A minimally invasive interventional surgery robot execution device for liver cancer treatment

Abstract

The present application relates to the technical field of medical equipment, in particular to a minimally invasive interventional surgery robot execution device for liver cancer treatment, which comprises a bottom plate, a microcatheter delivery clamping assembly installed at the front end of the bottom plate, a Y valve fine adjustment assembly installed on the bottom plate and located behind the microcatheter delivery clamping assembly, a guide wire fixing assembly installed on the bottom plate and connected behind the Y valve fine adjustment assembly, a moving delivery assembly installed on the bottom plate and located behind the guide wire fixing assembly, a guide wire twisting assembly installed on the moving delivery assembly, a medicine injection assembly installed on the bottom plate and located on one side of the guide wire twisting assembly, an extension tube connected between the guide wire twisting assembly and the guide wire fixing assembly, and a control system installed on the bottom plate and located on the other side of the guide wire twisting assembly.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a minimally invasive interventional surgical robot for the treatment of liver cancer. Background Technology

[0002] Interventional therapy is one of the current methods for treating liver cancer. Minimally invasive interventional surgery has gradually been accepted by the public due to its characteristics of less trauma, less pain and faster recovery. Among them, transhepatic artery interventional therapy plays a very important role in the overall treatment of liver cancer. Transhepatic artery interventional therapy mainly includes two treatment modes: transhepatic artery chemoembolization (TACE) and hepatic artery infusion chemotherapy (HAIC). Among them, TACE is the most common treatment method in the field of interventional therapy for liver cancer.

[0003] During TACE surgery, tumor embolization is the most time-consuming part, requiring continuous fluoroscopy. The interventional surgeon's sensitive organs and other parts of the body are exposed to X-rays, making radiation-sensitive organs more susceptible to radiation damage. Furthermore, surgical personnel must wear lead protective suits and caps weighing over 30 kg, further increasing the incidence of bone and joint diseases among surgeons. More importantly, TACE surgery requires the surgeon to precisely guide the guidewire and catheter into the tumor-feeding artery and accurately control the injection rate and dosage of drugs and embolic agents within the feeding artery, demanding a high level of experience from the surgeon.

[0004] Most existing minimally invasive interventional surgical robots are developed for cardiovascular and cerebrovascular diseases. They mainly include imaging devices, operating devices, execution devices, and control systems. Their main working process is as follows: with the help of the imaging device, the surgeon controls the operating device to instruct the execution device to deliver and twist the guidewire according to the surgeon's instructions. Simultaneously, the control system collects and converts signals from each device and transmits them between them. Liver cancer interventional surgical robots can also perform microcatheter manipulation and precise injection of embolization drugs. Currently, most interventional surgical robot execution devices use stop plates to hold the guidewire, leading to slippage due to the guidewire diameter. Furthermore, the complex connections between components make disassembly and sterilization difficult, hindering preoperative guidewire sterilization and postoperative guidewire replacement. In addition, they can only deliver single guidewires and cannot deliver guidewires and catheters in a coordinated manner. The force feedback technology of existing interventional surgical robots is also immature, failing to detect and sense the resistance encountered by the guidewire during the procedure, significantly impacting surgical safety. Therefore, this paper designs a minimally invasive interventional surgical robot execution device for liver cancer treatment that overcomes the aforementioned shortcomings of existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a minimally invasive interventional surgical robot for the treatment of liver cancer, in order to solve the technical problems of enabling continuous, time-sharing delivery of guidewires and microcatheters while simultaneously achieving circumferential rotation, timely and rapid detection of guidewire tip resistance, and selective injection of various embolic agents.

[0006] The minimally invasive interventional surgical robot execution device for liver cancer treatment of the present invention is implemented as follows:

[0007] A minimally invasive interventional surgical robot execution device for liver cancer treatment includes a base plate, a microcatheter delivery and clamping assembly mounted on the front end of the base plate, a Y-valve fine-tuning assembly mounted on the base plate and located behind the microcatheter delivery and clamping assembly, a guidewire fixation assembly mounted on the base plate and connected to the rear of the Y-valve fine-tuning assembly, a mobile delivery assembly mounted on the base plate and located behind the guidewire fixation assembly, a guidewire twisting assembly mounted on the mobile delivery assembly, a drug injection assembly mounted on the base plate and located on one side of the guidewire twisting assembly, a telescopic tube connected between the guidewire twisting assembly and the guidewire fixation assembly, and a control system mounted on the base plate and located on the other side of the guidewire twisting assembly; wherein...

[0008] The injection assembly includes a syringe selection component mounted on the base plate, a syringe propulsion component mounted on the base plate and located on one side of the syringe selection component for advancing the syringe selection component, and an injection connection component mounted on the base plate and located on the front side of the syringe selection component for connecting to the syringe selection component.

[0009] As an optional embodiment, the syringe selection component includes an injection motor fixed to the rear end of the upper surface of the base plate, a syringe bracket connected to the output end of the injection motor, an embolic syringe disposed on the syringe bracket, and an injection encoder connected to the other end of the syringe bracket;

[0010] The syringe propulsion component includes a propulsion support frame arranged parallel to the injection motor, an injection screw motor fixed to the rear end of the propulsion support frame, an injection screw connected to the rear end of the injection screw motor, a fourth guide rail fixed to the upper surface of the front end of the propulsion support frame, a fourth slider slidably connected to the fourth guide rail, and a load push plate with one end fixed to the fourth slider and the other end fixed to the injection screw; the load push plate pushes the embolization syringe; and

[0011] The injection connection component includes a push rod frame arranged side by side with the injection encoder and fixed to the base plate, an electric push rod fixed to the push rod frame, a push rod plate connected to the extended end of the electric push rod, and a medical tubing passing through and fixed to the upper end of the push rod plate.

[0012] As an optional embodiment, the drug injection assembly further includes a drug injection motor support frame fixed to the base plate for supporting the drug injection motor, two syringe bracket support frames fixed to the base plate for supporting the syringe bracket, and a drug injection encoder support frame fixed to the base plate for supporting the drug injection encoder.

[0013] The syringe holder includes an injection shaft connected to the output end of the injection motor and rotatably mounted on two syringe holder support frames, an injection turntable fixed on the injection shaft for mounting the embolic syringe, and a syringe clamp mounted on the injection turntable for fixing the embolic syringe.

[0014] The upper end of the load push plate is fixed with a drug injection screw nut suitable for threaded connection with the drug injection screw; the drug injection screw extends through the upper end of the load push plate and is located inside the embolization syringe, without contacting the embolization syringe. After the drug injection screw motor is started, it drives the drug injection screw to rotate, and at the same time drives the load push plate to move forward along the fourth guide rail and then abut against the tail of the embolization syringe, squeezing and pushing the embolization syringe to inject;

[0015] The head of the medical tubing is connected to the head of the embolization syringe, and the tail of the medical tubing is connected to the Y valve via a tubing.

[0016] As an optional embodiment, the microcatheter delivery clamping assembly includes a lower support frame fixed to the base plate, an upper support frame connected to the upper end of the lower support frame, a back plate connected to the back of the upper support frame, a microcatheter clamping component installed on the left side inside the upper support frame, and a microcatheter delivery component installed on the right side inside the upper support frame; wherein

[0017] The microcatheter clamping component includes a microcatheter clamping motor mounted on the lower front end of the left side of the upper support frame, a microcatheter clamping gear connected to the output end of the microcatheter clamping motor, a first guide rail fixed to the bottom surface of the inner cavity of the upper support frame and located behind the microcatheter clamping motor, a first slider slidably connected to the first guide rail, a slide rail connecting frame fixed to the first slider, and a "[" shaped rack frame fixed to the upper end of the slide rail connecting frame; the lower end of the "[" shaped rack frame is a rack that meshes with the microcatheter clamping gear.

[0018] The microcatheter delivery component includes a microcatheter delivery motor mounted on the front right side of the upper support frame, a microcatheter delivery drive gear connected to the output end of the microcatheter delivery motor, a roller support frame mounted on the upper right side of the upper support frame, a drive roller shaft rotatably connected to the roller support frame and the bottom of the inner cavity of the upper support frame, a microcatheter delivery driven gear fixedly connected to the lower end of the drive roller shaft and meshing with the microcatheter delivery drive gear, a driven roller shaft rotatably connected between the inner cavities of the "["-shaped rack frame and parallel to the drive roller shaft, a drive roller fixed to the upper end of the drive roller shaft, and a driven roller fixed to the upper end of the driven roller shaft and flush with the drive roller; and

[0019] A guide tube facing the middle of the driving roller and the driven roller is connected to the middle of the back plate.

[0020] As an optional embodiment, a microcatheter clamping motor bracket for supporting the microcatheter clamping motor is installed on the bottom left side of the upper support frame, a microcatheter delivery motor support frame for supporting the microcatheter delivery motor is installed below the right side end of the inner cavity of the upper support frame, and a microcatheter delivery motor bracket for stabilizing the microcatheter delivery motor is installed above the right side end of the inner cavity of the upper support frame and below the roller support frame.

