Delivery device for an elongated medical instrument

Abstract

The application relates to the technical field of interventional operation robots, and provides a delivery device of an elongated medical instrument, which comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein a rotating delivery assembly for clamping the medical instrument is not arranged on the second driving mechanism, and only a third rotating delivery assembly is arranged on the third driving mechanism; under different intervention modes, the third rotating delivery assembly can be used for clamping a third medical instrument and rotating and delivering the third medical instrument, or the third rotating delivery assembly clamps a fourth medical instrument and rotates and delivers the fourth medical instrument after completing the operation on the third medical instrument; the third delivery assembly is used for clamping the third medical instrument when the third rotating delivery assembly operates the fourth medical instrument, so that the whole delivery device is reduced in size, reduced in weight and saved in cost, and meanwhile, a "one tube and two wires" intervention mode can be implemented on the delivery device.

Description

Technical Field

[0001] This application relates to the field of interventional surgical robot technology, and in particular to a delivery device for an elongated medical device. Background Technology

[0002] Interventional therapy is a minimally invasive treatment that utilizes modern high-tech methods. Under the guidance of medical imaging equipment, specialized catheters, guidewires, and other precision instruments are introduced into the human body to diagnose and treat internal diseases locally.

[0003] During surgical procedures, surgical robots require the coordinated use of multiple medical devices (such as guidewires and catheters) to deliver them to the lesion. With advancements in medical technology and evolving operational needs, the traditional "one-tube-one-wire" approach in vascular interventional surgery is no longer sufficient for doctors. "Two-tube-one-wire" and "three-tube-one-wire" approaches, offering doctors more treatment options, are increasingly favored. However, Chinese patent CN202210326352.0 discloses a slave device for an interventional surgical robot. Its first and second motion drive devices are equipped with drive units for rotating and delivering guidewires, resulting in a large, heavy, and costly slave device with significant catheter waste. Furthermore, existing slave devices cannot perform "one-tube-two-wire" interventions. Summary of the Invention

[0004] The main objective of this application is to provide a delivery device for a slender medical device that can solve the technical problems of existing end devices being large in size, heavy in weight, high in cost, and wasteful of catheters, and that existing end devices cannot perform the "one tube, two wires" intervention method.

[0005] This application provides a delivery device for elongated medical devices, used for the coordinated operation of multiple elongated medical devices, including:

[0006] A first driving mechanism, the first driving mechanism including a first delivery component, the first delivery component being used to clamp one end of a first medical device and deliver the first medical device;

[0007] The second driving mechanism includes a second rotating component and a second delivery component. The second rotating component is used to clamp the other end of the first medical device and rotate the first medical device. The second delivery component is used to clamp one end of the second medical device and deliver the second medical device.

[0008] The third driving mechanism includes a third rotary delivery component, a third rotary component, and a third delivery component. The third rotary component is used to clamp the other end of the second medical device and rotate the second medical device. The third rotary delivery component is used to clamp the third medical device and rotate and deliver the third medical device. Alternatively, the third rotary delivery component can clamp a fourth medical device and rotate and deliver the fourth medical device after completing the operation on the third medical device. The third delivery component is used to clamp the third medical device when the third rotary delivery component operates the fourth medical device.

[0009] The delivery and rotation of multiple slender medical devices are achieved through the first drive mechanism, the second drive mechanism, and the third drive mechanism.

[0010] Furthermore, when the first medical device and the third medical device are operated in coordination by the first driving mechanism, the second driving mechanism and the third driving mechanism, the second driving mechanism and the third driving mechanism remain relatively stationary. First, the third rotating delivery component clamps, rotates and delivers the third medical device, so that the end of the third medical device protrudes from the end of the first medical device by a preset distance. Then, the first medical device and the third medical device are delivered to the designated position simultaneously.

[0011] Furthermore, when the first, second, and third driving mechanisms work together to operate the first, third, and fourth medical devices, the second and third driving mechanisms remain relatively stationary. First, the third rotary delivery assembly clamps, rotates, and delivers the third medical device, so that the end of the third medical device protrudes from the end of the first medical device by a preset distance. Then, the first and third medical devices are simultaneously delivered to target position one. Next, the third rotary delivery assembly clamps, rotates, and delivers the third medical device to target position two. Finally, the third medical device is clamped in the third delivery assembly, and then the third rotary delivery assembly clamps, rotates, and delivers the fourth medical device.

[0012] Furthermore, the second drive mechanism also includes a quick-intercourse delivery component for clamping and delivering the quick-intercourse conduit.

