A delivery device for automatically controlling catheter movement and a delivery method thereof

Abstract

The present invention relates to a conveying device for automatically controlling the movement of a catheter, comprising a control module, a catheter driving mechanism, a guidewire driving mechanism, a vascular sheath and a Y-valve, wherein the control module is electrically connected to and controls the catheter driving mechanism and the guidewire driving mechanism respectively; the catheter driving mechanism comprises a catheter clamping roller, a catheter support seat, a movable support rod and a driving base, the catheter passes through the catheter clamping roller and is placed on the catheter support seat, the movable support rod is mounted on a linear slide rail of the driving base and moves relative to the driving base; the guidewire driving mechanism comprises a Y-valve mounting seat, a guidewire driving roller and a guidewire support seat, the Y-valve is placed on the Y-valve mounting seat and fixed by a spring pressing mechanism, the Y-valve mounting seat is mounted on the guidewire support seat, the guidewire support seat is mounted on the driving base, and the guidewire passes through the guidewire clamping roller, the Y-valve and the catheter; the present invention can control the advancement (withdrawal) of different types of catheters, effectively clamp the catheter to fix its position, and greatly reduce the doctor's operation.

Description

[Technical field]

[0001] The present invention relates to the technical field of medical devices, in particular to a delivery device for automatically controlling the movement of a catheter and a delivery method thereof. [Background Technology]

[0002] In recent years, vascular interventional surgery has rapidly developed due to its advantages of minimal trauma, rapid recovery, and safety, becoming a major treatment for cardiovascular disease. Vascular interventional surgery involves doctors manually inserting vascular devices such as catheters, guidewires, and balloons into designated locations within the human body using real-time, dynamic medical imaging to diagnose and precisely treat lesions.

[0003] Traditional vascular interventional procedures expose doctors to prolonged X-ray exposure. While lead aprons provide protection, the weight of these long, heavy aprons can also cause significant damage. Vascular interventional procedures utilize small, delicate instruments. While image guidance is available, individual patient differences (such as vascular stenosis and the severity of lesions) necessitate a high level of surgical experience. Consequently, research is underway both domestically and internationally on vascular interventional assistance systems to address the drawbacks of traditional vascular interventional procedures.

[0004] The vascular intervention assistance system controls the movement of the catheter by passively delivering the catheter through the use of mechanical auxiliary devices. The operation of the auxiliary control catheter can be roughly divided into:

[0005] (1) A friction wheel is used to drive the catheter forward and backward, and a gear is used to realize the rotation of the catheter. Although the mechanism is simple, the catheter is prone to slipping and the positioning accuracy is poor;

[0006] (2) A clamp is used to clamp the catheter, and a linear guide is used to push the clamp to move back and forth to realize the forward and backward movement of the catheter. Although this solves the slippage problem, it is impossible to control the continuous movement of the catheter and the structure is large in size, which requires the effective length of the catheter to be wasted.

[0007] (3) A sleeve-type structure is used to close the catheter. The sleeve moves forward and backward, driving the catheter to move forward and backward. However, due to the large gap between the sleeve and the catheter, if an obstacle is encountered, the catheter will bend inside the sleeve, resulting in a response delay. [Summary of the invention]

[0008] The purpose of the present invention is to solve the above-mentioned shortcomings and provide a delivery device that automatically controls the movement of the catheter. The device can control the advancement (withdrawal) of different types of catheters, and can effectively clamp the catheter to fix its position. It can overcome the existing defects and greatly reduce the doctor's operation.

