaft 268 rotates along with the turntable 267. The middle part of the L-shaped crank is rotatable. When the movable shaft 268 moves in the movable slot 266 of the crank 262, the crank 262 rotates. The other side of the crank 262 is connected to the guide plate 269, and the guide plate 269 is limited to move forward and backward. The slider 263 also moves forward and backward along with the guide plate 269, and there is a lifting slot 264 on the slider 263. During the movement of the slider 263, the lifting push rod 265 will be lifted and lowered along the lifting slot 264, thereby lifting or separating the push rod 242, which can replace the method of manually lifting the push rod 262.

[0198] In order to cope with the situation that the electric flexible tube 1 cannot meet the actual transportation requirements, a manual-automatic switching device for tube transportation is added between the motor and the gear 4, which can not only meet the requirements of manually pulling the tube to the specified position but also realize automatic control of the tube position. Figure 16 and Figure 17, including a flexible tube 101 and a catheter driving mechanism 1060 for driving the flexible tube 101 to move. The flexible tube 101 here is the flexible tube 1 of Example 1. The catheter driving mechanism 1060 includes an upper gear disc 61 and a lower gear disc 62 engaged with the upper gear disc 61. The lower gear disc 62 is driven to rotate by a second motor 63, and the lower gear disc 62 is driven to rise and fall by a third motor 64 through a gear disc lifting mechanism 65. When the upper gear disc 61 and the lower gear disc 62 are engaged and rotated, the flexible tube 101 is driven to move. When the upper gear disc 61 and the lower gear disc 62 are separated and rotated, the flexible tube 101 can be manually pulled. The upper gear disc 61 can drive the flexible tube 101 to move closer to or away from the patient in various ways.

[0199] See Figure 16 and Figure 18 In an optional embodiment, the lifting mechanism 65 includes a lifting rod 651 and an inclined slot 652 disposed on the lifting rod 651. The inclined slot 652 is connected to the lower gear plate 62. The end of the lifting rod 651 near the lower gear plate 62 is U-shaped, and the inclined slots 652 are symmetrically disposed on both sides of the lifting rod 651.

[0200] The lifting mechanism 65 also includes a lifting slider 655 that rises and falls along the inclined groove 652. An angular contact bearing is located within the lifting slider 655, and the lower gear plate 62 is mounted on the angular contact bearing. Shafts that mate with the inclined groove 652 are located at both ends of the lifting slider 655. Specifically, the opening of the inclined groove 652 and the shaft have equal diameters, and the shafts move along the inclined groove 652. The angular contact bearings are driven to rotate by the output shaft of the second motor 63. The angular contact bearings rotate together with the lower gear plate 62. Because the lower gear plate 62 rises and falls, it forms a sliding fit with the second motor 63.

[0201] In an optional embodiment, a thrust spring is provided on the lifting slider 655. In this case, the opening of the inclined groove 652 can be larger than the diameter of the shaft of the lifting slider 655. The meshing rotation between the gears will cause vibration, giving the shaft mobility in the up and down directions, thereby preventing damage to the lifting slider 655 or the lifting push rod 651.

[0202] See Figure 16 In an optional embodiment, the end of the lifting push rod 651 close to the third motor 64 is a rack 653, and the third motor 64 is provided with a scalloped disc 654 that meshes with the rack 653. The rotation of the third motor 64 drives the scalloped disc 654 to rotate, thereby driving the rack 653 to move. Example 3:

[0203] See Figure 19-Figure 30The present invention discloses a front-end snap-fit mechanism for a hemostatic valve, comprising an adapter 201 for mating with the hemostatic valve, a connector 202 detachably connected to the adapter 201, and a flexible tube 103 detachably connected to the connector 202. The adapter 201 includes a clamping groove 2011 for holding the hemostatic valve and a hollow portion 2012 communicating with one end of the clamping groove 2011. The adapter 201 has a connecting portion 2013 on one end, adjacent to the hollow portion 2012, for mating with the connector 202. The connecting portion 2013 includes a first through-hole 20131 extending therethrough and communicating with the hollow portion 2012. The hemostatic valve in this embodiment is an existing Y-type hemostatic valve. In this embodiment, an adapter 201 is provided, and a clamping groove 2011 is provided in the adapter. The main part of the hemostatic valve can be adapted to the clamping groove 2011 and clamped by the clamping groove 2011. The hollow part 2012 can be adapted to the adjustment position of the hemostatic valve. When the hemostatic valve is fixed on the adapter 201, the adjustment position of the hemostatic valve is just located in the hollow part 2012. The hemostatic valve in this embodiment is a rotary adjustment type, which is convenient for the operator to control the opening and closing of the hemostatic valve by rotating the adjustment position of the hemostatic valve through the hollow part 2012, which is more convenient to operate. The flexible tube 101 is hollow inside and is used to allow pipelines, guide wires and other equipment to pass through the hemostatic valve and protect the equipment. The flexible catheter 101 is also used to connect to the catheter robot. The connector 202 is used to connect the flexible tube 101 and the adapter 201. The connector 202 and the flexible tube 101 and the adapter 201 are all detachably connected, which is convenient for disassembly and replacement, and easy for maintenance.