[0013] Furthermore, when the first driving mechanism, the second driving mechanism, and the third driving mechanism work together to operate the first medical device, the second medical device, and the third medical device, the second driving mechanism and the third driving mechanism move relatively independently. First, the third rotary delivery component clamps, rotates, and delivers the third medical device, so that the end of the third medical device protrudes from the end of the first medical device by a first preset distance. Then, the second delivery component and the third rotary component work together to deliver the second medical device, so that the second medical device protrudes from the first medical device by a second preset distance. Next, the third rotary delivery component clamps, rotates, and delivers the third medical device, so that the end of the third medical device protrudes from the end of the second medical device by a third preset distance. Finally, the first medical device, the second medical device, and the third medical device are delivered simultaneously to the designated position.

[0014] Furthermore, the third delivery component is used to clamp and deliver the fast-cross conduit.

[0015] Furthermore, the third rotary delivery assembly includes a rotary unit and a delivery unit, wherein the rotary unit and the delivery unit are assembled as a single unit or are set up independently.

[0016] Furthermore, the delivery device of the elongated medical device also includes a front-end fixing mechanism, which is disposed on the side of the first drive mechanism away from the second drive mechanism.

[0017] Furthermore, when the first driving mechanism, the second driving mechanism, and the third driving mechanism work together to operate the first medical device, the second medical device, the third medical device, and the fifth medical device, the first driving mechanism delivers the first medical device to the designated position and then clamps the first medical device to the front-end fixing mechanism.

[0018] Furthermore, it also includes a sheath mounting base, which includes a mounting portion and a connecting portion. The mounting portion is used to mount the puncture sheath, and the mounting portion is connected to the front-end fixing mechanism through the connecting portion. During delivery, the first driving mechanism drives the first medical device to extend through the puncture sheath.

[0019] Compared to existing technologies, this application provides a delivery device for a slender medical device, including a first drive mechanism, a second drive mechanism, and a third drive mechanism. The second drive mechanism does not have a rotary delivery component for clamping the medical device; instead, a third rotary delivery component is provided only on the third drive mechanism. Under different intervention methods, the third rotary delivery component can be used to clamp and rotate / deliver the third medical device, or after completing the operation on the third medical device, the third rotary delivery component can clamp and rotate / deliver a fourth medical device. The third delivery component is used to clamp the third medical device while the third rotary delivery component is operating the fourth medical device, thereby reducing the length of the second drive mechanism, reducing the number of motors and the wasted length of the slender medical device, resulting in a smaller overall size, lighter weight, and cost savings for the entire device. Simultaneously, a "one tube, two wires" intervention method can be performed on the delivery device. Attached Figure Description

[0020] Figure 1 A schematic diagram of the structure of the delivery device for the elongated medical device of this application when delivering a "tube and wire";

[0021] Figure 2 A schematic diagram of the structure of the delivery device for the elongated medical device of this application when delivering "one tube and two wires";

[0022] Figure 3 A schematic diagram of the structure of the delivery device for the elongated medical device of this application when delivering "two tubes and one wire";

[0023] Figure 4 for Figure 3 Enlarged view of section A in the image;

[0024] Figure 5 for Figure 3 Enlarged view of section B in the image;

[0025] Figure 6 for Figure 3 A magnified view of section C in the image.

[0026] The names of the components shown in the figure are as follows: 1. First drive mechanism; 11. First delivery assembly; 2. Second drive mechanism; 21. Second rotating assembly; 211. T valve; 22. Second delivery assembly; 23. Quick-change delivery assembly; 3. Third drive mechanism; 31. Third rotating delivery assembly; 311. Rotating unit; 312. Delivery unit; 32. Third rotating assembly; 33. Third delivery assembly; 4. Frame; 5. Sheath mounting base; 51. Mounting part; 52. Connecting part; 6. Front end fixing mechanism; 101. First medical device; 102. Second medical device; 103. Third medical device; 104. Fourth medical device; 106. Quick-change catheter.

[0027] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] Reference Figures 1 to 3 This application discloses a delivery device for elongated medical devices, used for the coordinated operation of multiple elongated medical devices, including:

[0031] A first driving mechanism 1, the first driving mechanism 1 includes a first delivery component 11, the first delivery component 11 is used to clamp one end of a first medical device 101 and deliver the first medical device 101;

[0032] The second driving mechanism 2 includes a second rotating component 21 and a second delivery component 22. The second rotating component 21 is used to clamp the other end of the first medical device 101 and rotate the first medical device 101. The second delivery component 22 is used to clamp one end of the second medical device 102 and deliver the second medical device 102.