[0009] In order to achieve the above-mentioned purpose, a conveying device for automatically controlling the movement of a catheter is designed, comprising a control module 1, a catheter driving mechanism 2, a guidewire driving mechanism 3, a vascular sheath 4 and a Y-valve 7. The control module 1 is electrically connected to and controls the catheter driving mechanism 2 and the guidewire driving mechanism 3 respectively; the catheter driving mechanism 2 comprises a catheter clamping roller 2-1, a catheter support seat 2-2, a movable support rod 2-3 and a driving base 2-4, the catheter clamping roller 2-1 is mounted on the catheter support seat 2-2, a catheter 6 is passed through between the catheter clamping rollers 2-1, the catheter 6 is passed through the vascular sheath 4, the catheter 6 is placed on the catheter support seat 2-2, and the catheter support seat 2-2 is mounted on the movable support rod 2- 3 at one end, and the other end of the movable support rod 2-3 is installed on the linear slide rail of the driving base 2-4 and moves relative to the driving base 2-4; the guide wire driving mechanism 3 includes a Y-valve mounting seat 3-1, a guide wire driving roller 3-2 and a guide wire support seat 3-3, the Y-valve 7 is placed on the Y-valve mounting seat 3-1 and fixed by a spring compression mechanism, the Y-valve mounting seat 3-1 is installed on one side of the guide wire support seat 3-3, the guide wire support seat 3-3 is installed on the driving base 2-4, and a guide wire driving roller 3-2 is installed on the guide wire support seat 3-3, a guide wire 5 is passed through the guide wire driving roller 3-2, and the guide wire 5 passes through the guide wire clamping roller 3-2, the Y-valve 7 and the catheter 6 in sequence.

[0010] Furthermore, the catheter clamping roller 2 - 1 is electrically connected to the control module 1 , and is controlled by the control module 1 to open or close to loosen or clamp the catheter 6 .

[0011] Furthermore, a linear displacement sensor is installed on the catheter support seat 2-2, and the linear displacement sensor is electrically connected to the control module 1. The linear displacement sensor is used to dynamically measure the distance from the catheter clamping roller 2-1 to the effective initial end of the catheter 6 in real time.

[0012] Furthermore, the guide wire clamping roller 3 - 2 is electrically connected to the control module 1 , and is controlled by the control module 1 to open and close to loosen and clamp the guide wire 5 .

[0013] Furthermore, the driving base 2-4 includes a docking device, a linear slide seat, an encoder, a sensor and a driving motor. The driving base 2-4 is connected to the control module 1 through the linear slide seat, and moves back and forth relative to the control module 1 through the linear slide seat. The guide wire support seat 3-3 is connected to the driving base 2-4 through a docking device.

[0014] Furthermore, the movable support rod 2-3 is an L-shaped rod, and a catheter support seat 2-2 is installed on the top of one end of the movable support rod 2-3. The other end of the movable support rod 2-3 moves relative to the driving base 2-4 through a linear slide rail, and the movable support rod 2-3 is locked and fixed in place and then contacted and connected with the trigger switch, and the trigger switch is electrically connected to the control module 1.

[0015] Furthermore, the length L2 of the head end of the vascular sheath 4 exposed outside the human body, the effective length L3 of the catheter 6, and the distance L4 from the catheter clamping roller 2-1 to the effective initial tail end of the catheter 6 are known; the maximum movable distance between the catheter clamping roller 2-1 and the vascular sheath 4 is set to Lmax, and the moving distance of the movable support rod 2-3 is L; the CTA three-dimensional image and the DSA two-dimensional image are combined to calculate the distance L0 from the vascular puncture point, i.e., the entrance of the vascular sheath 4 to the set position, and the distance L1 from the vascular puncture point to the front end of the catheter 6; the forward distance of the catheter 6 is Lm, so L1 and Lm both change in real time and are dynamic values, and the result is: L=L3-L1-L2-L4-Lmax; Lm=L0-L1.

[0016] Furthermore, when the catheter 6 is first installed, the length L3 of the catheter 6 is first input into the control module 1, and a "catheter release" command is sent to separate the catheter clamping roller 2-1; at this time, the catheter 6 is connected to the Y-valve 7 and passed through the catheter clamping roller 2-1; then the Y-valve 7 is fixed to the Y-valve mounting seat 3-1 through a spring compression mechanism, and at this time the axial direction of the catheter 6 is relatively fixed.

[0017] Furthermore, when controlling the catheter 6 to move forward, the following steps are included:

[0018] a. Send a "catheter advance" command to the control module 1. First, the control module 1 determines whether the catheter 6 is clamped by triggering the switch and the encoder. If the catheter 6 is clamped, the control module 1 sends a "catheter release" command to the catheter drive mechanism 2. The movable support rod 2-3 moves forward a distance L relative to the drive base 2-4 via the linear slide rail and is locked in place. After the movable support rod 2-3 is fixed, the switch is triggered to make the catheter clamping roller 2-1 close to the catheter 6. At the same time, the control module 1 determines the size relationship between Lm and Lmax.