[0204] See Figure 19 The flexible tube 101 is provided with a notch at one end near the connector 202. The notch 1011 is connected to the hollow cavity inside the flexible catheter 3, making it easy to insert pipes, guide wires and other equipment into the flexible catheter 3 through the notch 1011, and also to observe the internal pipes, guide wires and other equipment through the notch 1011.

[0205] See Figure 19 、 Figure 22 、 Figure 23 and Figure 24 , further comprising a catheter sheath 204 adapted to fit the flexible catheter 3 and connector 2. The catheter sheath 204 is detachably mounted on the flexible tube 101, and one end of the catheter sheath 204 is detachably connected to the connector 202. The catheter sheath 204 also fits over the notch 1011, covering and protecting it and improving its bending resistance. The catheter sheath 204 protects the connection between the flexible catheter 203 and the connector 202, preventing damage to the flexible tube 101 caused by bending.

[0206] See Figure 19 、 Figure 22 、 Figure 23 and Figure 24The catheter sheath 204 includes a first clamping plate 2041 and a second clamping plate 2042. One side of the first clamping plate 2041 is connected to the other side of the second clamping plate 2042 by an elastic connection portion 2043. A catheter groove 2044 adapted to the flexible catheter 101 and a sheath opening groove 2045 connected to the catheter groove 2044 are provided between the first clamping plate 2041 and the second clamping plate 2042. This facilitates connection and removal of the catheter sheath 204 to the flexible tube 101.

[0207] See Figure 19 、 Figure 22 、 Figure 23 and Figure 24 A locking member 2046 is provided between the first clamping plate 2041 and the second clamping plate 2042 for locking the first clamping plate 2041 and the second clamping plate 2042. The locking member 2046 locks the first clamping plate 2041 and the second clamping plate 2042, thereby improving the stability of the catheter sheath 204 when fixed to the flexible catheter 101 and preventing it from falling off.

[0208] See Figure 19 and Figure 22 The end of the catheter sheath 204 near the connector 202 is provided with a protruding sheath plug portion 2047, and the connector 202 is provided with a socket adapted to the sheath plug portion 2047. The catheter sheath 204 and the connector 202 are plugged together to improve the connection stability of the catheter sheath 204 and the connector 202, and make connection and disassembly more convenient.

[0209] See Figure 19 The flexible tube 101 is provided with a plurality of guide tube teeth 2032 arranged along its length direction.

[0210] See Figure 20 The connecting portion 2013 includes a first portion 20132 integrally formed with the adapter 201 and a second portion 20133 detachably connected to the first portion 20132. A first through-hole 20131 is provided between the first portion 20132 and the second portion 20133. The first through-hole 20131 facilitates the passage of components such as a catheter. In this embodiment, the first portion 20132 and the second portion 20133 are configured as a separate structure, which facilitates opening the second portion 20133 to expose the first through-hole 20131, thereby facilitating the placement of components such as a catheter into the first through-hole 20131.

[0211] See Figure 20 One side of the first through hole 20131 is hingedly connected to the second part 20133, making it easier to open.

[0212] See Figure 21 、 Figure 26 、 Figure 30A first connecting half 2021 and a second connecting half 2022 are fixedly mounted on one end of the connector 202, near the adapter 201, and are detachably connected to the first connecting half 2021. A connecting cavity is defined between the first and second connecting half 2021, 2022, for mating with the connecting portion 2013. When the connector 202 is connected to the adapter 201, the connecting portion 2013 extends into the connecting cavity between the first and second connecting half 2021, 2022. The mating of the first and second connecting half 2021, 2022, clamps and secures the connecting portion 2013, making the connection more convenient and the clamping more secure.

[0213] Preferably, one side of the second connecting half block 2022 is hingedly connected to the first connecting half block 2021 , and the other side is snap-fitted with the first connecting half block 2021 .

[0214] See Figure 20 、 Figure 21 and Figure 22 The side of the connecting portion 2013 is further provided with a protruding column 20134, and a semi-column slot 2023 is provided between the first connecting half block 2021 and the second connecting half block 2022 to cooperate with the column 20134. The column 20134 is provided to cooperate with the semi-column slot 2023 to further improve the stability and firmness of the connection.

[0215] See Figure 20 、 Figure 21 and Figure 22 The column 20134 includes a first half column 201321 and a second half column 201331, which are respectively fixed to the first portion 20132 and the second portion 20133. The column 20134 is configured as a combined structure of the first half column 201321 and the second half column 201331, and the first half column 01321 and the second half column 01331 are respectively arranged on the first portion 132 and the second portion 133, so that the first half column 1321 and the second half column 01331 can be matched with the half column slot 2023 after being combined. The half column slot 2023 snaps the first half column 201321 and the second half column 201331 together, thereby improving the connection stability between the first connecting half block 2021 and the second connecting half block 2022.

