Guidewire catheter delivery device for intravascular intervention robot

Abstract

The application relates to a guide wire and guide tube conveying device for a vascular endoluminal interventional surgery robot in the technical field of vascular interventional surgery auxiliary equipment, which comprises a base, a guide wire and guide tube, a feeding mechanism and a twisting mechanism; the feeding mechanism and the twisting mechanism are installed on the base, and the feeding mechanism and the twisting mechanism independently operate; one end of the guide wire and guide tube sequentially passes through the twisting mechanism and the feeding mechanism, the twisting mechanism is used for radial rotation of the guide wire and guide tube, and the feeding mechanism is used for axial movement of the guide wire and guide tube. The feeding mechanism and the twisting mechanism are used for realizing synchronous operation of the guide wire and guide tube in the radial direction and the axial direction, so that the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vascular interventional operation auxiliary equipment, in particular to a guide wire and catheter conveying device for a vascular endoluminal interventional operation robot. BACKGROUND

[0002] Minimally invasive surgery is a kind of surgery that mainly through endoscopy and various imaging technologies enables surgeons to perform surgery without causing great damage to patients. In minimally invasive vascular interventional surgery (mainly for cardiovascular and cerebrovascular diseases), under the guidance of CT and other imaging devices, the doctor manually intervenes the body's blood vessels with a guide wire, a catheter, an airbag and other instruments, reaches the lesion site along the blood vessels, and then performs surgical treatment on the lesion site.

[0003] With the rapid development of minimally invasive vascular interventional surgery, interventional surgery robots have also developed rapidly. The working environment is special, the reliability requirement is high, and the design and control of the mechanism are very high. The blood vessels in the human body are complex, thin-walled and branched, which greatly increases the difficulty of delivery work, so it requires flexible operation and reliable action. Artificial operation of the process puts high requirements on the operator's technology, and the inevitable hand tremor and long-time fatigue of the operator greatly reduces the reliability of the operation. Therefore, on the basis of the research of predecessors, it is an important goal for the development and progress of interventional surgery robots to research more reliable robots and intelligent control and to improve the operability of the overall robot system. However, the vascular endoluminal interventional surgery robot currently used mainly focuses on the high-precision implementation of push-pull and twisting operations, as well as the detection of push resistance, and cannot provide timely force feedback during the feeding and twisting process. The doctor may misjudge the position of the guide wire and catheter, and the device cannot adapt to the clamping force requirements of different guide wires and catheters.

[0004] Through prior art retrieval, it is found that the Chinese utility model patent No. CN208693445U discloses a vascular endoluminal interventional surgery robot guide wire / catheter operation torque detection device. The torque detection device is provided with a transmission gear for realizing guide wire / catheter twisting operation, and the inner circumferential surface of the transmission gear is fixedly connected with a spring ring. The spring ring is composed of a concentric outer ring and an inner ring connected by four spring sheets, the four spring sheets are evenly distributed along the circumferential direction of the spring ring to form a cross-shaped structure, four resistance strain sheets are fixed on the four spring sheets respectively, and the four resistance strain sheets are connected as a full-bridge circuit. The full-bridge circuit is connected with an external output signal circuit through a conductive slip ring. The patent technology has the above-mentioned related problems. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a guide wire and catheter conveying device for a vascular endoluminal interventional surgery robot.

[0006] According to the application, a guide wire catheter conveying device for a vascular endovascular intervention robot is provided, which comprises a base, a guide wire catheter, a feeding mechanism and a twisting mechanism.

[0007] The feeding mechanism and the twisting mechanism are installed on the base, and the feeding mechanism and the twisting mechanism operate independently.

[0008] One end of the guide wire catheter passes through the twisting mechanism and the feeding mechanism in sequence, the twisting mechanism is used for radial rotation of the guide wire catheter, and the feeding mechanism is used for axial movement of the guide wire catheter.

[0009] In some embodiments, the feeding mechanism comprises a first sliding table motor, a first sliding assembly and a roller assembly, the first sliding assembly comprises a first transmission gear, a first reversible screw and a first screw nut slider, two groups of the first screw nut sliders are respectively rotationally connected to the positive tooth area and the reverse tooth area of the first reversible screw, and the roller assembly comprises a power roller and a feeding motor, two groups of the power rollers are respectively installed on two groups of the first screw nut sliders.