[0019] b. If Lm < Lmax, the control module 1 sends a command to the catheter drive mechanism 2, which moves forward Lm in conjunction with the guidewire drive mechanism 3 to move the catheter 6 to the set position while maintaining the position of the catheter clamping roller 2-1 unchanged;

[0020] c. If Lm>Lmax, the control module 1 sends a command to the catheter drive mechanism 2, causing the catheter drive mechanism 2 and the guidewire drive mechanism 3 to move forward in coordination by Lmax. The control module 1 then sends a command to the catheter drive mechanism 2 to separate the catheter clamping roller 2-1, releasing the catheter 6. The movable support rod 2-3 then moves backward by Lmax and, once in position, is locked and secured. The control module 1 sends a "catheter clamp" command to the catheter drive mechanism 2, causing the catheter clamping roller 2-1 to engage tightly, clamping the catheter 6.

[0021] d. The control module 1 once again determines the relationship between Lm and Lmax at this time; if Lm>Lmax, the above movement is repeated until Lm<Lmax; at this time, the catheter clamping roller 2-1 drives the catheter 6 forward by Lm, and finally sends the catheter 6 to the set position; if Lm<Lmax, there is no need to repeat the above movement, and the catheter drive mechanism 2 and the guidewire drive mechanism 3 cooperate to move forward by Lm, and the catheter 6 is sent to the set position.

[0022] Furthermore, when controlling the catheter 6 to retract, the following steps are included: sending a "catheter retract" instruction to the control module 1, and the control module 1 determines whether the catheter 6 is clamped by triggering the switch and the encoder; if the catheter 6 is not clamped, the control module 1 sends a "catheter clamping" instruction to the catheter drive mechanism 2, and the catheter clamping roller 2-1 is pressed tightly, and the catheter 6 is clamped, and then the control module 1 sends an instruction to the catheter drive mechanism 2, and the catheter drive mechanism 2 and the guidewire drive mechanism 3 move backward Le in coordination; if the catheter 6 needs to move forward again, the "catheter advance" instruction is executed again, and the cycle is repeated, and finally the catheter 6 is sent to the set position.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] (1) The present invention can automatically control the catheter and realize automatic control of the advancement and retraction of the catheter;

[0025] (2) The present invention can realize automatic delivery control of catheters of different types and sizes, reduce the doctor's operation, and meet the clinical use requirements of vascular intervention surgery;

[0026] (3) The present invention can control the advancement (or withdrawal) of different types of catheters, and can effectively clamp the catheter to fix its position, thereby overcoming existing defects and significantly reducing the doctor's operation;

[0027] (4) Compared with the prior art, the present invention does not require a limit on the distance the catheter can be inserted into the human body, and the initial installation position remains unchanged. The catheter can be automatically sent to the set position without the need for operator operation;

[0028] (5) The automatic catheter delivery mechanism provided by the present invention simulates the operation of a clinician, limits the distance between the catheter clamping mechanism and the vascular sheath, and ensures that the catheter is not bent and can be delivered normally;

[0029] (6) Compared with the prior art, the present invention has a simple structure, small size, low cost, and easy operation, and is worthy of promotion and application. [Brief Description of the Drawings]

[0030] Figure 1 This is a schematic diagram of the structure of the present invention Figure 1 ;

[0031] Figure 2 This is a schematic diagram of the structure of the present invention Figure 2 (movable support rod movement);

[0032] Figure 3 This is a schematic diagram of the structure of the present invention Figure 3 (After the catheter is in place);

[0033] Figure 4 is a flow chart of the catheter advancement method of the present invention;

[0034] Figure 5 is a flow chart of the catheter retraction method of the present invention;

[0035] In the figure: 1, control module 2, catheter drive mechanism 3, guidewire drive mechanism 4, vascular sheath 5, guidewire 6, catheter 7, Y-valve 2-1, catheter clamping roller 2-2, catheter support seat 2-3, movable support rod 2-4, drive base 3-1, Y-valve mounting seat 3-2, guidewire drive roller 3-3, guidewire support seat. [Specific implementation method]