[0216] See Figure 22 、 Figure 28 and Figure 29Connector 202 is provided with a communication hole 2024 extending axially therethrough. A communication groove 2025 is provided on the sidewall of connector 202, communicating with communication hole 2024. Communication groove 2025 engages with sheath inserting portion 2047, and communication groove 2025 serves as a receptacle that mates with sheath inserting portion 2047. Communication hole 2024 is provided with a stepped hole that engages with flexible conduit 203. Specifically, communication hole 2024 is divided into two sections of different diameters. The diameter of the section closer to flexible conduit 101 is larger than the diameter farther from flexible conduit 101, and the diameter of the section farther from flexible conduit 101 is smaller than the diameter of flexible conduit end 3, thereby limiting the distal end of flexible conduit 101.

[0217] Working process of the present invention:

[0218] During operation, the front-end snap mechanism of the hemostatic valve of the present invention engages with the main body of the hemostatic valve into the clamping groove 2011, and the adjustment position of the hemostatic valve is precisely located within the hollow portion 2012. This allows the operator to control the opening and closing of the hemostatic valve by rotating the adjustment position of the hemostatic valve through the hollow portion 2012. The adapter 201 is connected to the connector 202 through the cooperation of the connecting portion 2013 and the connector 202, and the flexible tube 101 is plugged into the other side of the connector 202. The pipeline, guidewire, and other equipment connected to the hemostatic valve are sequentially passed through the flexible tube 101, the connector 202, and the adapter 201. The end of the flexible tube 101 away from the connector 202 is used to connect to the catheter robot. Example 4:

[0219] See Figures 31-39The present invention provides a hemostatic valve fastener, including a main body 301 and an elastic clamp body 3012 movably arranged on the main body 301, the elastic clamp body 3012 is provided with a clamping groove 20121 for clamping the hemostatic valve, the main part of the hemostatic valve is adapted to the clamping groove 20121 and can be clamped in the clamping groove 20121, and a hollow portion 30111 adapted to the hemostatic valve adjustment position and connected to the clamping groove 20121 is provided on the main body 301 near one end of the elastic clamp body 3012, the elastic clamp body 3012 is fixedly connected to the slider 3013, and the main body 301 is provided with an adjustment mechanism for driving the slider 3013 to reciprocate in a direction away from or close to the hollow portion 30111. In this embodiment, an elastic clamp body 3012 is provided, and a clamping groove 20121 is provided on the elastic clamp body 3012. The clamping groove 20121 can cooperate with the main part of the Y-type hemostatic valve to fix the hemostatic valve. The adjustment part of the fixed hemostatic valve is just located in the hollow part 30111. The hemostatic valve in this embodiment is a rotation adjustment type, which is convenient for the operator to control the opening and closing of the hemostatic valve by rotating the adjustment part of the hemostatic valve. In this embodiment, the elastic clamp body 3012 is also set to be movable, and the position of the elastic clamp body 3012 is adjusted by an adjustment mechanism to make it close to or away from the clamping groove 20121, so that it can be applied to hemostatic valves of various lengths, and has a wider applicability.

[0220] See Figure 33 、 Figure 38 and Figure 39 The adjustment mechanism includes a plurality of teeth 30112 evenly spaced on the body 301. A slider 3013 is provided with a gear 3014 that meshes with the teeth 30112, and a knob 3015 for rotating the gear 3014. The knob 3015 drives the gear 3014 to rotate, and the engagement of the gear 3014 with the teeth 30112 drives the slider 3013 to reciprocate along the teeth 30112, providing easier control and greater stability.

[0221] See Figure 33 Based on the first embodiment, the knob 3015 is provided with a worm 3016, and the gear 3014 is provided with a worm wheel 3017 that meshes with the worm 3016. The worm 3016 and the worm wheel 3017 cooperate to drive the slider 3013 to move, thereby improving stability. The worm 3016 and the worm wheel 3017 cooperate to prevent displacement, thereby preventing the slider 3013 from loosening after the slider 3013 is adjusted.

[0222] See Figure 31 、 Figure 34 The body 301 is provided with a slide rail 30113, and the slider 3013 is provided with a sliding portion that slides with the slide rail 30113. The slide rail 30113 is provided to cooperate with the sliding portion to improve sliding stability, avoid deviation of the slider 3013 during adjustment, and improve accuracy.

[0223] See Figure 33 and 34 The end of the main body 301 close to the hollow portion 30111 is provided with a connecting portion 30114 protruding away from the hollow portion 30111, and the connecting portion 30114 is provided with a through hole 301141 coaxially arranged with the elastic clip 3012. The connecting portion 30114 is used to connect the main body 301 to other components.

[0224] See Figure 34 The connecting portion 30114 includes a first portion 301142 integrally formed with the body 301 and a second portion 201143 detachably connected to the first portion 201142. A through hole 301141 is provided between the first portion 201142 and the second portion 201143. One side of the first portion 201142 is hingedly connected to the second portion 201143. The through hole 301141 facilitates the passage of components such as a catheter. In this embodiment, the first portion 201142 and the second portion 201143 are configured as a separate structure, which facilitates opening the second portion 201143 to expose the through hole 301141, thereby facilitating the placement of components such as a catheter within the through hole 301141.