[0021] The output end of the microcatheter clamping motor faces upward and is located outside the front end of the upper support frame; the output end of the microcatheter delivery motor faces downward and is fixedly connected to the microcatheter delivery drive gear through the microcatheter delivery motor support frame; and

[0022] The upper end of the active roller shaft is fixedly connected to the roller shaft support frame through a bearing located inside the roller shaft support frame, thereby achieving rotation between the roller shaft support frame and the support frame. The lower end of the active roller shaft is fixedly connected to the bearing located at the bottom of the inner cavity of the upper support frame, thereby achieving rotational connection between the lower end of the active roller shaft and the bottom of the inner cavity of the upper support frame.

[0023] The driven roller shaft is rotatably connected to the "[" shaped rack frame by fixing the upper and lower ends of the driven roller shaft to bearings respectively symmetrically arranged inside the upper and lower racks of the "[" shaped rack frame.

[0024] As an optional embodiment, the guide wire fixing assembly includes a guide wire fixing support frame fixed to the base plate, a fixed base mounted on the upper end of the guide wire fixing support frame, a second guide rail mounted on the rear side of the upper end of the fixed base, a second slider slidably mounted on the second guide rail, a sliding base mounted on the left side of the upper end face of the second slider, a pressing block mounted on the right side of the upper end face of the second slider, a fixing block mounted on the right side of the upper end face of the fixed base and coaxial with the second guide rail, two spring guide rods mounted between the fixed base and the pressing block and with one end penetrating the pressing block outward, a pressing spring sleeved on the spring guide rods and located between the inner wall of the fixed base and the inner wall of the pressing block, a fixed motor mounted on the front end of the fixed base, and a cam fixedly connected to the output end of the fixed motor;

[0025] The sliding base is L-shaped, with one non-fixed end of the sliding base perpendicular to the second guide rail and extending towards the cam, and the cam abutting against the inner side of the sliding base;

[0026] The pressing block is L-shaped, and one end of the pressing block that is not fixedly connected is perpendicular to the second guide rail and extends vertically upward;

[0027] The guidewire used in interventional surgery is inserted into the fixation block.

[0028] As an optional embodiment, the Y-valve fine-tuning assembly includes a fixed frame base fixedly installed at the front end of the guide wire fixing assembly, a fixed shaft passing through the upper end of the fixed frame base and fixed to the fixed frame base, a Y-valve bracket connected to the front end of the fixed shaft, a Y-valve fixing frame fixed to the left side of the upper end of the Y-valve bracket, a movable frame disposed on the right side of the upper end of the Y-valve bracket, a handwheel installed on the outside of the Y-valve fixing frame, and a Y-valve fixed to the top of the Y-valve fixing frame and the movable frame; the Y-valve fixing frame and the movable frame are arranged opposite to each other and are locked and installed by a pair of locking screws, the locking screws are rotatably connected to the Y-valve fixing frame, the locking screws are threadedly fixedly connected to the movable frame, and the end of the locking screws is threadedly connected to the handwheel to lock the handwheel;

[0029] The front end of the fixed shaft extends into the Y valve bracket and is fixedly connected; a microcatheter that penetrates a blood vessel is fixed inside the Y valve, and the microcatheter extends into the guide tube and enters between the active roller and the driven roller.

[0030] As an optional embodiment, the mobile delivery assembly includes a synchronous slide mounted on the base plate and arranged parallel to the drug delivery assembly, a slide block mounted on the synchronous slide, a propulsion motor mounted on the rear end of the synchronous slide and fixed to the base plate, an active synchronous pulley connected to the output end of the propulsion motor, and a second synchronous pulley connected to the active synchronous pulley via a first synchronous belt; the active synchronous pulley is rotatably mounted on an active pulley bracket fixed to the base plate, the second synchronous pulley is rotatably mounted on a second pulley bracket fixed to the base plate, and one end of the second synchronous pulley is connected to the synchronous slide via a synchronous shaft; the other end of the second synchronous pulley is connected to a displacement encoder, and the displacement encoder is mounted on an encoder bracket fixed to the base plate;

[0031] The synchronous slide table includes a slide table housing, a third synchronous pulley and a fourth synchronous pulley rotatably mounted at both ends of the slide table housing, a second synchronous belt connecting the third synchronous pulley and the fourth synchronous pulley, and the slide table slider being fixedly connected to the upper end face of the second synchronous belt.

[0032] As an optional embodiment, the guide wire twisting assembly includes a connecting base plate fixed to the slide block, a main support frame rotatably mounted on the connecting base plate, a delivery pressure sensor mounted on the bottom of the main support frame, a twisting component mounted on the upper end of the main support frame, and a clamping component mounted on the main support frame and connected to the twisting component; when the main support frame rotates, it can press against the delivery pressure sensor, and the delivery pressure sensor can detect the pressure applied to it by the main support frame; wherein

[0033] The twisting component includes a secondary support frame fixed to the rear end of the main support frame, a twisting motor mounted on the front end of the secondary support frame, a twisting drive gear connected to the output shaft of the twisting motor and rotatably connected to the secondary support frame, a twisting driven gear meshing with the twisting drive gear, a slide cylinder coaxially connected to the front end of the twisting driven gear and rotatably fixed to the main support frame, a brass bushing sleeved on the slide cylinder, two bearing shells sleeved on the slide cylinder and located on both sides of the brass bushing, and protective covers connected to the two bearing shells; a gear limiting cap is fixed to the outer end of the twisting driven gear.

[0034] The clamping component includes a clamping screw motor mounting bracket fixedly mounted on the main support frame and located at the lower end of the slide cylinder; a clamping screw motor fixedly mounted on the clamping screw motor mounting bracket; a clamping screw connected to the output end of the clamping screw motor; a third guide rail fixed on the main support frame and located at the front end of the clamping screw motor mounting bracket; a third slider slidably connected to the third guide rail; a clamping push plate fixed to the upper end face of the third slider and fixedly connected to the clamping screw; and a clamping push plate sleeved on the slide cylinder and located at the front end of the clamping push plate. A spring washer, a sliding sleeve fitted on the sliding cylinder and fixedly connected to the front end of the spring washer, a first return spring fitted on the sliding cylinder and located at the rear end of the spring washer, a clamping shaft connected to the front end of the sliding cylinder and located at the front end of the sliding sleeve, an auxiliary fixing frame fixedly connected to the front end of the clamping shaft, a clamping sleeve connected to the auxiliary fixing frame, an upper clamping block and a lower clamping block arranged vertically inside the clamping sleeve, a clamping pressure sensor fixed to the upper end of the lower clamping block, and a second return spring connected between the upper clamping block and the lower clamping block.

[0035] As an optional embodiment, a fixed cylinder is also fixed on the slide cylinder at the rear end of the spring washer, the first return spring is placed inside the fixed cylinder, and one end of the first return spring is connected to the inner wall of the fixed cylinder, and the other end is fixedly connected to the spring washer;

[0036] The clamping sleeve has a guide wire hole at its front end, suitable for the guide wire to pass through. The guide wire passes through the guide wire hole into the clamping sleeve and extends between the clamping pressure sensors on the upper and lower clamping blocks; and

[0037] A first slide cylinder support frame fixed on the main support frame is provided between the third guide rail and the clamping screw motor fixing frame, and a second slide cylinder support frame fixed on the main support frame is provided at the rear end of the clamping screw motor fixing frame; the bearing bushes located at both ends of the brass bushing are respectively installed on the first slide cylinder support frame and the second slide cylinder support frame;

[0038] The front end of the sliding sleeve has four connecting rods evenly distributed around its circumference. After passing through the auxiliary fixing frame, two of the four connecting rods are connected to the upper clamping block and two are connected to the lower clamping block.

[0039] Each of the four corners of the lower end face of the upper clamping block is provided with a limiting post, and each of the upper end faces of the lower clamping block is provided with a limiting groove at the position corresponding to the limiting post.

[0040] The second reset spring is installed at the position of the limiting post and the limiting groove on one side;

[0041] The two sides of the main support frame are rotatably connected to the connecting base plate by a pin.

[0042] As an optional embodiment, one end of the telescopic tube is connected to the guide wire hole on the clamping sleeve, and the other end is connected to the fixing block, with the guide wire placed inside the telescopic tube.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. The present invention uses a drug injection component in conjunction with a Y-valve fine-tuning component to accurately inject embolic drugs while operating the guidewire. Furthermore, various embolic agents can be placed through the syringe holder. When different embolic agents are needed, simply rotate the syringe holder to select them, making it quick and convenient to use.

[0045] 2. In this invention, through the cooperation between the microcatheter clamping assembly, the Y-valve fine-tuning assembly, the guidewire fixing assembly, the guidewire twisting assembly, and the moving delivery assembly, the execution device of this invention is able to continuously and time-divisionally deliver the guidewire and microcatheter, while simultaneously completing circumferential rotation, and can detect the resistance at the tip of the guidewire in a timely and rapid manner, so that the guidewire can enter the target blood vessel more accurately.