[0033] The third driving mechanism 3 includes a third rotary delivery component 31, a third rotary component 32, and a third delivery component 33. The third rotary component 32 is used to clamp the other end of the second medical device 102 and rotate the second medical device 102. The third rotary delivery component 31 is used to clamp the third medical device 103 and rotate and deliver the third medical device 103. Alternatively, the third rotary delivery component 31 may clamp the fourth medical device 104 and rotate and deliver the fourth medical device 104 after completing the operation on the third medical device 103. The third delivery component 33 is used to clamp the third medical device 103 when the third rotary delivery component 31 operates the fourth medical device 104.

[0034] The delivery and rotation of multiple slender medical devices are achieved through the first drive mechanism 1, the second drive mechanism 2, and the third drive mechanism 3.

[0035] Reference Figure 3In some feasible embodiments, the delivery device includes a frame 4, wherein a first drive mechanism 1 is fixed on the frame 4, clamps one end of a first medical device 101, and delivers the first medical device 101; a second drive mechanism 2 is movably disposed on the frame 4, clamps the other end of the elongated first medical device 101, and delivers the first medical device 101 by displacement on the frame 4. It is worth noting that the first drive mechanism 1 is fixed on the frame 4 and delivers one end of the first medical device 101 through its internal structure, while the second drive mechanism 2 delivers the other end of the first medical device 101 in a different manner than the first drive mechanism 1. The second drive mechanism 2 delivers the other end of the first medical device 101 by displacement on the frame 4. Specifically, the internal structure of the first drive mechanism 1 includes a first delivery assembly 11 for delivering the first medical device 101. The first delivery assembly 11 includes a roller assembly, which delivers one end of the first medical device 101 by friction between the roller assembly and the first medical device 101. The second drive mechanism 2 is driven by a drive device (e.g., a linear module, a lead screw motor, etc.) mounted on the frame 4, and delivers the other end of the first medical device 101 by the overall displacement of the second drive mechanism 2 on the frame 4. The delivery speed of the first drive mechanism 1 to the tube of the first medical device 101 needs to be consistent with the delivery speed of the second drive mechanism 2 to the first medical device 101, so that the first medical device 101 between the first drive mechanism 1 and the second drive mechanism 2 always remains straight. In addition, similarly, the second drive mechanism 2 can also clamp one end of the second medical device 102, and the third drive mechanism 3 is movably mounted on the frame 4, clamping the other end of the elongated second medical device 102, and delivering the elongated medical device by displacement on the frame 4. The delivery principle of the second driving mechanism 2 and the third driving mechanism 3 to the second medical device 102 is roughly the same as the delivery principle of the first driving mechanism 1 and the second driving mechanism 2 to the first medical device 101. The internal structure of the second driving mechanism 2 includes a second delivery assembly 22 for delivering the second medical device 102 and a second rotating assembly 21 for rotating the first medical device 101. The second delivery assembly 22 includes a roller assembly, which delivers one end of the second medical device 102 by friction between the roller assembly and the second medical device 102. The third driving mechanism 3 is driven by a driving device (e.g., a linear module, a lead screw motor, etc.) mounted on the frame 4, and delivers the other end of the second medical device 102 by the overall displacement of the third driving mechanism 3 on the frame 4.Furthermore, the second rotating assembly 21 includes a rotating unit for driving the T valve 211 to rotate. The first medical device 101, fixed to the T valve 211, rotates under the drive of the T valve. The purpose is that after the first medical device 101 has advanced a certain distance, when it encounters a bend in the blood vessel or at a branch of the blood vessel, it needs to be rotated to continue advancing along the bend of the blood vessel or into the target branch. The third rotating assembly 32 on the third driving mechanism 3 also includes a rotating unit, which rotates the second medical device 102. The third delivery assembly 33 includes a roller assembly, which can use the clamping force between the rollers to fix the third medical device 103, facilitating subsequent operations.

[0036] Reference Figure 6 The third rotary delivery assembly 31 has a more complex structure. Specifically, it includes a rotating unit 311 and a delivery unit 312, which can be assembled as a single unit or independently configured. When the third medical device 103 advances a certain distance and encounters a bend in the blood vessel or a branch, it needs to be rotated to change the direction of its head, allowing it to continue along the bend or enter the target branch. The rotating unit 311 rotates the third medical device 103, and the delivery unit 312 delivers it. Because the third drive mechanism 3 adds the third rotary delivery assembly 31 compared to the second drive mechanism 2, its size and weight are larger. In existing technologies, to enable various intervention methods for medical devices, a rotary delivery component with the same function as the third rotary delivery component 31 is also installed on the second drive mechanism 2. This increases the size and weight of the second drive mechanism 2, raising manufacturing costs. Furthermore, due to the excessive size of the second drive mechanism 2, more medical devices are not utilized effectively, leading to increased waste. Therefore, this application only sets the rotary delivery component on the third drive mechanism 3, thereby reducing the length of the second drive mechanism 2, decreasing the number of motors and the waste of length for slender medical devices. This results in a smaller overall size and lighter weight of the slave device, as well as cost savings. Simultaneously, through the cooperation between the second drive mechanism 2 and the third drive mechanism 3, a "one tube, two wires" intervention method can be performed on the delivery device.