[0225] See Figure 34 The connecting portion 114 also has a protruding column 201144 on its side. The column 201144 includes a first half column 201321 and a second half column 201331 fixed to the first portion 201142 and the second portion 201143, respectively. The column 201144 can cooperate with other components to improve the stability and firmness of the connection between the connecting portion 30114 and other components.

[0226] See Figure 31 、 Figure 33 、 Figure 36 , a branch pipe opening groove 301211 is provided on the clamping groove 121. The branch pipe opening groove 301211 is convenient for cooperating with the branch on the side of the Y-type hemostatic valve for the branch to pass through.

[0227] See Figures 40-49 , further comprising a connector 202 detachably connected to the connection portion 114 of the body 1, and a flexible tube 101 detachably connected to the connector 202. The flexible tube 101 is hollow and is used to pass pipelines, guidewires, and other equipment through the hemostatic valve and protect the equipment. The flexible catheter 3 is also used to connect to the catheter robot. The connector 2 is used to connect the flexible tube 101 and the body 301. The connector 202 is detachably connected to the flexible tube 101 and the body 301, making it easy to disassemble, replace, and maintain.

[0228] See Figure 43The flexible tube 101 has a notch 11 at one end near the connector 202. The notch 11 is connected to the hollow cavity inside the flexible tube 3, making it easy to insert pipes, guide wires and other equipment into the flexible tube 3 through the notch 11, and also to observe the internal pipes, guide wires and other equipment through the notch 11.

[0229] See Figure 40 、 Figure 41 、 Figure 43 、 Figure 44 and Figure 45 , further comprising a catheter sheath 204 adapted to fit the flexible tube 101 and the connector 202. The catheter sheath 204 is detachably mounted on the flexible tube 101, and one end of the catheter sheath 204 is detachably connected to the connector 202. The catheter sheath 204 also fits over the notch 11, covering and protecting it and improving its bending resistance. The catheter sheath 204 protects the connection between the flexible tube 3 and the connector 2, preventing damage to the flexible tube 101 caused by bending.

[0230] See Figure 40 、 Figure 41 、 Figure 43 、 Figure 44 and Figure 45 The catheter sheath 204 includes a first clamping plate 2041 and a second clamping plate 2042. One side of the first clamping plate 2041 is connected to the other side of the second clamping plate 2042 by an elastic connection portion 2043. A catheter groove 2044 adapted to the flexible tube 101 and a sheath opening groove 2045 connected to the catheter groove 2044 are provided between the first clamping plate 2041 and the second clamping plate 2042. This facilitates connection and removal of the catheter sheath 204 from the flexible tube 101.

[0231] See Figure 40 、 Figure 41 、 Figure 43 、 Figure 44 and Figure 45 A locking member 2046 is provided between the first clamping plate 2041 and the second clamping plate 2042 for locking the first clamping plate 2041 and the second clamping plate 2042. The locking member 2046 locks the first clamping plate 2041 and the second clamping plate 2042, thereby improving the stability of the catheter sheath 204 when fixed to the flexible tube 101 and preventing it from falling off.

[0232] See Figure 40 、 Figure 41 、 Figure 43 、 Figure 44 and Figure 45The end of the catheter sheath 204 near the connector 202 is provided with a protruding sheath plug portion 2047, and the connector 202 is provided with a socket adapted to the sheath plug portion 2047. The catheter sheath 204 and the connector 202 are plugged together to improve the connection stability of the catheter sheath 204 and the connector 202, and make connection and disassembly more convenient.

[0233] See Figure 43 The flexible surface 101 is provided with a plurality of catheter teeth 2032 arranged along its length direction.

[0234] See Figure 41 、 Figure 42 A first connecting half 2021 and a second connecting half 2022 are fixedly mounted on one end of the connector 202, near the body 301. A connecting cavity is defined between the first and second connecting half 2021, 2022, for mating with the connecting portion 2013. When the connector 202 is connected to the body 301, the connecting portion 2013 extends into the connecting cavity between the first and second connecting half 2021, 2022. The mating of the first and second connecting half 2021, 2022, clamps the connecting portion 2013, thereby securing the connecting portion 2013. This facilitates connection and provides a more secure clamping and fixation.

[0235] Preferably, one side of the second connecting half block 2022 is hingedly connected to the first connecting half block 2021 , and the other side is snap-fitted with the first connecting half block 2021 .

[0236] See Figure 41 、 Figure 42 A semi-column slot 2023 that cooperates with the column 301144 is provided between the first connecting half block 2021 and the second connecting half block 2022. The column 20134 is provided to cooperate with the semi-column slot 2023 to further improve the connection stability and firmness.