[0046] 3. After use, the guidewire can be disassembled, cleaned, or replaced, which better meets the requirements of clinical use. Attached Figure Description

[0047] Figure 1 This is an overall structural diagram of this embodiment;

[0048] Figure 2 This is a schematic diagram of the microcatheter delivery clamping assembly structure in this embodiment;

[0049] Figure 3 This is a schematic diagram of the back structure of the microcatheter delivery clamping assembly in this embodiment;

[0050] Figure 4 This is a schematic diagram of the internal structure of the microcatheter delivery clamping assembly in this embodiment;

[0051] Figure 5 This is a schematic diagram of the guidewire fixation assembly structure in this embodiment;

[0052] Figure 6 This is a schematic diagram of the Y-valve fine-tuning component structure in this embodiment;

[0053] Figure 7 This is a schematic diagram of the drug delivery component structure in this embodiment;

[0054] Figure 8 This is a schematic diagram of the syringe connection component of the drug injection assembly in this embodiment;

[0055] Figure 9This is a right-side structural diagram of the drug delivery component in this embodiment;

[0056] Figure 10 This is a schematic diagram of the guide wire twisting assembly and the moving delivery assembly in this embodiment;

[0057] Figure 11 This is a schematic diagram of the guide wire twisting assembly in this embodiment;

[0058] Figure 12 This is a right-side structural diagram of the guide wire twisting assembly in this embodiment.

[0059] Figure 13 This is a schematic diagram of the clamping component of the guide wire twisting assembly in this embodiment;

[0060] Figure 14 This is a schematic diagram of the internal structure of the clamping sleeve in this embodiment;

[0061] Figure 15 This is a schematic diagram of the first reset spring structure in this embodiment;

[0062] Figure 16 This is a schematic diagram of the mobile delivery component structure in this embodiment;

[0063] Figure 17 This is a schematic diagram of the internal structure of the synchronous slide in this embodiment;

[0064] Figure 18 This is a schematic diagram of the control system structure in this embodiment;

[0065] Figure 19 This is a schematic diagram of the force feedback of the delivery pressure sensor in this embodiment.

[0066] In the figure: Microcatheter delivery clamping assembly 100, lower support frame 110, upper support frame 120, back plate 130, microcatheter clamping motor 141, microcatheter clamping gear 142, rack frame 143, first guide rail 144, first slider 145, slide rail connecting frame 146, microcatheter clamping motor bracket 147, microcatheter delivery motor 151, microcatheter delivery drive gear 152, microcatheter delivery driven gear 153, drive roller 154, drive roller 155, driven roller 156, driven roller 157, microcatheter delivery motor support frame 158, microcatheter delivery motor bracket 159, roller support frame 1510, guide tube 1511, Y valve fine-tuning assembly 200, fixed frame base 210, fixed shaft 220, Y valve bracket 230, Y valve fixed frame 240, moving frame 250, Y valve 260, locking screw 270, handwheel 280;The components include: wire fixing assembly 300, wire fixing support frame 310, fixing base 320, second guide rail 330, second slider 340, sliding base 350, pressing block 360, fixing block 370, spring guide rod 380, pressing spring 390, fixing motor 3100, cam 3110, wire twisting assembly 400, connecting base plate 410, main support frame 420, delivery pressure sensor 430, magnet block 440, protective cover 450, bearing bush 460, twisting motor 4701, auxiliary support frame 4702, twisting drive gear 4703, and twisting driven gear. Wheel 4704, slide cylinder 4705, brass bushing 4706, gear limit cap 4707, clamping screw motor 4801, clamping screw 4802, clamping screw motor fixing bracket 4803, third guide rail 4804, third slider 4805, clamping push plate 4806, first return spring 4807, spring washer 4808, slide sleeve 4809, clamping shaft 4810, auxiliary fixing bracket 4811, clamping sleeve 4812, upper clamping block 4813, lower clamping block 4814, clamping pressure sensor 4815, second return spring 4816, limit post 4817, Limiting groove; 4818, Fixed cylinder; 4819, Pin shaft; 490, Fixed connector; 4100, Moving delivery assembly; 500, Synchronous slide; 510, Third synchronous pulley; 511, Fourth synchronous pulley; 512, Second synchronous belt; 513, Slide housing; 514, Slide slider; 520, Propulsion motor; 530, Displacement encoder; 540, Active synchronous pulley; 550, First synchronous belt; 560, Second synchronous pulley; 570, Pulley bracket; 580, Encoder bracket; 590, Control system; 600, Injection assembly; 700, Injection motor; 7101, Injection Instrument bracket 7102, injection shaft 7102a, injection turntable frame 7102b, syringe tablet press 7103, embolization syringe 7104, injection encoder 7105, injection motor support frame 7106, syringe bracket support frame 7107, propulsion support frame 7201, injection screw motor 7202, injection screw 7203, fourth guide rail 7204, fourth slider 7205, load push plate 7206, electric push rod 7301, push rod frame 7302, push rod push plate 7303, medical hose 7304, base plate 800, telescopic tube 900. Detailed Implementation

[0067] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0068] Example 1

[0069] Reference Figures 1 to 19As shown, a minimally invasive interventional surgical robot execution device for liver cancer treatment includes a base plate 800, a microcatheter delivery and clamping assembly 100 mounted at the front end of the base plate 800, a Y-valve fine-tuning assembly 200 mounted on the base plate 800 and located behind the microcatheter delivery and clamping assembly 100, a guidewire fixing assembly 300 mounted on the base plate 800 and connected to the rear of the Y-valve fine-tuning assembly 200, a moving delivery assembly 500 mounted on the base plate 800 and located behind the guidewire fixing assembly 300, a guidewire twisting assembly 400 mounted on the moving delivery assembly 500, a drug injection assembly 700 mounted on the base plate 800 and located on one side of the guidewire twisting assembly 400, a telescopic tube 900 connected between the guidewire twisting assembly 400 and the guidewire fixing assembly 300, and a control system 600 mounted on the base plate 800 and located on the other side of the guidewire twisting assembly 400.

[0070] Specifically, refer to Figures 7 to 9 As shown, the injection assembly 700 includes a syringe selection component mounted on a base plate 800, a syringe propulsion component mounted on the base plate 800 and located on one side of the syringe selection component, and an injection connection component mounted on the base plate 800 and located on the front side of the syringe selection component.

[0071] The syringe selection component includes an injection motor 7101 fixed to the rear end of the upper surface of the base plate 800, a syringe holder 7102 connected to the output end of the injection motor 7101, an embolic syringe mounted on the syringe holder 7102, and an injection encoder 7105 connected to the other end of the syringe holder 7102.

[0072] The syringe propulsion component includes a propulsion support frame 7201 arranged parallel to the injection motor 7101, an injection screw motor 7202 fixed to the rear end of the propulsion support frame 7201, an injection screw 7203 connected to the rear end of the injection screw motor 7202, a fourth guide rail 7204 fixed to the upper end face of the front end of the propulsion support frame 7201, a fourth slider 7205 slidably connected to the fourth guide rail 7204, and a load push plate 7206 with one end fixed to the fourth slider 7205 and the other end fixed to the injection screw 7203. The load push plate 7206 is used to push the embolization syringe 7104. The propulsion support frame 7201 has a rear-high, front-low structure, meaning the end where the injection screw motor 7202 is mounted is higher, and the end where the fourth guide rail 7204 is mounted is lower. Furthermore, the end of the propulsion support frame 7201 where the injection screw motor 7202 is installed is provided with an injection screw motor 7202 support frame for supporting the injection screw motor 7202.

[0073] Reference Figure 8As shown, the injection connection component includes a push rod frame 7302 arranged side by side with the injection encoder 7105 and fixed on the base plate 800, an electric push rod 7301 fixed on the push rod frame 7302, a push rod push plate 7303 connected to the extended end of the electric push rod 7301, and a medical tubing 7304 that passes through and is fixed to the upper end of the push rod push plate 7303.

[0074] In this preferred embodiment, the drug injection assembly 700 further includes a drug injection motor support frame 7106 fixed on the base plate 800 for supporting the drug injection motor 7101, two syringe bracket support frames 7107 fixed on the base plate 800 for supporting the syringe bracket 7102, and a drug injection encoder support frame fixed on the base plate 800 for supporting the drug injection encoder 7105.

[0075] The syringe holder 7102 includes an injection shaft 7102a connected to the output end of the injection motor 7101 and rotatably mounted on two syringe holder supports 7107, an injection turntable 7102b fixed to the injection shaft 7102a for mounting the embolic syringe 7104, and a syringe clamp 7103 mounted on the injection turntable 7102b for fixing the embolic syringe 7104.