[0037] Specifically, in this application, the first medical device 101 is a first catheter, the second medical device 102 is a second catheter, the third medical device 103 is a first guidewire, and the fourth medical device 104 is a second guidewire.

[0038] Reference Figure 1In one feasible implementation, when the first driving mechanism 1, the second driving mechanism 2, and the third driving mechanism 3 coordinately operate the first medical device 101 and the third medical device 103, the second driving mechanism 2 and the third driving mechanism 3 remain relatively stationary. First, the third rotating delivery component 31 clamps, rotates, and delivers the third medical device 103, ensuring that the end of the third medical device 103 protrudes from the end of the first medical device 101 by a preset distance. Then, the first medical device 101 and the third medical device 103 are simultaneously delivered to a designated position. In specific application scenarios, a single-tube, single-wire intervention method is generally required for preoperative angiography. During this process, the third driving mechanism 3 is close to the second driving mechanism 2, becoming integrated with it (at this point, the third driving mechanism 3 can be considered as part of the second driving mechanism 2). The second driving mechanism 2 and the third driving mechanism 3 remain relatively stationary, meaning they move synchronously. First, the third rotary delivery assembly 31 clamps, rotates, and delivers the first guidewire. When the distance from the end of the first guidewire protruding from the first catheter is 100-200mm, the first delivery assembly 11 delivers one end of the first catheter, and the overall movement of the second drive mechanism 2 drives the second rotary assembly 21 to deliver the other end of the first catheter. During this process, the delivery speed of the first delivery assembly 11 is the same as the overall movement speed of the second drive mechanism 2. The moving second drive mechanism 2 drives the third drive mechanism 3 to move synchronously, so the first guidewire clamped in the third drive mechanism 3 is delivered synchronously with the first catheter. When the first catheter and the first guidewire are delivered together to the aortic arch, the third rotary delivery assembly 31 is used to withdraw the first guidewire, and then contrast agent is injected through the first catheter for angiography. After the aortic arch angiography is completed, the third rotary delivery assembly 31 delivers the first guidewire to a distance of 100-200mm from the end of the first catheter, and then the first delivery assembly 11 and the second drive mechanism 2 are used to withdraw the first catheter and the first guidewire together from the body. During the above process, since the second driving mechanism 2 and the third driving mechanism 3 are relatively stationary, when the second driving mechanism 2 delivers the first catheter, the first guidewire clamped on the third driving mechanism 3 will be delivered synchronously with the first catheter. Using a blood vessel as a reference, when it is only necessary to deliver the first catheter within the blood vessel while keeping the first guidewire stationary relative to the blood vessel, the first guidewire needs to be delivered in the opposite direction via the third rotating delivery component 31 to keep the first guidewire stationary relative to the blood vessel. Similarly, in other interventional methods, when the first guidewire is driven by structural linkage and it is desired to keep the first guidewire stationary relative to the blood vessel, the first guidewire can also be delivered in the opposite direction via the third rotating delivery component 31 to keep the first guidewire stationary relative to the blood vessel.Furthermore, in this embodiment, the second drive mechanism 2 also includes a quick-connect delivery assembly 23, which is used to clamp and deliver the quick-connect conduit 106. The quick-connect delivery assembly 23 includes a roller assembly, which uses the friction between the roller assembly and the quick-connect conduit 106 to deliver the tail end of the quick-connect conduit 106. In the one-tube-one-wire intervention method, the delivery of the quick-connect conduit 106 is completed on the second drive mechanism 2. Specifically, when a quick-connect operation is required, the tail end of the first guidewire is inserted from the head end of the quick-connect conduit 106, then exits from the side hole of the quick-connect conduit 106, and finally the tail end of the quick-connect conduit 106 is mounted on the quick-connect delivery assembly 23. By operating the quick-connect delivery assembly 23, the quick-connect conduit 106 is delivered along the first guidewire.