[0010] The first sliding table motor drives the first reversible screw to rotate through the first transmission gear, the power rollers on the two groups of the first screw nut sliders are close to each other and clamp the guide wire catheter, and the feeding motor drives one of the two groups of the power rollers to rotate or both of them to rotate to realize axial movement of the guide wire catheter.

[0011] In some embodiments, the feeding mechanism further comprises a first guide shaft, the first guide shaft passes through and is slidingly connected to the two groups of the first screw nut sliders, and the first guide shaft is parallel to the first reversible screw.

[0012] In some embodiments, the feeding mechanism further comprises a first sensing assembly, the first sensing assembly comprises a first force sensor and a first slider, the first slider is rotationally connected to one end of the first reversible screw, and the first force sensor is in contact with the opposite end surfaces of the first slider and the first screw nut slider in the axial direction, respectively, the first force sensor obtains the resistance to the axial movement of the guide wire catheter by detecting the reaction force of the guide wire catheter on the first screw nut slider in contact with the first force sensor.

[0013] In some embodiments, the first screw nut slider is an L-shaped structure plate.

[0014] In some embodiments, the feeding mechanism further comprises first baffle plates, which are L-shaped structure plates, and two first baffle plates are arranged in an inverted manner on both sides of the first positive and negative toothed lead screw, and two groups of the power rollers are located between the two first baffle plates when clamping the guide wire catheter, and the two first baffle plates are used to support the guide wire catheter and limit the deflection of the power rollers during rotation.

[0015] In some embodiments, the twisting mechanism comprises a second sliding table motor, a second sliding assembly and a twisting assembly, the second sliding assembly comprises a second transmission gear, a second positive and negative toothed lead screw and two second screw nut sliders, the two second screw nut sliders are respectively connected to the positive toothed area and the negative toothed area of the second positive and negative toothed lead screw, the twisting assembly comprises a twisting motor, a guide rail and a rubbing plate, one end of the guide rail is fixed on the second screw nut slider, the rubbing plate is slidingly connected with the guide rail, and the rubbing plate slides up and down along the guide rail through the twisting motor;

[0016] Two groups of the twisting assembly are symmetrically installed on the two second screw nut sliders and axially move with the second screw nut sliders, and two groups of the rubbing plates clamp the guide wire catheter and drive the guide wire catheter to rotate radially through the opposite movement mode.

[0017] In some embodiments, the twisting mechanism further comprises a second guide shaft, which passes through the two second screw nut sliders in sequence and is slidingly connected, and the second guide shaft is arranged in parallel with the second screw nut slider.

[0018] In some embodiments, the twisting mechanism further comprises a second sensing assembly, which comprises a second force sensor and a second slider, the second slider is rotationally connected to one end of the second positive and negative toothed lead screw, and the axial ends of the second force sensor are respectively in contact with the opposite end faces of the second slider and the second screw nut slider, and the second force sensor obtains the resistance of the guide wire catheter to radial rotation by detecting the reaction force of the guide wire catheter on the second screw nut slider in contact with the second force sensor.

[0019] In some embodiments, the twisting mechanism further comprises second baffle plates, which are L-shaped structure plates, and two second baffle plates are arranged in an inverted manner on both sides of the second positive and negative toothed lead screw, and when clamping the guide wire catheter, the two guide rails are located between the two baffle plates, and the two baffle plates are used to support the guide wire catheter and maintain the linear motion of the two guide rails.

[0020] Compared with the prior art, the present application has the following beneficial effects:

[0021] 1、The present application realizes the synchronous operation of the guide wire catheter in radial and axial directions through the feeding mechanism and the twisting mechanism, and improves the work efficiency.