[0076] A drug injection screw nut, suitable for threaded connection with the drug injection screw 7203, is fixed at the upper end of the load push plate 7206. The drug injection screw 7203 extends out after passing through the upper end of the load push plate 7206 and is located inside the embolization injector 7104, without contacting the embolization injector 7104. After the drug injection screw motor 7202 is started, it drives the drug injection screw 7203 to rotate, and at the same time drives the load push plate 7206 to move forward along the fourth guide rail 7204 and then abut against the tail of the embolization injector 7104, squeezing and pushing the embolization injector 7104 to inject.

[0077] In addition, the head of the medical tubing 7304 is connected to the head of the embolization syringe 7104, and the tail of the medical tubing 7304 is connected to the Y valve 260 via a tubing.

[0078] In this embodiment, optionally, six syringes can be placed on the injection turntable 7102b.

[0079] The working principle of the drug injection component 700 in this embodiment is as follows:

[0080] Six syringes are fixed by an injection turntable frame 7102b and a syringe clamp 7103. When an embolic agent needs to be injected, the injection motor 7101 starts, and the rotation of the output shaft drives the entire syringe holder 7102 to rotate, thereby selecting one syringe to rotate to the appropriate position. Then, the injection screw motor 7202 starts working, and its output end drives the injection screw 7203 to rotate. Since the injection screw 7203 is connected to the injection screw nut on the load push plate 7206, the rotation of the screw causes the injection screw nut to move, thereby driving the load push plate 7206 to move forward. The load push plate 7206 compresses and pushes the syringe to inject. An injection encoder 7105 is installed at the rear of the syringe holder 7102 to collect the rotation angle parameters of the syringe holder 7102. The injection connection assembly is connected to the pusher plate 7303 via an electric pusher 7301. The electric pusher 7301 pushes the pusher plate 7303 to move the medical tubing 7304, thereby precisely aligning the head of the medical tubing 7304 with the head of the syringe. The tail of the medical tubing 7304 is also connected to another tubing via a connector, and then connected to the microcatheter inside the Y valve 260, thereby completing the injection of the embolic agent.

[0081] In this embodiment, preferably, refer to Figures 2 to 4 As shown, the microcatheter delivery clamping assembly 100 includes a lower support frame 110 mounted and fixed on a base plate 800, an upper support frame 120 connected to the upper end of the lower support frame 110, a back plate 130 connected to the back of the upper support frame 120, a microcatheter clamping component mounted on the left side inside the upper support frame 120, and a microcatheter delivery component mounted on the right side inside the upper support frame 120.

[0082] Reference Figure 2 , Figure 3 and Figure 4 As shown, the microcatheter clamping component includes a microcatheter clamping motor 141 mounted on the front end of the bottom left side of the upper support frame 120, a microcatheter clamping gear 142 connected to the output end of the microcatheter clamping motor 141, a first guide rail 144 fixed to the bottom surface of the inner cavity of the upper support frame 120 and located behind the microcatheter clamping motor 141, a first slider 145 slidably connected to the first guide rail 144, a slide rail connecting frame 146 fixed to the first slider 145, and a "["-shaped rack frame 143 fixed to the upper end of the slide rail connecting frame 146; the lower end of the "["-shaped rack frame 143 is a rack that meshes with the microcatheter clamping gear 142.

[0083] The microcatheter delivery component includes a microcatheter delivery motor 151 mounted on the front right side of the upper support frame 120, a microcatheter delivery drive gear 152 connected to the output end of the microcatheter delivery motor 151, a roller support frame 1510 mounted on the upper right side of the upper support frame 120, a drive roller 154 rotatably connected to the roller support frame 1510 and the bottom of the inner cavity of the upper support frame 120, and a microcatheter delivery device fixedly connected to the lower end of the drive roller 154 and meshing with the microcatheter delivery drive gear 152. Driven gear 153, driven roller shaft 156 rotatably connected between the inner cavities of "["-shaped rack frame 143 and parallel to the drive roller shaft 154, drive roller 155 fixed to the upper end of drive roller shaft 154, driven roller 157 fixed to the upper end of driven roller shaft 156 and flush with drive roller 155; and guide tube 1511 connected to the middle of back plate 130 facing the middle position of drive roller 155 and driven roller 157, that is, driven roller 157 and drive roller 155 are at the same level.

[0084] In addition, a microcatheter clamping motor bracket 147 for supporting the microcatheter clamping motor 141 is installed on the bottom left side of the upper support frame 120; a microcatheter delivery motor support frame 158 for supporting the microcatheter delivery motor 151 is installed below the right side end of the inner cavity of the upper support frame 120; and a microcatheter delivery motor bracket 159 for stabilizing the microcatheter delivery motor 151 is installed above the right side end of the inner cavity of the upper support frame 120 and below the roller support frame 1510. The microcatheter clamping motor bracket 147, the microcatheter delivery motor support frame 158, and the microcatheter delivery motor bracket 159 are all installed on the upper support frame 120 by screws and nuts.

[0085] The output end of the microcatheter clamping motor 141 faces upward and is located on the outside of the front end of the upper support frame 120; the output end of the microcatheter delivery motor 151 faces downward and is fixedly connected to the microcatheter delivery drive gear 152 through the microcatheter delivery motor support frame 158.

[0086] The upper end of the active roller 154 is fixedly connected to the roller support frame 1510 through a bearing located inside the roller support frame 1510, thereby achieving rotation between the roller support frame 1510 and the roller support frame 1510. The lower end of the active roller 154 is fixedly connected to the bearing located inside the bottom of the upper support frame 120, thereby achieving rotational connection between the roller 154 and the bottom of the upper support frame 120.

[0087] The driven roller shaft 156 is rotatably connected to the rack frame 143 by bearings fixedly connected to the upper and lower ends of the driven roller shaft 156 to the rack frame 143, respectively, which are symmetrically arranged inside the upper and lower racks. The upper side of the rack frame 143 is on the same horizontal plane as the roller shaft support frame 1510.

[0088] In this embodiment, the working principle of the microcatheter delivery clamping assembly 100 is as follows:

[0089] The rotation of the microcatheter clamping motor 141 drives the rotation of the microcatheter clamping gear 142. Since the rack at the lower end of the rack frame 143 meshes with the microcatheter clamping gear 142, the microcatheter clamping gear 142 drives the rack frame 143 to move. Because the rack frame 143 is slidably mounted on the first guide rail 144 via the first slider 145, the rack frame 143 moves along the first guide rail 144. Since the driven roller shaft 156 is installed inside the rack frame 143, the driven roller shaft 156 moves along with the rack frame 143. Similarly, the driven roller 157 also moves with the rack frame 143, thus realizing the movement of the driven roller 157. The distance between roller 157 and drive roller 155 is adjusted to achieve the function of loosening and pressing the microcatheter. The rotation of microcatheter delivery motor 151 drives the rotation of microcatheter delivery drive gear 152, which in turn drives the rotation of microcatheter delivery driven gear 153 meshing with microcatheter delivery drive gear 152. This, in turn, drives the rotation of drive roller 155, which is fixedly connected to microcatheter delivery driven gear 153. Thus, after the microcatheter is pressed between drive roller 155 and driven roller 157, the microcatheter is delivered by rotating drive roller 155, causing the microcatheter to move forward. When drive roller 155 presses the microcatheter and rotates, driven roller 157 will also rotate accordingly.

[0090] In this embodiment, preferably, refer to Figure 5As shown, the guide wire fixing assembly 300 includes a guide wire fixing support frame 310 fixed on the base plate 800, a fixing base 320 fixed on the upper end of the guide wire fixing support frame 310, a second guide rail 330 mounted on the rear side of the upper end of the fixing base 320, a second slider 340 slidably mounted on the second guide rail 330, a sliding base 350 mounted on the left side of the upper end face of the second slider 340, a pressing block 360 mounted on the right side of the upper end face of the second slider 340, and a fixing base 350 mounted on the fixing base 800. The system includes a fixed block 370 on the right side of the upper end face of the 20 and coaxial with the second guide rail 330; two spring guide rods 380 installed between the fixed base 320 and the pressing block 360, with one end penetrating the pressing block 360 outwards; a pressing spring 390 sleeved on the spring guide rods 380 and located between the inner wall of the fixed base 320 and the inner wall of the pressing block 360; a fixed motor 3100 installed at the front end of the fixed base 320; and a cam 3110 fixedly connected to the output end of the fixed motor 3100. Since the cam 3110 has varying diameters, when the cam 3110 rotates, if the diameter increases, it will push the sliding base 350 away from the fixed block 370. When the cam 3110 rotates, if the diameter decreases, the sliding base 350 will move towards the fixed block 370 under the action of the pressing spring 390, pressing the pressing block 360 against the fixed block 370. Among them, the spring guide rod 380 does not affect the pressing block 360 to press the fixing block 370.

[0091] The sliding base 350 is L-shaped. One end of the sliding base 350 that is not fixedly connected is perpendicular to the second guide rail 330 and extends toward the cam 3110. The cam 3110 is close to the inner side of the sliding base 350. The L-shaped structure of the sliding base 350 facilitates the cam 3110 to push the sliding base 350.