[0237] Working process of the present invention: During the working process of a hemostatic valve fastener, when used, the main body of the Y-shaped hemostatic valve is engaged with the clamping groove 20121 to fix the hemostatic valve, and the rotation adjustment part of the fixed hemostatic valve is just located in the hollow part 30111, which is convenient for the operator to control the opening and closing of the hemostatic valve by rotating the adjustment part of the hemostatic valve, and the position of the elastic clamp 3012 can be adjusted by the adjustment mechanism, and the gear 3014 is driven to rotate by the knob 3015, and the slider 3013 is driven to move back and forth along the teeth 30112 through the cooperation of the gear 3014 and the teeth 30112, so that it approaches or moves away from the clamping groove 20121, and the length of the clamping groove 20121 is adjusted so that it can be suitable for hemostatic valves of various lengths, with wider applicability.

[0238] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An interventional surgical robot system, characterized by: The invention comprises a hospital bed for a patient to lie down during treatment; an extension arm mechanism detachably mounted on the hospital bed; a conveying device mounted on the extension arm mechanism for conveying a medical intervention device into a patient's body, wherein the conveying device is used to convey one or more slender medical intervention devices; a remote control system for remotely controlling the action of the conveying device in conveying the medical device; the conveying device comprises a guide wire driving device, wherein the guide wire driving device comprises a conveying body (10) and a rotating gear (11) mounted on one side of the conveying body (10); the conveying body (10) comprises a base (30), a first stopper (31) and a second stopper (32) mounted on the base (30), wherein a mounting groove (33) is formed between the first stopper (31) and the second stopper (32); the wire clamping mechanism comprises a knob block (34) rotatably mounted on the second stopper (32) and a gate plate (35) connected to the knob block (34), wherein the gate plate (35) is in close contact with the second stopper (32). And it moves up and down in the installation groove (33).

2. The interventional surgical robot system according to claim 1, wherein: The conveying gear (12) is rotatably mounted on the other side of the conveying body (10); the conveying body (10), the rotating gear (11) and the conveying gear (12) are axially penetrated by an opening (13); the guide wire is clamped into the driving device through the opening (13); a conveying mechanism (14) driven by the conveying gear (12) is provided on the conveying body (10); the conveying gear (12) drives the conveying mechanism (14) to convey the guide wire through a transmission mechanism (20); the transmission mechanism (20) includes a clutch mechanism (24) that can be separated from the conveying gear (12) during the lifting process; a wire clamping mechanism is provided on the conveying body (10) for pressing the guide wire into the conveying mechanism (14) along the opening (13).

3. The interventional surgical robot system according to claim 2, wherein: The conveying mechanism (14) comprises a driving gear (15) driven by the conveying gear (12), a driving silicone roller (16) driven by the driving gear (15), and a pressing silicone roller (17) corresponding to the driving silicone roller (16); a transmission mechanism (20) is provided between the driving gear (15) and the conveying gear (12).

4. The interventional surgical robot system according to claim 2, wherein: The rotating gear (11) is a helical gear, and a first small helical gear (18) is connected to the rotating gear (11). The conveying gear (12) is a double-sided helical gear, and an end of the conveying gear (12) away from the conveying body (10) is connected to a second helical gear (19), and an end of the conveying gear (12) close to the conveying body (10) is connected to the transmission mechanism (20).

5. The interventional surgical robot system according to claim 2, wherein: The transmission mechanism (20) includes a helical gear (21) and a driving cylindrical gear (22) coaxially mounted with the helical gear (21), wherein the driving cylindrical gear (22) drives the driving gear (15) to rotate; the helical gear (21) is rotatably connected to a mounting seat (25), and the mounting seat (25) is mounted on the conveying body (10).

6. The interventional surgical robot system according to claim 5, wherein: The clutch mechanism (24) comprises a clutch protrusion (241) engaged with the helical gear (21) and a push rod (242) for mounting the clutch protrusion (241); the push rod (242) is the central axis of the clutch protrusion (241), and the helical gear (21) and the driving cylindrical gear (22) are coaxially connected to the push rod (242).

7. The interventional surgical robot system according to claim 6, wherein: The clutch protrusion (241) comprises a disc (244) and a boss (243) arranged at the bottom of the disc (244); the helical gear (21) is provided with a groove (245) that matches the boss (243); the clutch protrusion (241) is arranged between the helical gear (21) and the driving cylindrical gear (22); and a spring is provided between the driving cylindrical gear (22) and the conveying body.

8. The interventional surgical robot system according to claim 2, wherein: A clutch drive mechanism (26) is connected to the clutch mechanism (24). The clutch drive mechanism (26) comprises a first motor (261), a crank (262) mounted on the first motor (261), a slider (263) mounted on the crank (262), a lifting slot (264) provided on the slider (263), and a lifting push rod (265) that is lifted and lowered along the lifting slot (264). The lifting push rod (265) controls the clutching of the clutch mechanism (24).

9. The interventional surgical robot system according to claim 8, wherein: The crank (262) is an L-shaped crank, and a movable groove (266) is provided on a side of the crank (262) close to the first motor (261); a turntable (267) is provided on the first motor (261), and a movable shaft (268) is eccentrically provided on the turntable (267), and the movable shaft (268) moves in the movable groove (266); a guide plate (269) is also provided between the slider (263) and the crank (262).