[0039] Reference Figure 2In another feasible implementation, when the first driving mechanism 1, the second driving mechanism 2, and the third driving mechanism 3 coordinately operate the first medical device 101, the third medical device 103, and the fourth medical device 104, the second driving mechanism 2 and the third driving mechanism 3 remain relatively stationary. First, the third rotating delivery component 31 clamps, rotates, and delivers the third medical device 103, so that the end of the third medical device 103 protrudes from the end of the first medical device 101 by a preset distance. Then, the first medical device 101 and the third medical device 103 are simultaneously delivered to target position one. Next, the third rotating delivery component 31 clamps, rotates, and delivers the third medical device 103 to target position two. Finally, the third medical device 103 is clamped in the third delivery component 33, and then the third rotating delivery component 31 clamps, rotates, and delivers the fourth medical device 104. In specific application scenarios, a one-tube, two-wire interventional approach is generally required for coronary artery bifurcation lesions. In this process, the third drive mechanism 3 is close to the second drive mechanism 2 and integrates with it (at this time, the third drive mechanism 3 can be regarded as a part of the second drive mechanism 2). The second drive mechanism 2 and the third drive mechanism 3 remain relatively stationary, that is, the second drive mechanism 2 and the third drive mechanism 3 move synchronously. First, the third rotary delivery component 31 clamps, rotates and delivers the first guidewire. When the distance of the first guidewire protruding from the end of the first catheter is 100-200mm, the first catheter and the first guidewire are delivered together to the aortic arch. This process is the same as the specific process of the first catheter and the first guidewire in the previous embodiment, so it will not be described again. Then, the first guidewire is controlled by the third rotary delivery component 31 and the first catheter is controlled by the first delivery component 11 and the second rotary component 21 to form a cooperation, and the first guidewire and the first catheter are delivered to the bifurcation lesion. When the first guidewire enters the bifurcation lesion A vessel, the first guidewire is removed from the third rotary delivery component 31 and placed in the third delivery component 33 for clamping. Then, the second guidewire is delivered to the bifurcation lesion B vessel using the third rotary delivery component 31. In this embodiment, the second drive mechanism 2 further includes a quick-intercourse delivery assembly 23, which is used to clamp and deliver the quick-intercourse catheter 106. Specifically, the quick-intercourse delivery assembly 23 is located to the side of the second delivery assembly 22. The quick-intercourse delivery assembly 23 includes a roller assembly, which delivers the quick-intercourse catheter 106 using the friction between the roller assembly and the quick-intercourse catheter 106. During treatment, when a quick-intercourse operation is required, the tail end of the second guidewire is inserted into the head end of the quick-intercourse catheter 106 and then exits through the side hole of the quick-intercourse catheter 106. The quick-intercourse catheter 106, clamped on the quick-intercourse delivery assembly 23, treats the bifurcation lesion B through the second guidewire.If narrowing of vessel A is detected during treatment, the tail end of the first guidewire is inserted through the tip of the quick-crossing catheter 106 and then exits through the side hole of the quick-crossing catheter 106. The quick-crossing catheter 106, clamped on the quick-crossing delivery assembly 23, treats the bifurcation lesion A through the first guidewire. After treatment, the quick-crossing catheter 106 is withdrawn first, followed by the second guidewire, the first catheter, and the first guidewire. The withdrawal of each medical device in this process is performed by its corresponding drive assembly, which will not be described in detail here.

[0040] Reference Figure 3In another feasible embodiment, when the first driving mechanism 1, the second driving mechanism 2, and the third driving mechanism 3 cooperate to operate the first medical device 101, the second medical device 102, and the third medical device 103, the second driving mechanism 2 and the third driving mechanism 3 move relatively independently. First, the third rotating delivery component 31 clamps, rotates, and delivers the third medical device 103, so that the end of the third medical device 103 protrudes from the end of the first medical device 101 by a first preset distance. Then, the second delivery component 22 and the third rotating component 32 cooperate to deliver the second medical device 102, so that the second medical device 102 protrudes from the first medical device 101 by a second preset distance. Then, the third rotating delivery component 31 clamps, rotates, and delivers the third medical device 103, so that the end of the third medical device 103 protrudes from the end of the second medical device 102 by a third preset distance. Finally, the first medical device 101, the second medical device 102, and the third medical device 103 are delivered simultaneously to a designated position. In specific applications, mechanical thrombectomy is required for intracranial vascular stenosis, typically using a two-tube-one-wire interventional approach. During this process, the second drive mechanism 2 and the third drive mechanism 3 move relatively independently. First, the third rotary delivery assembly 31 clamps, rotates, and delivers the first guidewire. When the distance from the end of the first guidewire protruding from the first catheter is 100-200mm, the second delivery assembly 22 delivers one end of the second catheter, and the overall movement of the third drive mechanism 3 drives the second rotary assembly 21 to deliver the other end of the second catheter. During this process, the delivery speed of the second delivery assembly 22 is the same as the overall movement speed of the third drive mechanism 3. When the distance from the end of the second catheter protruding from the end of the first catheter is 100mm, and the distance from the end of the first guidewire protruding from the end of the second catheter is 200mm using the third rotary delivery assembly 31, then the first drive mechanism 1, the second drive mechanism 2, and the third drive mechanism 3 work together to simultaneously deliver the first catheter, the second catheter, and the first guidewire to a stable position in the left common carotid artery (possibly the stable position in the right common carotid artery, depending on the lesion location). Then, the second catheter and the first guidewire are withdrawn, and other equipment is then transported for thrombectomy. In this embodiment, when a quick-crossing operation is required, the third delivery assembly 33 is used to clamp and deliver the quick-crossing catheter 106. The third delivery assembly 33 includes a roller assembly, which uses the friction between the roller assembly and the quick-crossing catheter 106 to deliver the quick-crossing catheter 106.