[0092] The pressing block 360 is L-shaped, and the non-fixed end of the pressing block 360 is perpendicular to the second guide rail 330 and extends vertically upward.

[0093] The guide wire used in interventional surgery is inserted into the fixing block 370. The guide wire passes through the front end of the fixing block 370 outward. The front end of the fixing block 370 is provided with a circular hole for the guide wire to pass through, and the front end of the fixing block 370 extends out of the front end of the pressing block 360. The pressing block 360 is in contact with the inner surface of the fixing block 370 under the action of the pressing spring 390.

[0094] The working principle of the guide wire fixing assembly 300 in this embodiment is as follows:

[0095] When the guide wire needs to be delivered for the first stroke, the guide wire fixing assembly 300 rotates via the cam 3110. The increased diameter of the cam 3110 pushes the sliding base 350 to slide along the second guide rail 330, causing the pressing block 360 to loosen from the fixing block 370 and thus releasing the guide wire. At the same time, the clamping assembly clamps the guide wire, and the moving delivery assembly 500 moves the guide wire twisting assembly 400 forward. When the guide wire needs to be delivered for the next stroke, the motor is started. Under the movement of the decreasing diameter of the cam 3110, the sliding base 350 moves closer to the fixing block 370, simultaneously causing the pressing block 360 to move to the right closer to the fixing block 370. The guide wire passes through the fixing block 370, thus completing the guide wire fixing. At the same time, the clamping assembly releases the guide wire, and the moving delivery assembly 500 moves the guide wire twisting assembly 400 backward. Then, the guide wire is delivered for the second stroke, and this process is repeated.

[0096] In this embodiment, preferably, refer to Figure 6 As shown, the Y-valve fine-tuning assembly 200 includes a fixed frame base 210 fixedly installed at the front end of the guide wire fixing assembly 300, a fixed shaft 220 passing through the upper end of the fixed frame base 210 and fixed to the fixed frame base 210, a Y-valve bracket 230 connected to the front end of the fixed shaft 220, a Y-valve fixing frame 240 fixed to the upper left side of the Y-valve bracket 230, a movable frame 250 located on the upper right side of the Y-valve bracket 230, a handwheel 280 installed on the outside of the Y-valve fixing frame 240, and a Y-valve fixing frame 250. The Y-valve 260 is located at the top of the fixed frame 240 and the movable frame 250. A guidewire passes through the fixed block 370 and connects to the Y-valve 260. The Y-valve fixed frame 240 and the movable frame 250 are positioned opposite each other and are locked in place by locking screws 270. The locking screws 270 are rotatably connected to the Y-valve fixed frame 240 and threadedly connected to the movable frame 250. The end of the locking screw 270 is threadedly connected to a handwheel 280 to lock the handwheel 280. The handwheel 280 is used to adjust the orientation angle of the Y-valve fixed frame 240, allowing doctors to fine-tune the Y-valve 26064 and make adjustments for any unexpected situations encountered during guidewire movement in the blood vessel.

[0097] The front end of the fixed shaft 220 extends into the Y valve bracket 230 for fixed connection; a microcatheter that penetrates the blood vessel is fixed inside the Y valve 260, and the microcatheter extends into the guide tube 1511 and enters between the active roller 155 and the driven roller 157.

[0098] In this embodiment, the working principle of the Y-valve fine-tuning component 200 is as follows:

[0099] Y-valve 260 is used to fix the microcatheter inserted into the blood vessel, allowing the guidewire to better intervene in the blood vessel. Handwheel 280 is used to fine-tune the orientation and angle of Y-valve fixation frame 240, facilitating fine-tuning of the guidewire. Movable frame 250 is detachable from Y-valve fixation frame 240 (Y-valve fixation frame 240 can be removed after loosening the locking screw), facilitating postoperative disinfection of the guidewire.

[0100] In this embodiment, preferably, refer to Figure 10 , Figure 16 and Figure 17 As shown, the mobile delivery assembly 500 includes a synchronous slide 510 mounted on a base plate 800 and arranged parallel to the drug delivery assembly 700, a slide block 520 mounted on the synchronous slide 510, a propulsion motor 530 mounted at the rear end of the synchronous slide 510 and fixed on the base plate 800, an active synchronous pulley 550 connected to the output end of the propulsion motor 530, and a second synchronous pulley 570 connected to the active synchronous pulley 550 via a first synchronous belt 560; the active synchronous pulley 550 is rotatably mounted on an active pulley bracket 580 fixed on the base plate 800, and the second synchronous pulley 570 is rotatably mounted on a second pulley bracket 580 fixed on the base plate 800, with one end of the second synchronous pulley 570 connected to the synchronous slide 510 via a synchronous shaft; the other end of the second synchronous pulley 570 is connected to a displacement encoder 540, which is mounted on an encoder bracket 590 fixed on the base plate 800.

[0101] Reference Figure 17 As shown, the synchronous slide table 510 includes a slide table housing 514, a third synchronous pulley 511 and a fourth synchronous pulley 512 rotatably mounted at both ends of the slide table housing 514, a second synchronous belt 513 connecting the third synchronous pulley 511 and the fourth synchronous pulley 512, a slide table slider 520 fixedly connected to the upper end face of the second synchronous belt 513, and a second synchronous pulley 570 coaxially connected to the third synchronous pulley 511.

[0102] In this embodiment, the working principle of the mobile delivery component 500 is as follows:

[0103] The rotation of the drive motor 530 causes the drive synchronous pulley 550 to drive the second synchronous pulley 570 to rotate. Since the second synchronous pulley 570 is coaxially connected to the third synchronous pulley 511, the rotation of the second synchronous pulley 570 drives the third synchronous pulley 511 to rotate, which in turn drives the rotation of the fourth pulley through the second synchronous belt 513. Since the slide block 520 is fixedly connected to the second synchronous belt 513, the slide block 520 moves along with the rotation of the drive synchronous pulley 550, pushing the guide wire twisting assembly 400 to move. The position of the guide wire twisting assembly 400 can be accurately determined by the displacement encoder 540 coaxially set at the rear end of the second synchronous pulley 570.

[0104] In this embodiment, preferably, refer to Figures 11 to 15 As shown, the guide wire twisting assembly 400 includes a connecting base plate 410 fixed to the slide block 520, a main support frame 420 rotatably mounted on the connecting base plate 410, a delivery pressure sensor 430 mounted on the bottom of the main support frame 420, a twisting component mounted on the upper end of the main support frame 420, and a clamping component mounted on the main support frame 420 and connected to the twisting component. When the main support frame 420 rotates, it can press against the delivery pressure sensor 430, and the delivery pressure sensor 430 can detect the pressure applied to it by the main support frame 420. Both sides of the main support frame 420 are rotatably connected to the connecting base plate 410 via a pin 490.

[0105] The two sides of the main support frame 420 are rotatably connected to the connecting base plate 410 by a pin 490.

[0106] Reference Figure 19 As shown, the force feedback function is implemented as follows: When the guidewire is delivered forward and encounters resistance upon contact with the blood vessel wall, the main support frame 420 will rotate slightly via the pin 490 connected to the connecting base plate 410, thereby contacting the delivery pressure sensor 430 under the main support frame 420. This amplifies the resistance parameter of the actuator through the lever principle and feeds it back to the control system 600. At the same time, the position parameter is also fed back to the control system 600 via the encoder in the moving delivery component 500.

[0107] The twisting component includes a secondary support frame 4702 fixed to the rear end of the main support frame 420, a twisting motor 4701 mounted on the front end of the secondary support frame 4702, a twisting drive gear 4703 connected to the output shaft of the twisting motor 4701 and rotatably connected to the secondary support frame 4702, a twisting driven gear 4704 meshing with the twisting drive gear 4703, a slide cylinder 4705 coaxially connected to the front end of the twisting driven gear 4704 and rotatably fixed to the main support frame 420, a brass bushing 4706 sleeved on the slide cylinder 4705, two bearing shells 460 sleeved on the slide cylinder 4705 and located on both sides of the brass bushing 4706, and a protective cover 450 connected to the two bearing shells 460; a gear limiting cap 4707 is fixed to the outer end of the twisting driven gear 4704; the other end of the slide cylinder 4705 is connected to a clamping component.

[0108] A brass bushing 4706 is fitted onto the slide cylinder 4705. Magnet blocks 440 are provided at the four corners of the front, rear, left, and right ends of the protective cover 450. The protective cover 450 is attracted to the front and rear bearings 460 by the magnet blocks 440, thereby fixing it to the sleeve. The bearings 460 and the brass bushing 4706 can effectively reduce the friction of the slide cylinder 4705 during rotation.