[0036] The present invention will be further described below in conjunction with the accompanying drawings:

[0037] As attached Figure 1 To the attached Figure 3 As shown, the present invention provides a delivery device for automatically controlling the movement of a catheter, comprising a control module 1, a catheter drive mechanism 2, a guidewire drive mechanism 3, a vascular sheath 4, a guidewire 5, a catheter 6 and a Y-valve 7. The control module 1 is electrically connected to and controls the catheter drive mechanism 2 and the guidewire drive mechanism 3 respectively; the control module 1 includes various mechanisms and control units, which can control the catheter drive mechanism 2 and the guidewire drive mechanism 3 respectively.

[0038] The catheter driving mechanism 2 includes a catheter clamping roller 2-1, a catheter support seat 2-2, a movable support rod 2-3 and a driving base 2-4. The catheter clamping roller 2-1 is installed on the catheter support seat 2-2. A catheter 6 is passed through the catheter clamping roller 2-1. The catheter 6 is passed through the vascular sheath 4 and placed on the catheter support seat 2-2. The catheter support seat 2-2 is installed at one end of the movable support rod 2-3. The other end of the movable support rod 2-3 is installed on the linear slide rail of the driving base 2-4 and moves relative to the driving base 2-4. The catheter clamping roller 2-1 is electrically connected to the control module 1 and is controlled by the control module 1. Module 1 controls its opening and closing to loosen or clamp the catheter 6; a linear displacement sensor is installed on the catheter support seat 2-2, and the linear displacement sensor is electrically connected to the control module 1. The linear displacement sensor is used to dynamically measure the distance from the catheter clamping roller 2-1 to the effective initial end of the catheter 6 in real time; the movable support rod 2-3 is an L-shaped rod, and the catheter support seat 2-2 is installed on the top of one end of the movable support rod 2-3, and the other end of the movable support rod 2-3 moves relative to the driving base 2-4 through a linear slide rail, and the movable support rod 2-3 is locked and fixed in place and then contacts and connects with the trigger switch, and the trigger switch is electrically connected to the control module 1.

[0039] The guide wire driving mechanism 3 includes a Y-valve mounting seat 3-1, a guide wire driving roller 3-2 and a guide wire support seat 3-3. The Y-valve 7 is placed on the Y-valve mounting seat 3-1 and fixed by a spring compression mechanism. The Y-valve mounting seat 3-1 is installed on one side of the guide wire support seat 3-3. The guide wire support seat 3-3 is installed on the driving base 2-4. A guide wire driving roller 3-2 is installed on the guide wire support seat 3-3. A guide wire 5 is passed through the guide wire driving roller 3-2. The guide wire 5 passes through the guide wire clamping roller 3-2, the Y-valve 7 and the catheter 6 in sequence; the guide wire clamping roller 3-2 is electrically connected to the control module 1, and its opening and closing is controlled by the control module 1 to loosen and clamp the guide wire 5.

[0040] In the conveying device for automatically controlling the movement of a catheter described in the present invention, the catheter 6 passes through the catheter clamping roller 2-1 and is placed on the catheter support seat 2-2; the control module 1 controls the opening and closing of the catheter clamping roller 2-1, thereby loosening and clamping the catheter 6; the movable support rod 2-3 is mounted on the linear slide rail of the driving base 2-4 and can move relatively; the driving base 2-4 includes a docking device, a linear slide rail seat, an encoder, a sensor, a driving motor, etc. The driving base 2-4 is connected to the control module 1 through the linear slide rail seat and can move forward and backward relative to the control module 1. The Y valve 7 is placed on the Y valve mounting seat 3-1 and is fixed by a spring clamping mechanism; the guide wire support seat 3-3 is connected to the driving base 2-4 through a docking device; the guide wire 5 passes through the Y valve 7, the catheter 6 and the guide wire clamping roller 3-2, and the control module 1 controls the opening and closing of the guide wire clamping roller 3-2, thereby loosening and clamping the guide wire 5. The conveying device controls the distance between the catheter holding roller 3-2 and the vascular sheath 4 and keeps the catheter between the catheter clamping roller 3-2 and the vascular sheath 4 from bending, thereby completing the conveying of the catheter.