[0041] In addition, the delivery device of the elongated medical device also includes a front-end fixing mechanism 6, which is disposed on the side of the first drive mechanism 1 away from the second drive mechanism 2.

[0042] reference Figures 3 to 5In one feasible implementation, when the first driving mechanism 1, the second driving mechanism 2, and the third driving mechanism 3 coordinately operate the first medical device 101, the second medical device 102, the third medical device 103, and the fifth medical device (not shown in the figures), the first driving mechanism 1 delivers the first medical device 101 to the designated position and then clamps the first medical device 101 to the front-end fixing mechanism 6. In this implementation, the fifth medical device is the third catheter (not shown in the figures), and one end of the first catheter is fixedly connected to a T valve 211. During operation, the second rotating component rotates the T valve 211, thereby driving the first catheter to rotate. In specific application scenarios, when a three-tube-one-wire intervention method is required, the front-end fixing mechanism 6 can be used to fix the T valve 211, thereby fixing the first catheter. In specific application scenarios, intracranial vascular stenosis requires mechanical thrombectomy for acute stroke, which generally requires a three-tube-one-wire intervention method. During this process, the second driving mechanism 2 and the third driving mechanism 3 move relatively independently. First, the first guidewire, first catheter, and second catheter are delivered using the aforementioned two-tube-one-wire delivery method. The first guidewire is clamped, rotated, and delivered by the third rotating delivery assembly 31. When the distance from the end of the first guidewire protruding from the first catheter is 100-200mm, one end of the second catheter is delivered by the second delivery assembly 22, and the other end of the second catheter is delivered by the third rotating assembly 32 driven by the overall movement of the third drive mechanism 3. During this process, the delivery speed of the second delivery assembly 22 is the same as the overall movement speed of the third drive mechanism 3, until the distance from the end of the second catheter protruding from the first catheter is 100mm, and the distance from the end of the first guidewire protruding from the second catheter is 200mm by the third rotating delivery assembly 31. Then, the first drive mechanism 1, the second drive mechanism 2, and the third drive mechanism 3 work together to simultaneously deliver the first catheter, the second catheter, and the first guidewire to a stable position in the left common carotid artery (or possibly the right common carotid artery, depending on the location of the lesion). Next, the second catheter and the first guidewire are withdrawn, and the first catheter is removed from the first delivery assembly 11 and the second rotating assembly 21, with one end of the first catheter connected to the T valve 211. The T valve 211 is then fixed to the front-end fixing mechanism 6. Subsequently, the fourth catheter (correspondingly installed in the position where the first catheter was previously installed), the fifth catheter (correspondingly installed in the position where the second catheter was previously installed), and the second guidewire (correspondingly installed in the position where the first guidewire was previously installed) are reinstalled. Similarly, in this subsequent process, the second drive mechanism 2 and the third drive mechanism 3 also move relatively independently.Continuing with the aforementioned two-tube-one-wire method, the second guidewire, fourth catheter, and fifth catheter are delivered. First, the third rotating delivery assembly 31 clamps, rotates, and delivers the second guidewire. When the distance from the end of the second guidewire protruding from the fourth catheter is 100-200mm, the second delivery assembly 22 delivers one end of the fifth catheter, and the overall movement of the third drive mechanism 3 drives the third rotating assembly 32 to deliver the other end of the fifth catheter. During this process, the delivery speed of the second delivery assembly 22 is the same as the overall movement speed of the third drive mechanism 3. This continues until the distance from the end of the fifth catheter protruding from the fourth catheter is 100mm, and the distance from the end of the second guidewire protruding from the fifth catheter is 200mm. Then, using the coordinated operation of the first drive mechanism 1, the second drive mechanism 2, and the third drive mechanism 3, the fourth catheter, the fifth catheter, and the second guidewire are simultaneously delivered to the distal end of the intracranial lesion. The second guidewire is then withdrawn, and a thrombectomy stent is installed for thrombectomy.