[0109] The clamping components include a clamping screw motor mounting bracket 4803 fixedly mounted on the main support frame 420 and located at the lower end of the slide cylinder 4705; a clamping screw motor 4801 fixedly mounted on the clamping screw motor mounting bracket 4803; a clamping screw 4802 connected to the output end of the clamping screw motor 4801; a third guide rail 4804 fixed on the main support frame 420 and located at the front end of the clamping screw motor mounting bracket 4803; a third slider 4805 slidably connected to the third guide rail 4804; a clamping push plate 4806 fixed to the upper end face of the third slider 4805 and fixedly connected to the clamping screw 4802; a spring washer 4808 sleeved on the slide cylinder 4705 and located at the front end of the clamping push plate 4806; and a spring washer 4808 sleeved on the slide cylinder 4705. The slide sleeve 4809 is fixedly connected to the front end of the spring washer 4808 on the slide cylinder 4705, the first return spring 4807 is sleeved on the slide cylinder 4705 and located at the rear end of the spring washer 4808, the clamping shaft 4810 is connected to the front end of the slide cylinder 4705 and located at the front end of the slide sleeve 4809, the auxiliary fixing frame 4811 is fixedly connected to the front end of the clamping shaft 4810, the clamping sleeve 4812 is connected to the auxiliary fixing frame 4811, the upper clamping block 4813 and the lower clamping block 4814 are arranged vertically inside the clamping sleeve 4812, the clamping pressure sensor 4815 is fixed to the upper end of the lower clamping block 4814, and the second return spring 4816 is connected between the upper clamping block 4813 and the lower clamping block 4814.

[0110] Because the guide wires have different diameters, a clamping pressure sensor 4815 is installed between the upper clamping block 4813 and the lower clamping block 4814 to prevent the guide wires from being clamped too tightly or too loosely. When the clamping screw motor 4801 rotates and clamps the guide wire, the clamping pressure sensor 4815 can detect the clamping force on the guide wire. If the clamping force reaches the set pressure threshold, the clamping screw motor 4801 stops rotating, so that the upper clamping block 4813 and the lower clamping block 4814 will not further clamp the guide wire.

[0111] Optionally, the clamping pressure sensor 4815 is also equipped with a silicone pad to increase the friction on the catheter and reduce the stress on the catheter.

[0112] A clamping nut is fixedly connected to the clamping push plate 4806, and the clamping screw 4802 is threadedly connected to the clamping nut, and the clamping screw 4802 passes through the clamping push plate 4806 outward.

[0113] In addition, refer to Figure 14 and Figure 15As shown, a fixed cylinder 4819 is also fixed on the slide cylinder 4705 at the rear end of the spring washer 4808. The first return spring 4807 is placed inside the fixed cylinder 4819, with one end of the first return spring 4807 connected to the inner wall of the fixed cylinder 4819 and the other end fixedly connected to the spring washer 4808. When the clamping push plate 4806 pushes the spring washer 4808 forward, one end of the first return spring 4807 follows the spring washer 4808 forward, while the other end remains fixed inside the fixed cylinder 4819. When the clamping push plate 4806 does not push the spring washer 4808, the first return spring 4807 pulls the spring washer 4808 back by its tension. Since the slide sleeve 4809 is fixed to the spring washer 4808, the slide sleeve 4809 drives the upper clamping block 4813 and the lower clamping block 4814 to reset together.

[0114] A guide wire hole is provided at the middle of the front end of the clamping sleeve 4812, which is suitable for the guide wire to pass through. The guide wire passes through the guide wire hole, enters the clamping sleeve 4812, and extends between the clamping pressure sensor 4815 on the upper clamping block 4813 and the lower clamping block 4814.

[0115] A first slide cylinder support frame fixed on the main support frame 420 is provided between the third guide rail 4804 and the clamping screw motor fixing frame 4803. A second slide cylinder support frame fixed on the main support frame 420 is provided at the rear end of the clamping screw motor fixing frame 4803. The bearing bushes 460 at both ends of the brass bushing 4706 are respectively installed on the first slide cylinder support frame and the second slide cylinder support frame to support and fix the slide cylinder 4705.

[0116] The front end of the sliding sleeve 4809 has four connecting rods evenly distributed around its circumference. After passing through the auxiliary fixing frame 4811, two of the four connecting rods are connected to the upper clamping block 4813, and two are connected to the lower clamping block 4814.

[0117] Reference Figure 14 As shown, a limiting post 4817 is provided at each of the four corners of the lower end face of the upper clamping block 4813, and a limiting groove 4818 is provided at the position of the limiting post 4817 on the upper end face of the lower clamping block 4814.

[0118] The second return spring 4816 is installed at the position of the limiting post 4817 and the limiting groove 4818 on one side.

[0119] Preferably, multiple second reset springs 4816 can be provided and arranged at the positions of each limiting post 4817 and limiting groove 4818.

[0120] Optionally, the upper clamping block 4813 and the lower clamping block 4814 are disposable finished products that can be replaced along with the guidewire after the operation to ensure cleanliness.

[0121] Specifically, the auxiliary fixing frame 4811 includes a left frame and a right frame. The left frame and the right frame are connected and fastened by a buckle set at the top and bottom respectively. The middle part of the left frame and the right frame are fixedly connected to the clamping shaft 4810. The main body of the secondary support frame 4702 is an H-shaped structure. The twisting drive gear 4703 is located in the upper groove of the "H"-shaped main body of the secondary support frame 4702 and is arranged in parallel with the twisting driven gear 4704.

[0122] A fixed connector 4100 is connected between the front end of the clamping sleeve 4812 and the connecting base plate 410. The front end of the fixed connector 4100 is fixed to the telescopic tube 900.

[0123] In this embodiment, the working principle of the guide wire twisting assembly 400 is as follows:

[0124] When guidewire twisting is required: When the push motor 530 is working, the synchronous slide 510 drives the guidewire twisting assembly 400 to move forward. When the guidewire needs to be rotated at the bifurcation of the blood vessel, the twisting motor 4701 rotates. Through the meshing of the twisting drive gear 4703 and the twisting driven gear 4704, the slide cylinder 4705 is driven to rotate, thereby driving the clamping component rotatably connected to the slide cylinder 4705 to rotate, so that the guidewire completes the rotational movement.

[0125] When guide wire clamping is required: When guide wire clamping / releasing is required, the clamping screw motor 4801 starts working, driving the clamping push plate 4806 to push the spring washer 4808 forward via the third guide rail 4804 and the third slider 4805, thereby pushing the sliding sleeve 4809 forward. The upper clamping block 4813 and the lower clamping block 4814 follow the sliding sleeve 4809 forward via the connecting rod connected to the sliding sleeve 4809. The clamping sleeve 4812 and the auxiliary fixing bracket 4811 are fixed to the connecting base plate 410 and the sliding cylinder 4705 respectively. Since the relative positions of the sliding cylinder 4705 and the connecting base plate 410 remain unchanged, With the clamping sleeve 4812 remaining in position, the upper clamping block 4813 and the lower clamping block 4814 move forward together into the clamping sleeve 4812. Due to the wedge-shaped structure of the clamping sleeve 4812 and the upper and lower clamping blocks 4813 and 4814, the upper and lower clamping blocks 4813 and 4814 slide along the wedge-shaped sliding surface inside the clamping sleeve 4812. This causes the distance between the upper and lower clamping blocks 4813 and 4814 to decrease as they move forward, and the corresponding limiting post 4817 inserts into the corresponding limiting groove 4818, thereby clamping the guide wire. Simultaneously, a pressure sensor is provided on the lower clamping block 4814 to effectively sense the clamping pressure. When the pressure threshold is reached, the lead screw motor stops rotating, preventing further clamping of the guide wire.

[0126] When the guide wire needs to be released, the lead screw motor reverses to reset the clamping push plate 4806. Due to the action of the first reset spring 4807, the spring washer 4808 is pulled to reset, causing the sliding sleeve 4809 fixed to the spring washer 4808 to reset backward. This causes the upper clamping block 4813 and the lower clamping block 4814 to move towards the rear end of the clamping sleeve 4812. The upper clamping block 4813 and the lower clamping block 4814 are reset by the spring reset action of the second reset spring 4816 between them. The distance between the upper clamping block 4813 and the lower clamping block 4814 increases, thereby releasing the guide wire.

[0127] Preferably, one end of the telescopic tube 900 is connected to the guide wire hole on the clamping sleeve 4812, and the other end is connected to the fixing block 370, with the guide wire placed inside the telescopic tube 900.