10. The interventional surgical robot system according to claim 1, wherein: The mounting groove (33) comprises an upper mounting groove (331) and a lower mounting groove (332) arranged below the upper mounting groove (331); the opening of the upper mounting groove (331) is larger than the lower mounting groove (332); and the opening of the lower mounting groove (332) is adapted to the thickness of the gate plate (35).

11. The interventional surgical robot system according to claim 9, wherein: A guide block (36) is also provided on the second stopper (32). The guide block (36) is driven by the knob block (34) to move up and down, and the guide block (36) drives the gate plate (35) to move up and down. The guide block (36) and the gate plate (35) are connected by a plurality of connecting shafts (37). A tension spring is provided on the connecting shaft (37) to make the gate plate (35) close to the second stopper (32).

12. The interventional surgical robot system according to claim 9, wherein: The second stopper (32) is provided with an arc guide groove (321), and the knob selector (34) is provided with a guide shaft (341) that moves along the arc guide groove (321); a lock hole (322) is provided at the bottom end of the arc guide groove (321); a portion of the guide shaft (341) within the arc guide groove (321) is provided with a notch, and the guide shaft (341) is rotatably arranged on the knob selector (34), and the guide shaft (341) is fixed to the lock hole (322) after rotation.

13. The interventional surgical robot system according to claim 12, wherein: A locking plate buckle (342) for controlling the rotation of the guide shaft (341) is provided on the base (30); a pressing device (40) is provided on the base (30), and the pressing device (40) includes a movable seat (41) for mounting the pressing silicone roller (17) and an adjusting rod (42) for controlling the radial movement of the movable seat (41).

14. The interventional surgical robot system according to claim 13, wherein: A bevel groove (421) is provided at the bottom of the adjusting rod (42); a guide column (411) is provided on the movable seat (41); the guide column (411) moves along the bevel groove (421); a socket (422) is provided on the adjusting rod (42); a latch (43) is connected to the socket (422); the latch (43) extends upward and passes through the adjusting rod (42).

15. The interventional surgical robot system according to claim 14, wherein: A release protrusion (343) is provided on the knob block (34). When the knob block (34) rotates to the lowest point, the release protrusion (343) presses down the latch (43) to disengage it from the socket (422).

16. The interventional surgical robot system according to claim 13, wherein: The adjusting rod (42) is provided with a push block protrusion (423), and the knob block (34) is provided with a push block (344); During the process of the knob block (34) rotating from the lowest point to the highest point, the push block (344) pushes the push block protrusion (423) to move the pressing silicone roller (17) away from the guide wire.

17. The interventional surgical robot system according to claim 11, wherein: The second stopper (32) is provided with a plurality of guide grooves (323), and the gate plate (35) is provided with convex ribs (351) that match the guide grooves (323).

18. The interventional surgical robot system according to claim 1, wherein: The extension arm mechanism comprises a support mechanism (50), a support column (60) provided on the support mechanism (50), a bracket arm (70) rotatably arranged on the support column (60), a bracket middle arm (80) rotatably arranged on the bracket arm (70), and a bracket small arm (90) rotatably arranged on the bracket middle arm (80); the bracket middle arm (80) can be tilted in a height direction.

19. The interventional surgical robot system according to claim 18, wherein: The support mechanism (50) is provided with a slot (51) that is slidably connected to the bed. The support mechanism (50) is rotatably provided with A cam wrench (52) is used to fix the support mechanism (50) by rotating the cam wrench (52); The cam spanner (52) is provided with a spanner arm (521), and the spanner arm (521) is provided with a limit block (522).

20. The interventional surgical robot system according to claim 19, wherein: A clamping plate (53) connected to the cam wrench (52) is provided in the clamping slot (51), a guide shaft (54) is provided on the clamping plate (53), and a spring for pushing the clamping plate (53) close to the cam wrench (52) is provided on the guide shaft (54); and a supporting plate (55) is provided on the supporting mechanism (50).

21. The interventional surgical robot system according to claim 18, wherein: The support middle arm (80) includes a middle arm rotating seat (81) rotatably arranged on the support upper arm (70), a middle arm frame (82) rotatably mounted on the middle arm rotating seat (81), and a buffer cylinder (83); one end of the buffer cylinder (83) is rotatably mounted on the middle arm rotating seat (81), and the other end is rotatably mounted on the middle arm frame (82).

22. The interventional surgical robot system according to claim 21, wherein: The middle arm frame (82) includes a plurality of mutually parallel connecting rods (821), one end of each connecting rod (821) is rotatably connected to the middle arm rotating seat (81), and the other end of each connecting rod (821) is rotatably connected to a connecting block (84); the buffer cylinder (83) is rotatably connected to one of the connecting rods (821); and a lower limit pin (85) is provided on one of the connecting rods (821).

23. The interventional surgical robot system according to claim 18, wherein: The bracket arm (90) includes an adapter (91) and an extension rod (92) detachably mounted on the adapter (91); the adapter (91) is provided with a rotating shaft rotatably connected to the bracket middle arm (80); a connector (93) is provided at one end of the extension rod (92) away from the adapter (91); a fixing knob (94) for fixing the extension rod (92) is provided on the adapter (91); a damping friction plate (95) is provided on the driving arm (94); and an encoder (96) is provided at one end of the driving arm (94) away from the adapter (91).