[0041] The present invention also provides a method for automatic catheter delivery, which is as follows:

[0042] The length L2 of the head end of the vascular sheath 4 exposed outside the human body, the effective length L3 of the catheter 6, and the distance L4 from the catheter clamping roller 2-1 to the effective initial tail end of the catheter 6 are known; by analyzing a large amount of experimental data, the maximum movable distance between the catheter clamping roller 2-1 and the vascular sheath 4 is set to Lmax; the moving distance of the movable support rod 2-3 is L.

[0043] Combining CTA 3D images with DSA 2D images, we calculate the distance L0 from the vascular puncture point (vascular sheath entrance) to the set position (such as the coronary artery ostium), and the distance L1 from the vascular puncture point to the front end of the catheter. A linear displacement sensor is installed on the catheter support 2-2 to measure the distance L4 from the catheter clamping roller 2-1 to the effective initial end of the catheter 6, and the distance Lm of the catheter 6 forward in real time. Both L1 and Lm are changing in real time and are dynamic values:

[0044] L = L3 - L1 - L2 - L4 - Lmax;

[0045] Lm=L0-L1;

[0046] When the catheter 6 is first installed, the length L3 of the catheter 6 is first input to the control module 1, and the "catheter release" command is sent to separate the catheter clamping roller 2-1; at this time, the catheter 6 is connected to the Y-valve 7 and passed through the catheter clamping roller 2-1; then the Y-valve 7 is fixed to the Y-valve mounting seat 3-1 through the spring compression mechanism; at this time, the axial direction of the catheter 6 is relatively fixed.

[0047] As attached Figure 4The following is a flow chart of the catheter advancement method. The specific steps are as follows:

[0048] Send the "catheter forward" command to the control module 1; first, the control module 1 will determine whether the catheter 6 is clamped by triggering the switch and the encoder; if the catheter 6 is clamped, the control module 1 will first send the "catheter release" command to the catheter drive mechanism 2; the movable support rod 2-3 moves forward a distance L relative to the driving base 2-4 through the linear slide rail, and is locked and fixed in place, see the attached Figure 2 After the movable support rod 2-3 is fixed, the switch is triggered to make the catheter clamping roller 2-1 close to the catheter 6 and the catheter is clamped; at the same time, the control module 1 will first determine the size relationship between Lm and Lmax.

[0049] If Lm < Lmax, the control module 1 sends a command to the catheter drive mechanism 2, and the catheter drive mechanism 2 cooperates with the guidewire drive mechanism 3 to move forward Lm to send the catheter 6 to the set position, while keeping the position of the catheter clamping roller 2-1 unchanged. Figure 3 .

[0050] If Lm>Lmax, control module 1 first sends a command to catheter drive mechanism 2, causing it and guidewire drive mechanism 3 to move forward in coordination by Lmax. Then, control module 1 sends a command to catheter drive mechanism 2 to disengage catheter clamping roller 2-1, releasing catheter 6. The movable support rod 2-3 then moves backward by Lmax and, once in position, locks and secures. Control module 1 sends a "catheter clamp" command to catheter drive mechanism 2, causing roller 2-1 to engage, clamping catheter 6.

[0051] The control module 1 once again determines the relationship between Lm and Lmax at this time. If Lm>Lmax, repeat the above movement until Lm<Lmax. At this time, the catheter clamping roller 2-1 drives the catheter 6 forward by Lm, and finally sends the catheter 6 to the set position. Figure 4 If Lm is less than Lmax, there is no need to repeat the above movement, and the catheter drive mechanism 2 and the guidewire drive mechanism 3 move forward Lm in coordination, and the catheter 6 is sent to the set position.

[0052] As attached Figure 5The figure shows a flow chart of the catheter retraction method. When the catheter needs to be retracted, a "catheter retraction" command is sent to the control module 1. The control module 1 will first determine whether the catheter 6 is clamped by triggering the switch and the encoder. If the catheter 6 is not clamped, the control module 1 will first send a "catheter clamping" command to the catheter drive mechanism 2. The catheter clamping roller 2-1 is pressed tightly, and the catheter 6 is clamped. Then the control module 1 sends a command to the catheter drive mechanism 2, and the catheter drive mechanism 2 and the guidewire drive mechanism 3 move backward Le in coordination. If the catheter 6 needs to move forward again, the "catheter advance" command is executed again, and the cycle is repeated, and finally the catheter 6 is sent to the set position.