[0128] In this embodiment, the overall working process is as follows: When installing the guide wire, the lead screw motor reverses to reset the clamping push plate 4806. Due to the action of the first reset spring 4807, the spring washer 4808 is pulled to reset, causing the sliding sleeve 4809 fixed to the spring washer 4808 to reset backward. This causes the upper clamping block 4813 and the lower clamping block 4814 to move towards the rear end of the clamping sleeve 4812. The upper clamping block 4813 and the lower clamping block 4814 are reset by the spring reset action of the second reset spring 4816 between them. The distance between the upper clamping block 4813 and the lower clamping block 4814 increases, thereby allowing the guide wire to be inserted from the front end of the clamping sleeve 4812 into the upper clamping block 4813 and the lower clamping block 4814. Between the lower clamping blocks 4814, the clamping screw motor 4801 starts working, and drives the clamping push plate 4806 to push the spring washer 4808 forward through the third guide rail 4804 and the third slider 4805, thereby pushing the sliding sleeve 4809 forward. The upper clamping block 4813 and the lower clamping block 4814 follow the sliding sleeve 4809 forward through the connecting rod connected to the sliding sleeve 4809. The upper clamping block 4813 and the lower clamping block 4814 move forward together into the clamping sleeve 4812, so that the distance between the upper clamping block 4813 and the lower clamping block 4814 decreases due to the forward movement of the upper clamping block 4813 and the lower clamping block 4814, so that the guide wire is clamped. The guidewire is rotated and delivered by the guidewire twisting assembly 400 in conjunction with the moving delivery assembly 500 and the guidewire fixing assembly 300. The embolization agent is injected into the guidewire by the Y-valve fine-tuning assembly 200 and the drug injection assembly 700. The microcatheter and guidewire are delivered into the target blood vessel by the microcatheter clamping assembly.

[0129] The inner cavity of the slide cylinder 4705 is provided with a cavity suitable for the guide wire to pass through. After the guide wire enters the upper clamping block 4813 and the lower clamping block 4814, it enters the cavity inside the slide cylinder 4705 and extends backward to be able to extend out of the slide cylinder 4705, providing sufficient length for the continuous delivery of the guide wire.

[0130] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0131] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0132] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A minimally invasive interventional surgical robot execution device for the treatment of liver cancer, characterized in that, Includes a base plate (800), a microcatheter delivery clamping assembly (100) mounted on the front end of the base plate (800), a Y-valve fine-tuning assembly (200) mounted on the base plate (800) and located behind the microcatheter delivery clamping assembly (100), a guidewire fixing assembly (300) mounted on the base plate (800) and connected to the rear of the Y-valve fine-tuning assembly (200), and a movable delivery device mounted on the base plate (800) and located behind the guidewire fixing assembly (300). The mobile delivery assembly (500), the guide wire twisting assembly (400) mounted on the mobile delivery assembly (500), the drug injection assembly (700) mounted on the base plate (800) and located on one side of the guide wire twisting assembly (400), the telescopic tube (900) connected between the guide wire twisting assembly (400) and the guide wire fixing assembly (300), and the control system (600) mounted on the base plate (800) and located on the other side of the guide wire twisting assembly (400); The injection assembly (700) includes a syringe selection component mounted on the base plate (800), a syringe propulsion component mounted on the base plate (800) on one side of the syringe selection component for advancing the syringe selection component, and an injection connection component mounted on the base plate (800) on one side of the syringe selection component connected to the syringe selection component at the front of the syringe selection component. The syringe selection component includes an injection motor (7101) fixed to the rear end of the upper surface of the base plate (800), a syringe bracket (7102) connected to the output end of the injection motor (7101), an embolic syringe (7104) disposed on the syringe bracket (7102), and an injection encoder (7105) connected to the other end of the syringe bracket (7102). The syringe propulsion component includes a propulsion support frame (7201) arranged parallel to the injection motor (7101), an injection screw motor (7202) fixed to the rear end of the propulsion support frame (7201), an injection screw (7203) connected to the rear end of the injection screw motor (7202), a fourth guide rail (7204) fixed to the upper end face of the front end of the propulsion support frame (7201), a fourth slider (7205) slidably connected to the fourth guide rail (7204), and a load push plate (7206) fixed at one end to the fourth slider (7205) and at the other end to the injection screw (7203); the load push plate (7206) pushes the embolization syringe (7104); and The injection connection component includes a push rod frame (7302) arranged side by side with the injection encoder (7105) and fixed on the base plate (800), an electric push rod (7301) fixed on the push rod frame (7302), a push rod plate (7303) connected to the extended end of the electric push rod (7301), and a medical tubing (7304) passing through and fixed to the upper end of the push rod plate (7303); The drug injection assembly (700) further includes a drug injection motor support frame (7106) fixed to the base plate (800) for supporting the drug injection motor (7101), two syringe bracket support frames (7107) fixed to the base plate (800) for supporting the syringe bracket (7102), and a drug injection encoder support frame fixed to the base plate (800) for supporting the drug injection encoder (7105); The syringe holder (7102) includes an injection shaft (7102a) connected to the output end of the injection motor (7101) and rotatably mounted on two syringe holder support frames (7107), an injection turntable frame (7102b) fixed on the injection shaft (7102a) for mounting the embolic syringe (7104), and a syringe clamp (7103) mounted on the injection turntable frame (7102b) for fixing the embolic syringe (7104). The upper end of the load push plate (7206) is fixed with a drug injection screw nut suitable for threaded connection with the drug injection screw (7203); the drug injection screw (7203) extends out after passing through the upper end of the load push plate (7206) and is located inside the embolization injector (7104), without contacting the embolization injector (7104). After the drug injection screw motor (7202) is started, it drives the drug injection screw (7203) to rotate, and at the same time drives the load push plate (7206) to move forward along the fourth guide rail (7204) and abut against the tail of the embolization injector (7104), squeezing and pushing the embolization injector (7104) to inject; The Y-valve fine-tuning assembly (200) includes a Y-valve (260), the head of the medical tubing (7304) is connected to the head of the embolization injector (7104), and the tail of the medical tubing (7304) is connected to the Y-valve (260) via a tubing.

2. The minimally invasive interventional surgical robot execution device for liver cancer treatment according to claim 1, characterized in that, The microcatheter delivery clamping assembly (100) includes a lower support frame (110) mounted and fixed on the base plate (800), an upper support frame (120) connected to the upper end of the lower support frame (110), a back plate (130) connected to the back of the upper support frame (120), a microcatheter clamping component installed on the left side inside the upper support frame (120), and a microcatheter delivery component installed on the right side inside the upper support frame (120). in The microcatheter clamping component includes a microcatheter clamping motor (141) mounted on the left bottom front end of the upper support frame (120), a microcatheter clamping gear (142) connected to the output end of the microcatheter clamping motor (141), a first guide rail (144) fixed to the bottom surface of the inner cavity of the upper support frame (120) and located behind the microcatheter clamping motor (141), a first slider (145) slidably connected to the first guide rail (144), a slide rail connecting frame (146) fixed to the first slider (145), and a "[" shaped rack frame (143) fixed to the upper end of the slide rail connecting frame (146); the lower end of the "[" shaped rack frame (143) is a rack that meshes with the microcatheter clamping gear (142); The microcatheter delivery component includes a microcatheter delivery motor (151) mounted on the front right side of the upper support frame (120), a microcatheter delivery drive gear (152) connected to the output end of the microcatheter delivery motor (151), a roller support frame (1510) mounted on the upper right side of the upper support frame (120), a drive roller (154) rotatably connected to the roller support frame (1510) and the bottom of the inner cavity of the upper support frame (120), and a drive roller (154) fixedly connected to the drive roller. A microcatheter delivery driven gear (153) at the lower end of the roller shaft (154) and meshing with the microcatheter delivery drive gear (152); a driven roller shaft (156) rotatably connected between the inner cavities of the "["-shaped rack frame (143) and parallel to the drive roller shaft (154); a drive roller (155) fixed to the upper end of the drive roller shaft (154); and a driven roller (157) fixed to the upper end of the driven roller shaft (156) and flush with the drive roller (155); and A guide tube (1511) facing the middle of the drive roller (155) and the driven roller (157) is connected to the middle of the back plate (130).

3. The minimally invasive interventional surgical robot execution device for liver cancer treatment according to claim 2, characterized in that, A microcatheter clamping motor bracket (147) for supporting the microcatheter clamping motor (141) is installed on the bottom left side of the upper support frame (120); a microcatheter delivery motor support frame (158) for supporting the microcatheter delivery motor (151) is installed below the right side end of the inner cavity of the upper support frame (120); and a microcatheter delivery motor bracket (159) for stabilizing the microcatheter delivery motor (151) is installed above the right side end of the inner cavity of the upper support frame (120) and below the roller support frame (1510); and The upper end of the active roller (154) is fixedly connected to the roller support frame (1510) through a bearing located inside the roller support frame (1510) to achieve rotation between the roller support frame (1510) and the roller support frame (1510). The lower end of the active roller (154) is fixedly connected to the bearing located inside the inner cavity of the upper support frame (120) to achieve rotational connection between the roller support frame (120) and the inner cavity bottom. The driven roller shaft (156) is rotatably connected to the "["-shaped rack frame (143) by fixing the upper and lower ends of the driven roller shaft (156) to bearings respectively arranged symmetrically inside the upper and lower racks of the "["-shaped rack frame (143).