24. The interventional surgical robot system according to claim 18, wherein: The bracket arm (70) includes a locking tongue mechanism (71), a large brake tooth (74) provided on the support column (60), and a middle brake tooth (75) provided on the bracket middle arm (80); the locking tongue mechanism (71) includes a first connecting plate (711), a first locking tongue (712) provided on the first connecting plate (711), a second A connecting plate (713) and a second locking tongue (714) arranged on the second connecting plate (713); when the first locking tongue (712) and the brake large tooth (74) are connected, a braking effect is formed, and when they are separated, the bracket large arm (70) can rotate; when the second locking tongue (714) and the brake middle tooth (75) are connected, a braking effect is formed, and when they are separated, the bracket middle arm (80) can rotate.

25. The interventional surgical robot system according to claim 24, wherein: A control mechanism (72) is provided on the locking tongue mechanism (71), and the control mechanism (72) comprises a control motor (721), a double-headed screw rod (722) controlled by the control motor (721), a first movable seat (723) and a second movable seat (724) mounted on the double-headed screw rod (722); the first movable seat (723) is connected to the first connecting plate (711), and the second movable seat (724) is connected to the second connecting plate (712).

26. The interventional surgical robot system according to claim 24, wherein: The control mechanism (72) further comprises a first micro switch (725) and a second micro switch (726) which are in communication with the control motor (721); the first micro switch (725) controls the distance that the first movable seat (723) moves away from the brake gear (74), and the second micro switch (726) controls the The distance that the second movable seat (724) moves toward the brake middle tooth (73).

27. The interventional surgical robot system according to claim 24, wherein: A manual release mechanism (73) is provided on the locking tongue mechanism (71), and the manual release mechanism (73) comprises a release button (731), a power rod (732) connected to the release button (731), and a cam block (733) provided on the power rod (732), wherein the cam block (733) is connected to the first connecting plate (711) and the second connecting plate (713).

28. The interventional surgical robot system according to claim 27, wherein: A square nut (727) is provided between the first movable seat (723) and the double-ended screw rod (722), and a square nut (727) is provided between the second movable seat (724) and the double-ended screw rod (722); and a spring is connected to the first locking tongue (712) and the second locking tongue (714).

29. The interventional surgical robot system according to claim 1, wherein: The conveying device comprises a base (103) on which a toothed catheter is mounted. The toothed catheter comprises a flexible tube (101), a rack (102) is provided on the outer side of the flexible tube (101), and a notch (1011) is provided at the distal end of the flexible tube (101); and further comprises a gear (104) arranged on the base (103) and meshing with the rack (102). The gear (104) is controlled by a motor. A rigid channel (105) for the flexible tube (101) to move is provided on the base (103), and a portion of the rigid channel (105) is arched.

30. The interventional surgical robot system according to claim 29, wherein: The flexible tube (101) is made of at least one material selected from the group consisting of PDFE and PTFE; the flexible tube (101) is a hollow circular tube, and a connecting section (1013) is provided at the distal end of the flexible tube (101); the flexible tube (101) and the rack (102) are an integrated structure, or the flexible tube (101) and the rack (102) are connected in a split manner; a long slit (1012) is provided in the length direction of the flexible tube (101), and the long slit (1012) is communicated with the notch (1011); a long slit (1012) is provided in the length direction of the flexible tube (101), and the long slit (1012) is communicated with the notch (1011).

31. The interventional surgical robot system according to claim 29, wherein: The base (103) is provided with a manual-automatic switching device for catheter transportation, comprising a flexible tube (101) and a catheter driving mechanism (1060) for driving the flexible tube (101) to move; the catheter driving mechanism (1060) comprises an upper gear disc (61) and a lower gear disc (62) meshed with the upper gear disc (61); the lower gear disc (62) is driven to rotate by the second motor (63), and the lower gear disc (62) is driven to rise and fall by the third motor (64) through a gear disc lifting mechanism (65); the upper gear disc (61) is meshed with the lower gear disc (62) When the upper toothed disc (61) and the lower toothed disc (62) are rotated together, the flexible tube (101) is driven to move; when the upper toothed disc (61) and the lower toothed disc (62) are rotated apart, the flexible tube (101) can be pulled manually.

32. The interventional surgical robot system according to claim 31, wherein: The lifting mechanism (65) includes a lifting push rod (651) and an inclined slot (652) provided on the lifting push rod (651); The lower toothed disc (62) is connected to the inclined groove (652); one end of the lifting push rod (651) close to the third motor (64) is a rack (653), and the third motor (64) is provided with a round toothed disc (654) meshing with the rack (653); one end of the lifting push rod (651) close to the lower toothed disc (62) is in a U-shape, and the inclined grooves (652) are symmetrically arranged on both sides of the lifting push rod (651).