[0053] The automatic catheter delivery mechanism provided by the present invention simulates the operation of a clinician and limits the distance between the catheter clamping mechanism and the vascular sheath, thereby ensuring that the catheter is delivered normally without bending. The automatic catheter delivery method provided by the present invention automatically controls the advancement and retraction of the catheter based on an image algorithm.

[0054] The contents not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field. The standard parts used can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connections adopt conventional connection methods in the existing technology, which will not be described in detail here.

[0055] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A delivery device for automatically controlling the movement of a catheter, characterized by: The invention comprises a control module (1), a catheter drive mechanism (2), a guidewire drive mechanism (3), a vascular sheath (4) and a Y-valve (7), wherein the control module (1) is electrically connected to and controls the catheter drive mechanism (2) and the guidewire drive mechanism (3); the catheter drive mechanism (2) comprises a catheter clamping roller (2-1), a catheter support seat (2-2), a movable support rod (2-3) and a drive base (2-4), wherein the catheter clamping roller (2-1) is mounted on the catheter support seat (2-2). A catheter (6) is passed through between the catheter clamping rollers (2-1), the catheter (6) is passed through the vascular sheath (4), and the catheter (6) is placed on the catheter support seat (2-2). The catheter support seat (2-2) is installed on one end of a movable support rod (2-3), and the other end of the movable support rod (2-3) is installed on the linear slide rail of the driving base (2-4) and moves relative to the driving base (2-4); the guide wire driving mechanism (3) includes a Y valve mounting seat (3-1), a guide wire The guide wire driving roller (3-2) and the guide wire support seat (3-3) are provided, the Y valve (7) is placed on the Y valve mounting seat (3-1) and fixed by a spring pressing mechanism, the Y valve mounting seat (3-1) is installed on one side of the guide wire support seat (3-3), the guide wire support seat (3-3) is installed on the driving base (2-4), the guide wire driving roller (3-2) is installed on the guide wire support seat (3-3), a guide wire (5) is passed through between the guide wire driving rollers (3-2), and the guide wire (5) is installed on the guide wire driving roller (3-2). ) passes through the guide wire driving roller (3-2), the Y valve (7) and the catheter (6) in sequence; the catheter clamping roller (2-1) is electrically connected to the control module (1), and is controlled by the control module (1) to open or close to loosen or clamp the catheter (6); a linear displacement sensor is installed on the catheter support seat (2-2), the linear displacement sensor is electrically connected to the control module (1), and the linear displacement sensor is used to measure the distance from the catheter clamping roller (2-1) to the effective initial end of the catheter (6) in real time and dynamically.

2. The delivery device for automatically controlling the movement of a catheter according to claim 1, wherein: The guide wire driving roller (3-2) is electrically connected to the control module (1), and is controlled by the control module (1) to open and close in order to loosen and clamp the guide wire (5).

3. The delivery device for automatically controlling the movement of a catheter according to claim 1, wherein: The driving base (2-4) comprises a docking device, a linear slide seat, an encoder, a sensor and a driving motor. The driving base (2-4) is connected to the control module (1) via the linear slide seat and moves forward and backward relative to the control module (1) via the linear slide seat. The guide wire support seat (3-3) is connected to the driving base (2-4) via the docking device.

4. The delivery device for automatically controlling the movement of a catheter according to claim 1, wherein: The movable support rod (2-3) is an L-shaped rod, a catheter support seat (2-2) is mounted on the top of one end of the movable support rod (2-3), the other end of the movable support rod (2-3) moves relative to the driving base (2-4) via a linear slide rail, and the movable support rod (2-3) is locked and fixed in place and then contacts and connects with a trigger switch, and the trigger switch is electrically connected to the control module (1).