[0022] 2、The present application sets the detection assembly of the guide wire catheter clamping force in the feeding mechanism and the twisting mechanism, and can obtain the feedback function of the guide wire catheter movement and rotation resistance, and improves the work precision of the vascular cavity intervention surgery robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of non-restrictive embodiments, made with reference to the attached drawings:

[0024] Fig. 1 It is the schematic diagram of the whole structure of the present application;

[0025] Fig. 2 It is the schematic diagram of the feeding mechanism structure of the present application;

[0026] Fig. 3 It is the schematic diagram of the twisting mechanism structure of the present application. DETAILED DESCRIPTION

[0027] The present application will be described in detail below in combination with specific embodiments. The following embodiments will help the person skilled in the art to further understand the present application, but do not limit the present application in any form. It should be pointed out that, for those skilled in the art, several changes and improvements can be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0028] Example 1

[0029] The present application provides a guide wire catheter conveying device for a vascular cavity intervention surgery robot, as shown in the figure, comprising a base 1, a feeding mechanism 3 and a twisting mechanism 4 installed on the base 1, and a guide wire catheter 2 clamped and conveyed by the feeding mechanism 3 and the twisting mechanism 4. Figs. 1-3

[0030] ​The feeding mechanism 3 comprises a first sliding table motor 31, a first sliding assembly 32 and a roller assembly 33. The first sliding table motor 31 and the first sliding assembly 32 are drivingly connected and can be connected with the base 1 through the transversely arranged T-shaped support plate. The roller assembly 33 is connected with the first sliding assembly 32. The first sliding assembly 32 is arranged on the T-shaped support plate and comprises a first transmission gear 321, a first reversible toothed lead screw 322 and a first lead screw nut sliding block 323. The first sliding table motor 31 is drivingly connected with the first transmission gear 321 through a shaft. The first transmission gear 321 is rotatably connected with the first reversible toothed lead screw 322. Two groups of first lead screw nut sliding blocks 323 are rotatably connected with the toothed and reverse toothed regions of the first reversible toothed lead screw 322 respectively. The rotation of the first reversible toothed lead screw 322 causes the two groups of first lead screw nut sliding blocks 323 to move towards or away from each other. Preferably, the first lead screw nut sliding block 323 is an L-shaped structure plate. The L-shaped first lead screw nut sliding block 323 is rotatably connected with the first reversible toothed lead screw 322 in an inverted and outwardly facing manner. The roller assembly 33 comprises a power roller 331 and a feeding motor 332. Two groups of power rollers 331 are rotatably connected with the horizontal plates of the two groups of first lead screw nut sliding blocks 323 and are symmetrically arranged. The feeding motor 332 is used to drive any one of the two groups of power rollers 332 to rotate or both to rotate, thereby realizing the axial movement of the wire guide tube 2. Preferably, the feeding mechanism 3 further comprises a first guide shaft 34 for improving the straightness of the axial movement of the first lead screw nut sliding block 323. The first guide shaft 34 passes through the two first lead screw nut sliding blocks 323 and is fixedly connected with the corresponding structures at both ends. The first guide shaft 34 is slidingly connected with the two first lead screw nut sliding blocks 323. The first guide shaft 34 is parallel to the first reversible toothed lead screw 322. The first guide shaft 34 improves the straightness of the movement of the first lead screw nut sliding block 323. The first guide shaft 34 can be multiple, preferably two, arranged on both sides of the first reversible toothed lead screw 322. Further preferably, the feeding mechanism 3 further comprises a first baffle 36. The first baffle 36 is preferably L-shaped. The two first baffles 36 are arranged on both sides of the first reversible toothed lead screw 322 in an inverted manner. A channel for the reciprocating movement of the power roller 331 is arranged between the two first baffles 36. The horizontal plates of the two first baffles 36 face inward. The gap between the horizontal plates of the two first baffles 36 is slightly larger than the outer diameter of the power roller 331, so that the first baffles 36 can effectively limit the deflection of the power roller 331 during rotation while supporting the movement of the wire guide tube 2.