33. The interventional surgical robot system according to claim 31, wherein: The lifting mechanism (65) further comprises a lifting slider (655) that is lifted and lowered along the inclined groove (652); an angular contact bearing is provided in the lifting slider (655); a lower gear disc (62) is provided on the angular contact bearing; the lower gear disc (62) and the second motor (63) are in sliding engagement; and a thrust spring is provided on the lifting slider (655).

34. The interventional surgical robot system according to claim 30, wherein: The delivery device is connected to a front-end snap mechanism of the hemostatic valve, comprising an adapter (201) for cooperating with the hemostatic valve, a connector (202) detachably connected to the adapter (201), and a connecting section (1013) detachably connected to the connector (202); the adapter (201) is provided with a clamping groove (2011) for clamping the hemostatic valve and a hollow portion (2012) connected to one end of the clamping groove (2011); an end of the adapter (201) close to the hollow portion (2012) is provided with a connecting portion (2013) for cooperating with the connector (202); and the connecting portion (2013) is provided with a first through hole (20131) penetrating the connecting portion and connected to the hollow portion (2012).

35. The interventional surgical robot system according to claim 31, wherein: The invention also includes a catheter sheath (204) adapted to the flexible tube (101) and the connector (202), wherein the catheter sheath (204) is detachably mounted on the flexible tube (101), and one end of the catheter sheath (204) is detachably connected to the connector (202); the catheter sheath (204) includes a first splint (2041) and a second splint (2042), one side of the first splint (2041) and one side of the second splint (2042) are connected via an elastic connection portion (2043), and a catheter groove (2044) adapted to the flexible tube (101) and a sheath opening groove (2045) connected to the catheter groove (2044) are provided between the first splint (2041) and the second splint (2042).

36. The interventional surgical robot system according to claim 35, wherein: A locking member (2046) is provided between the first clamping plate (2041) and the second clamping plate (2042) for locking the first clamping plate (2041) and the second clamping plate (2042); a protruding sheath plug-in portion (2047) is provided on the end of the catheter sheath (204) close to the connector (202), and a socket adapted to the sheath plug-in portion (2047) is provided on the connector (202); the connecting portion (2013) includes a first portion (20132) integrally formed with the body (201) and a second portion (20133) detachably connected to the first portion (20132), the first through hole (20131) is provided between the first portion (20132) and the second portion (20133); a fixedly provided sheath plug-in portion (2047) is provided on the end of the connector (202) close to the adapter (201). A first connecting half block (2021) and a second connecting half block (2022) detachably connected to the first connecting half block (2021) on one side; a connecting cavity for cooperating with the connecting portion (2013) is provided between the first connecting half block (2021) and the second connecting half block (2022); a protruding column (20134) is also provided on the side of the connecting portion (2013); a semi-column card slot (2023) cooperating with the column (20134) is provided between the first connecting half block (2021) and the second connecting half block (2022); a connecting hole (2024) axially arranged therethrough is provided in the connector (202); a connecting groove (2025) connected to the connecting hole (2024) is provided on the side wall of the connector (202); the connecting groove (2025) is plugged into and cooperated with the sheath plug-in portion (2047).

37. The interventional surgical robot system according to claim 30, wherein: The delivery device is connected to a hemostatic valve fastener, comprising a body (301) and an elastic clip provided on the body (301). The elastic clamp (3012) is provided with a clamping groove (30121) for clamping the hemostatic valve, and a hollow portion (30111) adapted to the hemostatic valve adjustment position and connected to the clamping groove (30121) is provided on the main body (301) near one end of the elastic clamp (3012). The main body is provided with a slider (3013) slidably connected to the slider (3013), the elastic clamp (3012) is fixedly connected to the slider (3013), and the main body (301) is provided with an adjustment mechanism for driving the slider (3013) to reciprocate in a direction away from or close to the hollow portion (30111).

38. The interventional surgical robot system according to claim 37, wherein: The adjustment mechanism comprises a plurality of teeth (30112) evenly arranged on the body (301); the slider (3013) is provided with a gear (3014) meshing with the teeth (30112) and a knob (3015) for driving the gear (14) to rotate; the knob (3015) is provided with a worm (3016); and the gear (3014) is provided with a worm wheel (3017) meshing with the worm (3016).

39. The interventional surgical robot system according to claim 38, wherein: The body (301) is provided with a slide rail (30113), and the slider (3013) is provided with a sliding portion that slides with the slide rail (30113); the body (301) is provided with a connecting portion (30114) protruding away from the hollow portion (30111) at one end thereof, and the connecting portion (30114) is provided with a through hole (301141) coaxially arranged with the elastic clip (3012); the connecting portion (30114) includes a first portion (301142) integrally formed with the body (301) and a second portion (301143) integrally formed with the first portion (301144). The second part (301143) is detachably connected to the first part (301142), and the through hole (301141) is provided between the first part (301142) and the second part (301143); the side of the connecting portion (30114) is also provided with a protruding column (301144), and the column (301144 includes a first half column (301321) and a second half column (301331) respectively fixed on the first part (301142) and the second part (301143); the clamping groove (30121) is provided with a branch pipe opening groove (301211).

Images