[0043] Reference Figure 5 In another feasible embodiment, the delivery device of this application further includes a sheath mounting base 5, which includes a mounting portion 51 and a connecting portion 52. The mounting portion 51 is used to mount a puncture sheath (not shown in the drawings). The mounting portion 51 is connected to the front-end fixing mechanism 6 through the connecting portion 52. During delivery, the first driving mechanism 1 drives the first medical device 101 to extend through the puncture sheath. In the prior art, the puncture sheath is only fixed to the wound site of the human body with medical tape and is not fixed to the slave device. During the movement of the slave device, the sheath tube may be pulled away from the blood vessel or the sheath tube may be displaced. The mounting portion 51 is connected to the front-end fixing mechanism 6 through the connecting portion 52. The connecting portion 52 has a certain limiting and supporting effect on the catheter and guidewire, which effectively solves the problem in the prior art that the puncture sheath is only adhered to the wound site of the human body and is not fixed to the slave device. When the slave device moves, the sheath tube may be pulled away from the blood vessel or the sheath tube may be displaced.

[0044] Therefore, the front-end fixation mechanism 6 in this application can perform different functions as needed during operation. In practical applications, function switching is simple, it has strong compatibility, adapts to various medical device intervention methods and the installation of corresponding medical devices, and greatly improves operation efficiency.

[0045] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0046] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A delivery device for elongated medical devices, used for the coordinated operation of multiple elongated medical devices, characterized in that, The delivery device comprises: a first driving mechanism comprising a first delivery assembly for clamping and delivering one end of a first medical instrument; a second driving mechanism comprising a second rotating assembly for clamping and rotating the other end of the first medical instrument and a second delivery assembly for clamping and delivering one end of a second medical instrument; a third driving mechanism comprising a third rotating delivery assembly for clamping and rotating a third medical instrument and a third rotating assembly for clamping and rotating the other end of the second medical instrument; The first driving mechanism, the second driving mechanism and the third driving mechanism are used to deliver and rotate multiple elongated medical instruments.

2. The delivery device of claim 1, wherein the elongated medical device is a catheter. When the first driving mechanism, the second driving mechanism and the third driving mechanism are used to operate the first medical instrument and the third medical instrument, the second driving mechanism and the third driving mechanism remain relatively static, the third rotating delivery assembly is used to clamp, rotate and deliver the third medical instrument first, and the end of the third medical instrument is exposed from the end of the first medical instrument by a preset distance, and then the first medical instrument and the third medical instrument are delivered to a designated position simultaneously.

3. The delivery device of claim 2, wherein the elongated medical device is a catheter. The second driving mechanism further comprises a quick exchange delivery assembly for clamping and delivering a quick exchange catheter.

4. The delivery device of claim 1, wherein the elongated medical device is a catheter. When the first driving mechanism, the second driving mechanism and the third driving mechanism are used to operate the first medical instrument, the second medical instrument and the third medical instrument, the second driving mechanism and the third driving mechanism move relatively independently, the third rotating delivery assembly is used to clamp, rotate and deliver the third medical instrument first, and the end of the third medical instrument is exposed from the end of the first medical instrument by a first preset distance, then the second delivery assembly and the third rotating assembly are used to deliver the second medical instrument, and the second medical instrument is exposed from the first medical instrument by a second preset distance, then the third rotating delivery assembly is used to clamp, rotate and deliver the third medical instrument, and the end of the third medical instrument is exposed from the end of the second medical instrument by a third preset distance, and finally the first medical instrument, the second medical instrument and the third medical instrument are delivered to a designated position simultaneously.

5. The delivery device of claim 4, wherein the elongated medical device is a catheter. The third driving mechanism further comprises a third delivery assembly for clamping and delivering a quick exchange catheter.

6. The delivery device of claim 1, wherein the elongated medical device is a catheter. The third rotating delivery assembly comprises a rotating unit and a delivery unit, which are assembled into an integrated structure or are independently provided.

7. The delivery device of claim 1, wherein the elongated medical device is a catheter. The delivery device of the elongated medical instrument further comprises a front end fixing mechanism provided on the side of the first driving mechanism away from the second driving mechanism.

8. The delivery device of claim 7, wherein the elongated medical device is a catheter. When the first driving mechanism, the second driving mechanism and the third driving mechanism operate the first medical instrument, the second medical instrument, the third medical instrument and the fifth medical instrument in cooperation, the first driving mechanism clamps the first medical instrument after the first medical instrument is delivered to a designated position.

9. The delivery device of claim 7, wherein the elongated medical device is a catheter. The sheath mounting seat further comprises a mounting portion and a connecting portion, the mounting portion is used for mounting a puncture sheath, and the mounting portion is connected with the front end fixing mechanism through the connecting portion. When delivered, the first driving mechanism drives the first medical instrument to extend out through the puncture sheath.