[0031] The twisting mechanism 4 comprises a second sliding table motor 41, a second sliding assembly 42 and a twisting assembly 43. The second sliding table motor 41 and the second sliding assembly 42 are also connected with the base 1 through the transversely arranged T-shaped support plate. The second sliding assembly comprises a second transmission gear 421, a second reverse toothed screw rod 422 and two second screw nut sliding blocks 423. The twisting assembly 43 comprises a twisting motor 431, a guide rail 432 and a rubbing plate 433. The second transmission gear 421 is in transmission connection with the second sliding table motor 41. The second reverse toothed screw rod 422 is in rotational connection with the second transmission gear 421. The two second screw nut sliding blocks 423 are respectively rotatably connected with the positive toothed area and the reverse toothed area of the second reverse toothed screw rod 422. The two second screw nut sliding blocks 423 are driven to move close to or away from each other through the rotation of the second reverse toothed screw rod 422. The guide rail 432 is preferably in the form of a channel steel structure. Two groups of guide rails 321 are symmetrically arranged on the second screw nut sliding blocks 423. The rubbing plate 433 is slidably connected in the sliding groove of the guide rail 432. The rubbing plate 433 is in transmission connection with the twisting motor 431 and is driven to slide up and down along the guide rail 432. The two groups of twisting assemblies 43 are driven to move close to each other and clamp the guide wire catheter 2 through the axial movement of the two second screw nut sliding blocks 423. The two groups of rubbing plates 433 are driven to slide in opposite directions through the twisting motor 431, thereby driving the guide wire catheter 2 to rotate radially through the two groups of rubbing plates 433 moving in opposite directions. Preferably, the twisting mechanism 4 further comprises a second guide shaft 44. The second guide shaft 44 passes through the two second screw nut sliding blocks 423 in sequence and is fixedly connected with corresponding structures at both ends. The second guide shaft 44 is in sliding connection with the two second screw nut sliding blocks 423, and the second guide shaft 44 can be arranged in parallel with the second reverse toothed screw rod 422. The second guide shaft 44 can improve the straightness of the axial movement of the second screw nut sliding block 423. Preferably, the second guide shaft 44 can be multiple, preferably two. The two second guide shafts 44 are arranged on the two sides of the second reverse toothed screw rod 422. Further preferably, it further comprises a second baffle 46. The second baffle 46 is preferably in the form of an L-shaped structure plate. The two second baffles 46 are arranged on the two sides of the second reverse toothed screw rod 422 in an inverted manner. Preferably, the horizontal plates of the two second baffles 46 are oppositely arranged and located on the inner side. The channel between the two horizontal plates is used for the movement of the guide rail 432. Similarly, the second baffle 46 is used to support the movement of the guide wire catheter 2 and can place the deviation of the guide rail 432 during the axial movement.

[0032] The working principle of the present application is that the feeding mechanism 3 and the twisting mechanism 4 are fixed on the base 1 in a side-by-side manner, the feeding mechanism 3 and the twisting mechanism 4 are coaxial with the clamping channel for the guide wire catheter 2 to pass through, the end of the guide wire catheter 2 passes through the channel between the two rollers 433 and the channel between the two power rollers 331 in turn, the first sliding table motor 31 and the second sliding table motor 41 are controlled to make the two power rollers 331 and the two rollers 433 clamp the guide wire catheter 2, the feeding motor 322 drives the two power rollers 331 to rotate, which in turn drives the guide wire catheter 2 to move axially, at the same time, the twisting motor 431 drives the two rollers 433 to move up and down, which makes the guide wire catheter 2 rotate radially, so that the feeding mechanism and the twisting mechanism realize the synchronous operation of the guide wire catheter in the radial and axial directions, and the working efficiency is improved.

[0033] Embodiment 2

[0034] This embodiment 2 is formed on the basis of embodiment 1, by providing a guide wire catheter clamping force detection assembly in the feeding mechanism and the twisting mechanism, the feedback function of the guide wire catheter moving and rotating resistance can be obtained, and the working precision of the vascular intraluminal intervention surgery robot is improved. Specifically:

[0035] As shown in Figs. 1-3 The first sensing assembly 35 is also provided in the feeding mechanism 3, the first sensing assembly 35 includes a first force sensor 351 and a first sliding block 352, the first sliding block 352 is rotationally connected to one end of the first lead screw with reverse teeth 322 in the toothed area or the reverse toothed area, and the first sliding block 352 moves axially synchronously with the first screw nut block 323 with the rotation of the first lead screw with reverse teeth 322. The first force sensor 351 is arranged between the first sliding block 352 and the first screw nut block 323 adjacent to the first sliding block 352, and the two ends of the first force sensor 351 are in contact with the opposite end faces of the first sliding block 352 and the first screw nut block 323, respectively. When the two first screw nut blocks 323 move close to each other to the corresponding position, the surfaces of the two power rollers 331 contact and clamp the guide wire catheter 2, and the first lead screw with reverse teeth 322 is continuously rotated, the two power rollers 331 continue to move close to each other and increase the clamping force on the guide wire catheter 2, due to the resistance of the guide wire catheter 2, the first screw nut block 323 in contact with the first force sensor 351 will transmit the resistance of the guide wire catheter 2 to the first force sensor 351, and then according to the relationship between the action force and the reaction force, the resistance of the axial movement of the guide wire catheter 2 is obtained.

[0036] Similarly, the twisting mechanism 4 is provided with a second sensing assembly 45, which comprises a second force sensor 451 and a second sliding block 452, the second sliding block 452 being rotationally connected to one end of the toothed region of the second lead screw 422, and moving axially synchronously with the second screw nut sliding block 423 as the second lead screw 422 rotates. The second force sensor 451 is arranged between the second sliding block 452 and the second screw nut sliding block 423 adjacent to the second sliding block 452, and the two ends of the second force sensor 451 are in contact with the opposite end faces of the second sliding block 452 and the second screw nut sliding block 423, respectively. When the two second screw nut sliding blocks 423 move close to each other to the corresponding position, the two rubbing plates 433 contact and clamp the guide wire catheter 2, and continue to rotate the second lead screw 422, the two rubbing plates 433 continue to move close to each other and increase the clamping force on the guide wire catheter 2, due to the resistance of the guide wire catheter 2, the second screw nut sliding block 423 in contact with the second force sensor 451 will transmit the resistance of the guide wire catheter 2 to the second force sensor 451, and then according to the relationship between action and reaction, the resistance of the guide wire catheter 2 in the radial direction is obtained.

[0037] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A guidewire and catheter delivery device for an endovascular interventional surgical robot, characterized in that, It includes a base (1), a guide wire guide (2), a feeding mechanism (3), and a twisting mechanism (4); The feeding mechanism (3) and the twisting mechanism (4) are mounted on the base (1), and the feeding mechanism (3) and the twisting mechanism (4) operate independently; One end of the guide wire conduit (2) passes through the twisting mechanism (4) and the feeding mechanism (3) in sequence. The twisting mechanism (4) is used for the radial rotation of the guide wire conduit (2), and the feeding mechanism (3) is used for the axial movement of the guide wire conduit (2). The twisting mechanism (4) includes a second slide motor (41), a second sliding assembly (42), and a twisting assembly (43). The second sliding assembly (42) includes a second transmission gear (421), a second positive and negative thread screw (422), and a second thread screw nut slider (423). The two sets of second thread screw nut sliders (423) are rotatably connected to the positive thread area and the negative thread area of ​​the second positive and negative thread screw (422), respectively. The twisting assembly (43) includes a twisting motor (431), a guide rail (432), and a twisting plate (433). One end of the guide rail (432) is fixed on the second thread screw nut slider (423). The twisting plate (433) is slidably connected to the guide rail (432). The twisting plate (433) slides up and down along the guide rail (432) through the twisting motor (431). The two sets of twisting components (43) are symmetrically installed on the two sets of second screw nut sliders (423) and move axially with the second screw nut sliders (423). The two sets of rubbing plates (433) clamp the guide wire tube (2) and drive the guide wire tube (2) to rotate radially through opposite up and down movements. The twisting mechanism (4) further includes a second guide shaft (44), which passes through two second lead screw nut sliders (423) in sequence and is slidably connected. The second guide shaft (44) is arranged parallel to the second lead screw nut sliders (423). The twisting mechanism (4) further includes a second sensing component (45), which includes a second force sensor (451) and a second slider (452). The second slider (452) is rotatably connected to one end of the second positive and negative threaded screw (422). The second slider (452) moves axially synchronously with the second threaded screw nut slider (423) as the second threaded screw (433) rotates. The two axial ends of the second force sensor (451) are in contact with the opposite end faces of the second slider (452) and the second threaded screw nut slider (423), respectively. The second force sensor (451) obtains the resistance to radial rotation of the guide wire (2) by detecting the reaction force of the guide wire (2) on the second threaded screw nut slider (423) in contact with it. The twisting mechanism (4) also includes a second baffle (46), which is an L-shaped structure plate. The two second baffles (46) are arranged in an inverted manner on both sides of the second positive and negative thread screw (422). When the two sets of twisting plates (433) clamp the guide wire tube (2), the two sets of guide rails (432) are located between the two baffles (46). The two baffles (46) are used to support the guide wire tube (2) and maintain the linear movement of the two sets of guide rails (432). The feeding mechanism (3) and the twisting mechanism (4) are fixed on the base (1) in a parallel manner. The feeding mechanism (3) and the twisting mechanism (4) are coaxial with the clamping channel through which the guide wire guide (2) passes. After the end of the guide wire guide (2) passes through the channel between the two rubbing plates (433) and the channel between the two power rollers (331) in sequence, the two power rollers (331) and the two rubbing plates (433) clamp the guide wire guide (2) by controlling the first slide motor (31) and the second slide motor (41) respectively. After the feeding motor (332) drives the two power rollers (331) to rotate, it drives the guide wire guide (2) to move axially. At the same time, the twisting motor (431) drives the two rubbing plates (433) to move up and down, so that the guide wire guide (2) rotates radially. Thus, the radial and axial synchronous operation of the guide wire guide is achieved through the feeding mechanism and the twisting mechanism.