5. A method for delivering a delivery device with automatic control of catheter movement according to any one of claims 1 to 4, characterized in that: The length L2 of the head end of the vascular sheath (4) exposed outside the human body, the effective length L3 of the catheter (6), and the distance L4 from the catheter clamping roller (2-1) to the effective initial tail end of the catheter (6) are known; the maximum movable distance between the catheter clamping roller (2-1) and the vascular sheath (4) is set to Lmax, and the moving distance of the movable support rod (2-3) is set to L; the CTA three-dimensional image and the DSA two-dimensional image are combined to calculate the distance L0 from the vascular puncture point, i.e., the entrance of the vascular sheath (4) to the set position, and the distance L1 from the vascular puncture point to the front end of the catheter (6); the forward distance Lm of the catheter (6), so L1 and Lm both change in real time and are dynamic values, and the result is: L=L3-L1-L2-L4-Lmax; Lm=L0-L1.

6. The conveying method according to claim 5, wherein: When the catheter (6) is initially installed, the length L3 of the catheter (6) is first input to the control module (1), and a "catheter release" command is sent to separate the catheter clamping roller (2-1); at this time, the catheter (6) is connected to the Y valve (7) and passed through the catheter clamping roller (2-1); the Y valve (7) is then fixed to the Y valve mounting seat (3-1) by a spring compression mechanism, and at this time, the axial direction of the catheter (6) is relatively fixed.

7. The conveying method according to claim 6, wherein: When the control catheter (6) moves forward, the following steps are included: a. Sending a "catheter advance" instruction to the control module (1), first the control module (1) determines whether the catheter (6) is clamped by triggering the switch and the encoder; if the catheter (6) is clamped, the control module (1) sends a "catheter release" instruction to the catheter driving mechanism (2); the movable support rod (2-3) moves forward a distance L relative to the driving base (2-4) through the linear slide rail, and is locked and fixed after it is in place; after the movable support rod (2-3) is fixed, the catheter clamping roller (2-1) is pressed against the catheter by triggering the switch, and the catheter (6) is clamped, and at the same time the control module (1) determines the size relationship between Lm and Lmax; b. If Lm < Lmax, the control module (1) sends a command to the catheter drive mechanism (2), and the catheter drive mechanism (2) cooperates with the guidewire drive mechanism (3) to move forward by Lm, sending the catheter (6) to the set position while keeping the position of the catheter clamping roller (2-1) unchanged; c. If Lm>Lmax, the control module (1) sends a command to the catheter drive mechanism (2), and the catheter drive mechanism (2) and the guide wire drive mechanism (3) move forward in coordination by Lmax; then the control module (1) sends a command to the catheter drive mechanism (2), and the catheter clamping roller (2-1) separates, and the catheter (6) is not clamped; the movable support rod (2-3) moves backward by Lmax again, and is locked and fixed after being in place; the control module (1) sends a "catheter clamping" command to the catheter drive mechanism (2), and the catheter clamping roller (2-1) is pressed tightly, and the catheter (6) is clamped; d. The control module (1) once again determines the relationship between Lm and Lmax at this time; if Lm>Lmax, the above movement is repeated until Lm<Lmax; at this time, the catheter clamping roller (2-1) drives the catheter (6) to move forward by Lm, and finally sends the catheter (6) to the set position; if Lm<Lmax, there is no need to repeat the above movement, and the catheter drive mechanism (2) and the guide wire drive mechanism (3) cooperate to move forward by Lm, and the catheter (6) is sent to the set position.

8. The conveying method according to claim 6, wherein: When the catheter (6) is controlled to retract, the following steps are included: sending a "catheter retract" instruction to the control module (1), and the control module (1) determines whether the catheter (6) is clamped by triggering a switch and an encoder; if the catheter (6) is not clamped, the control module (1) sends a "catheter clamp" instruction to the catheter drive mechanism (2), and the catheter clamping roller (2-1) is pressed tightly, and the catheter (6) is clamped, and then the control module (1) sends an instruction to the catheter drive mechanism (2), and the catheter drive mechanism (2) and the guide wire drive mechanism (3) move backward Le in coordination; if the catheter (6) needs to move forward again, the "catheter advance" instruction is executed again, and the cycle is repeated, and finally the catheter (6) is sent to the set position.

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