4. The minimally invasive interventional surgical robot execution device for liver cancer treatment according to claim 3, characterized in that, The guide wire fixing assembly (300) includes a guide wire fixing support frame (310) fixed on the base plate (800), a fixing base (320) installed on the upper end of the guide wire fixing support frame (310), a second guide rail (330) installed on the rear side of the upper end of the fixing base (320), a second slider (340) slidably installed on the second guide rail (330), a sliding base (350) installed on the left side of the upper end face of the second slider (340), a pressing block (360) installed on the right side of the upper end face of the second slider (340), and a mounting block (360) installed on the fixing base (320). A fixing block (370) on the right end of the end face and coaxial with the second guide rail (330); two spring guide rods (380) installed between the fixing base (320) and the pressing block (360) and with one end penetrating the pressing block (360) outward; a pressing spring (390) sleeved on the spring guide rods (380) and located between the inner wall of the fixing base (320) and the inner wall of the pressing block (360); a fixing motor (3100) installed at the front end of the fixing base (320); and a cam (3110) fixedly connected to the output end of the fixing motor (3100); and The sliding base (350) is "L" shaped. One end of the sliding base (350) that is not fixedly connected is perpendicular to the second guide rail (330) and extends toward the cam (3110). The cam (3110) is close to the inner side of the sliding base (350). The pressing block (360) is "L" shaped, and one end of the pressing block (360) that is not fixedly connected is perpendicular to the second guide rail (330) and extends vertically upward; The guidewire used for interventional surgery is inserted into the fixation block (370).

5. The minimally invasive interventional surgical robot execution device for liver cancer treatment according to claim 4, characterized in that, The Y-valve fine-tuning assembly (200) includes a fixed frame base (210) fixedly installed at the front end of the guide wire fixing assembly (300), a fixed shaft (220) passing through the upper end of the fixed frame base (210) and fixed to the fixed frame base (210), a Y-valve bracket (230) connected to the front end of the fixed shaft (220), a Y-valve fixing bracket (240) fixed to the upper left side of the Y-valve bracket (230), a movable frame (250) located on the upper right side of the Y-valve bracket (230), a handwheel (280) installed on the outside of the Y-valve fixing bracket (240), and A Y valve (260) is fixed to the top of the Y valve mounting bracket (240) and the movable bracket (250); the Y valve mounting bracket (240) and the movable bracket (250) are arranged opposite to each other and are locked in place by a pair of locking screws (270). The locking screws (270) are rotatably connected to the Y valve mounting bracket (240), the locking screws (270) are threadedly fixed to the movable bracket (250), and the end of the locking screws (270) is threadedly connected to the handwheel (280) to lock the handwheel (280); The front end of the fixed shaft (220) extends into the Y valve bracket (230) and is fixedly connected; a microcatheter that penetrates the blood vessel is fixed inside the Y valve (260), and the microcatheter extends into the guide tube (1511) and enters between the active roller (155) and the driven roller (157).

6. The minimally invasive interventional surgical robot execution device for liver cancer treatment according to claim 5, characterized in that, The mobile delivery assembly (500) includes a synchronous slide (510) mounted on the base plate (800) and arranged parallel to the drug delivery assembly (700), a slide block (520) mounted on the synchronous slide (510), a propulsion motor (530) mounted on the base plate (800) at the rear end of the synchronous slide (510), an active synchronous pulley (550) connected to the output end of the propulsion motor (530), and a second synchronous pulley (570) connected to the active synchronous pulley (550) via a first synchronous belt (560); The active synchronous pulley (550) is rotatably mounted on an active pulley bracket (580) fixed on the base plate (800), and the second synchronous pulley (570) is rotatably mounted on a second pulley bracket (580) fixed on the base plate (800). One end of the second synchronous pulley (570) is connected to the synchronous slide (510) through a synchronous shaft. The other end of the second synchronous pulley (570) is connected to a displacement encoder (540), and the displacement encoder (540) is mounted on an encoder bracket (590) fixed on the base plate (800). The synchronous slide (510) includes a slide housing (514), a third synchronous pulley (511) and a fourth synchronous pulley (512) rotatably mounted at both ends of the slide housing (514), a second synchronous belt (513) connecting the third synchronous pulley (511) and the fourth synchronous pulley (512), and the slide slider (520) fixedly connected to the upper end face of the second synchronous belt (513).

7. The minimally invasive interventional surgical robot execution device for liver cancer treatment according to claim 6, characterized in that, The guide wire twisting assembly (400) includes a connecting base plate (410) fixed to the slide block (520), a main support frame (420) rotatably mounted on the connecting base plate (410), a delivery pressure sensor (430) mounted on the bottom of the main support frame (420), a twisting component mounted on the upper end of the main support frame (420), and a clamping component mounted on the main support frame (420) and connected to the twisting component; when the main support frame (420) rotates, it can press against the delivery pressure sensor (430), and the delivery pressure sensor (430) can detect the pressure applied by the main support frame (420) to the delivery pressure sensor (430); in The twisting component includes a secondary support frame (4702) fixed to the rear end of the main support frame (420), a twisting motor (4701) mounted on the front end of the secondary support frame (4702), a twisting drive gear (4703) connected to the output shaft of the twisting motor (4701) and rotatably connected to the secondary support frame (4702), a twisting driven gear (4704) meshing with the twisting drive gear (4703), and a twisting driven gear (4704) meshing with the twisting driven gear (4704). The slide cylinder (4705) is coaxially connected to the front end and rotatably fixed on the main support frame (420); a brass bushing (4706) is sleeved on the slide cylinder (4705); two bearing shells (460) are sleeved on the slide cylinder (4705) and located on both sides of the brass bushing (4706); and a protective cover (450) is connected to the two bearing shells (460); a gear limiting cap (4707) is fixed to the outer end of the twist driven gear (4704); The clamping component includes a clamping screw motor mounting bracket (4803) fixedly mounted on the main support frame (420) and located at the lower end of the slide cylinder (4705), a clamping screw motor (4801) fixedly mounted on the clamping screw motor mounting bracket (4803), a clamping screw (4802) connected to the output end of the clamping screw motor (4801), and a clamping screw (4802) fixed on the main support frame (420) and located at the lower end of the clamping screw motor (4705). The motor mounting bracket (4803) has a third guide rail (4804) at its front end, a third slider (4805) slidably connected to the third guide rail (4804), a clamping push plate (4806) fixed to the upper end face of the third slider (4805) and fixedly connected to the clamping screw (4802), a spring washer (4808) sleeved on the slide cylinder (4705) and located at the front end of the clamping push plate (4806), and a spring washer (4808) sleeved on the slide cylinder (4705). The slide sleeve (4809) is fixedly connected to the front end of the spring washer (4808) on the slide cylinder (4705), a first return spring (4807) is sleeved on the slide cylinder (4705) and located at the rear end of the spring washer (4808), a clamping shaft (4810) is connected to the front end of the slide cylinder (4705) and located at the front end of the slide sleeve (4809), and an auxiliary fixing device is fixedly connected to the front end of the clamping shaft (4810). The frame (4811), the clamping sleeve (4812) connected to the auxiliary fixing frame (4811), the upper clamping block (4813) and the lower clamping block (4814) arranged vertically inside the clamping sleeve (4812), the clamping pressure sensor (4815) fixed to the upper end of the lower clamping block (4814), and the second return spring (4816) connected between the upper clamping block (4813) and the lower clamping block (4814).

8. The minimally invasive interventional surgical robot execution device for liver cancer treatment according to claim 7, characterized in that, A fixed cylinder (4819) is also fixed on the slide cylinder (4705) at the rear end of the spring washer (4808). The first return spring (4807) is placed inside the fixed cylinder (4819), and one end of the first return spring (4807) is connected to the inner wall of the fixed cylinder (4819), and the other end is fixedly connected to the spring washer (4808). The clamping sleeve (4812) has a guide wire hole at the center of its front end, through which a guide wire passes. The guide wire passes through the guide wire hole into the clamping sleeve (4812) and extends between the clamping pressure sensor (4815) on the upper clamping block (4813) and the lower clamping block (4814); and A first slide cylinder support frame fixed on the main support frame (420) is provided between the third guide rail (4804) and the clamping screw motor fixing frame (4803), and a second slide cylinder support frame fixed on the main support frame (420) is provided at the rear end of the clamping screw motor fixing frame (4803); the bearing bushes (460) located at both ends of the brass bushing (4706) are respectively installed on the first slide cylinder support frame and the second slide cylinder support frame; The front end of the sliding sleeve (4809) is evenly distributed with four connecting rods. After the four connecting rods pass through the auxiliary fixing frame (4811), two connecting rods are connected to the upper clamping block (4813) and two connecting rods are connected to the lower clamping block (4814). The upper clamping block (4813) has a limiting post (4817) at each of the four corners of its lower end face, and the lower clamping block (4814) has a limiting groove (4818) at the position corresponding to the limiting post (4817) on its upper end face. The second return spring (4816) is installed at the position of the limiting post (4817) and the limiting groove (4818) on one side; The two sides of the main support frame (420) are rotatably connected to the connecting base plate (410) by a pin (490).

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