2. The guidewire and catheter delivery device for endovascular interventional surgery robots according to claim 1, characterized in that, The feeding mechanism (3) includes a first slide motor (31), a first sliding assembly (32), and a roller assembly (33). The first sliding assembly (32) includes a first transmission gear (321), a first positive and negative thread screw (322), and a first screw nut slider (323). Two sets of the first screw nut sliders (323) are rotatably connected to the positive thread area and the negative thread area of ​​the first positive and negative thread screw (322), respectively. The roller assembly (33) includes a power roller (331) and a feeding motor (332). Two sets of the power rollers (331) are respectively mounted on two sets of the first screw nut sliders (323). The first slide motor (31) drives the first positive and negative thread screw (322) to rotate through the first transmission gear (321). The power rollers (331) located on the two sets of first screw nut sliders (323) move closer to each other and clamp the guide wire tube (2). The feeding motor (332) drives one of the two sets of power rollers (331) to rotate or both to rotate simultaneously to achieve axial movement of the guide wire tube (2).

3. The guidewire and catheter delivery device for endovascular interventional surgery robots according to claim 2, characterized in that, The feeding mechanism (3) further includes a first guide shaft (34), which passes through two sets of first lead screw nut sliders (323) and is slidably connected. The first guide shaft (34) is parallel to the first positive and negative lead screws (322).

4. The guidewire and catheter delivery device for endovascular interventional surgery robots according to claim 2 or 3, characterized in that, The feeding mechanism (3) further includes a first sensing component (35), which includes a first force sensor (351) and a first slider (352). The first slider (352) is rotatably connected to one end of the first positive and negative thread screw (322). The first force sensor (351) is in contact with the opposite end faces of the first slider (352) and the first screw nut slider (323) at both ends of its axial direction. The first force sensor (351) obtains the resistance to the axial movement of the guide wire (2) by detecting the reaction force of the guide wire (2) on the first screw nut slider (323) in contact with it.

5. The guidewire and catheter delivery device for an endovascular interventional surgical robot according to claim 4, characterized in that, The first lead screw nut slider (323) is an L-shaped structural plate.

6. The guidewire and catheter delivery device for an endovascular interventional surgical robot according to claim 4, characterized in that, The feeding mechanism (3) also includes a first baffle (36), which is an L-shaped structure plate. The two first baffles (36) are arranged in an inverted manner on both sides of the first positive and negative thread screw (322). When the two sets of power rollers (331) clamp the guide wire tube (2), they are located between the two first baffles (36). The two first baffles (36) are used to support the guide wire tube (2) and limit the deflection of the power rollers (331) during rotation.

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