10. A delivery device for elongated medical devices, used for the coordinated operation of multiple elongated medical devices, characterized in that, Comprise: The first driving mechanism comprises a first delivery assembly for clamping one end of a first medical instrument and delivering the first medical instrument; The second driving mechanism comprises a second rotating assembly and a second delivery assembly, the second rotating assembly is used for clamping the other end of the first medical instrument and rotating the first medical instrument, and the second delivery assembly is used for clamping one end of a second medical instrument and delivering the second medical instrument; The third driving mechanism comprises a third rotating delivery assembly, a third rotating assembly and a third delivery assembly, the third rotating assembly is used for clamping the other end of the second medical instrument and rotating the second medical instrument, and the third rotating delivery assembly is used for clamping a third medical instrument and rotating and delivering the third medical instrument; The third rotating delivery assembly clamps a fourth medical instrument and rotates and delivers the fourth medical instrument after completing the operation on the third medical instrument, and the third delivery assembly is used for clamping the third medical instrument when the third rotating delivery assembly operates the fourth medical instrument; The first driving mechanism, the second driving mechanism and the third driving mechanism realize the delivery and rotation of a plurality of elongated medical instruments.

11. The delivery device of claim 10, wherein the elongated medical device is a catheter. When the first driving mechanism, the second driving mechanism and the third driving mechanism operate the first medical instrument and the third medical instrument in cooperation, the second driving mechanism and the third driving mechanism remain relatively static, the third rotating delivery assembly clamps, rotates and delivers the third medical instrument first, and the end of the third medical instrument is exposed from the end of the first medical instrument by a preset distance, and then the first medical instrument and the third medical instrument are delivered to a designated position at the same time.

12. The delivery device of claim 10, wherein the elongated medical device is a catheter. When the first driving mechanism, the second driving mechanism and the third driving mechanism operate the first medical instrument, the third medical instrument and the fourth medical instrument, the second driving mechanism and the third driving mechanism remain relatively static, the third medical instrument is first clamped, rotated and delivered by the third rotary delivery assembly, the end of the third medical instrument is exposed from the end of the first medical instrument by a preset distance, then the first medical instrument and the third medical instrument are simultaneously delivered to a target position one, then the third medical instrument is clamped by the third rotary delivery assembly, and the fourth medical instrument is clamped, rotated and delivered by the third rotary delivery assembly.

13. The delivery device of an elongated medical device according to claim 11 or 12, wherein, The second driving mechanism further comprises a fast exchange delivery assembly for clamping and delivering a fast exchange catheter.

14. The delivery device of claim 10, wherein the elongated medical device is a catheter. When the first driving mechanism, the second driving mechanism and the third driving mechanism operate the first medical instrument, the second medical instrument and the third medical instrument, the second driving mechanism and the third driving mechanism relatively independently move, the third medical instrument is first clamped, rotated and delivered by the third rotary delivery assembly, the end of the third medical instrument is exposed from the end of the first medical instrument by a first preset distance, then the second medical instrument is delivered by the second delivery assembly and the third rotary assembly, the second medical instrument is exposed from the first medical instrument by a second preset distance, then the third medical instrument is clamped, rotated and delivered by the third rotary delivery assembly, the end of the third medical instrument is exposed from the end of the second medical instrument by a third preset distance, and finally the first medical instrument, the second medical instrument and the third medical instrument are simultaneously delivered to a specified position.

15. The delivery device of claim 14, wherein the elongated medical device is a catheter. The third delivery assembly is used for clamping and delivering a fast exchange catheter.

16. The delivery device of claim 10, wherein the elongated medical device is a catheter. The third rotary delivery assembly comprises a rotating unit and a delivery unit, and the rotating unit and the delivery unit are assembled into an integrated structure or are independently arranged.

17. The delivery device of claim 10, wherein the elongated medical device is a catheter. The delivery device of the elongated medical instrument further comprises a front end fixing mechanism arranged on the side of the first driving mechanism away from the second driving mechanism.

18. The delivery device of claim 17, wherein the elongated medical device is a catheter. When the first driving mechanism, the second driving mechanism and the third driving mechanism operate the first medical instrument, the second medical instrument, the third medical instrument and the fifth medical instrument, the first driving mechanism delivers the first medical instrument to a specified position and then clamps the first medical instrument on the front end fixing mechanism.

19. The delivery device of claim 17, wherein the elongated medical device is a catheter. The sheath mounting seat comprises a mounting portion and a connecting portion, the mounting portion is used for mounting a puncture sheath, and the mounting portion is connected with the front end fixing mechanism through the connecting portion. When delivered, the first driving mechanism drives the first medical instrument to pass through the puncture sheath and then protrude.

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