A catheter drive device in a vascular intervention procedure

Abstract

The application discloses a catheter driving device in a vascular interventional operation, which comprises an execution assembly and a power assembly. The execution assembly comprises a shell with a bottom-closed accommodating cavity and a Y-shaped connecting valve arranged in the accommodating cavity. The Y-shaped connecting valve comprises a main pipe, a front interface rotatably arranged at the front end of the main pipe and a rear interface rotatably arranged at the rear end of the main pipe. A catheter is fixedly arranged on the front interface. The execution assembly further comprises a first auxiliary magnetic force wheel fixedly connected with the front interface and a second auxiliary magnetic force wheel fixedly connected with the rear interface. Both the first auxiliary magnetic force wheel and the second auxiliary magnetic force wheel are arranged in the accommodating cavity. The power assembly is arranged outside the accommodating cavity and is isolated from the accommodating cavity. The power assembly comprises a first main magnetic force wheel in spaced transmission connection with the first auxiliary magnetic force wheel, a first motor, a second main magnetic force wheel in spaced transmission connection with the second auxiliary magnetic force wheel and a second motor. The driving device can avoid leakage and pollution of the motor and locked-rotor of the motor during the operation process, and can reduce the operation risk.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a catheter driving device for vascular interventional surgery. Background Technology

[0002] Currently, interventional cardiovascular surgery is widely used in the treatment of vascular diseases. Catheter advancement is a key step in interventional vascular surgery, during which a drive device rotates the catheter.

[0003] The drive unit generally includes a Y-type connecting valve, which consists of a main pipe, a front interface rotatably disposed at the front end of the main pipe, and a rear interface rotatably disposed at the rear end of the main pipe. One end of the catheter is fixedly disposed on the front interface. During the operation, rotating the front interface relative to the main pipe rotates the catheter, and rotating the rear interface relative to the main pipe locks or opens the Y-type connecting valve.

[0004] In existing technologies, the rotation of the front and rear interfaces is generally achieved through a motor-driven gear transmission mechanism. During surgery, leakage from the Y-type connecting valve can contaminate the motor. Furthermore, when the Y-type connecting valve is locked via the gear transmission structure, the motor may stall. All of these factors affect the normal operation of the motor, thus impacting the smooth progress of the surgery. Moreover, the inter-tooth contact and friction in the gear transmission method generate noise and abrasive dust during transmission. The dust can contaminate the catheter, and the noise can cause discomfort to both the doctor and the patient. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the prior art by providing a catheter drive device that can avoid motor contamination and motor stalling during vascular interventional surgery.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A catheter driving device for vascular interventional surgery includes an actuating component for driving the catheter to rotate and a power component for providing power to the actuating component. The actuating component includes a housing with a bottom-closed accommodating cavity and a Y-type connecting valve disposed within the accommodating cavity of the housing. The Y-type connecting valve includes a main pipe, a front interface rotatably disposed at the front end of the main pipe, and a rear interface rotatably disposed at the rear end of the main pipe. One end of the catheter is fixedly disposed on the front interface. The actuating component further includes a first auxiliary magnetic wheel fixedly connected to the front interface and a second auxiliary magnetic wheel fixedly connected to the rear interface. Both the first and second auxiliary magnetic wheels are disposed within the accommodating cavity of the housing. The power component is disposed outside the accommodating cavity of the housing and isolated from the accommodating cavity of the housing. The power component includes a first main magnetic wheel that is electrically connected to the first auxiliary magnetic wheel, a first motor for driving the first main magnetic wheel to rotate, a second main magnetic wheel that is electrically connected to the second auxiliary magnetic wheel, and a second motor for driving the second main magnetic wheel to rotate.

[0008] Preferably, the drive device further includes a fixed base frame, on which both the first motor and the second motor are mounted, and the housing is detachably mounted. During the operation, the execution component is a consumable; by removing the housing from the fixed base frame, the execution component can be completely disassembled and replaced, thus facilitating replacement of the execution component.

[0009] Furthermore, the fixed base and the housing are detachably connected via a quick-release structure. The quick-release structure includes a connecting pin, one end of which is connected to the fixed base, and the other end of which is connected to the housing. At least one end of the connecting structure at both ends of the connecting pin is detachable. This quick-release structure allows for rapid disassembly and installation of the actuator, reducing the time required to replace the actuator.

[0010] In one specific embodiment, the fixed base is located below the housing. The connecting pin includes a lower connecting rod at the bottom, an upper connecting rod at the top, and a positioning part disposed between the lower connecting rod and the upper connecting rod. The diameter of the positioning part is larger than the diameters of the lower connecting rod and the upper connecting rod, respectively. The lower connecting rod is detachably inserted into the upper part of the fixed base, and the upper connecting rod is detachably inserted into the bottom of the housing. This connection method between the fixed base and the housing allows the actuator to be installed or removed only in the vertical direction, facilitating installation and removal and reducing the time required to replace the actuator.

[0011] Preferably, the clearance between the first main magnetic wheel and the first auxiliary magnetic wheel, and the clearance between the second main magnetic wheel and the second auxiliary magnetic wheel can be adjusted, thereby adjusting the rotational torque of the catheter to prevent the catheter from puncturing blood vessels and causing secondary damage. At the same time, the locking degree of the Y-type connecting valve can also be adjusted.

[0012] Furthermore, the fixed base is located below the housing, and the housing is mounted on the fixed base with adjustable height. That is, the clearance between the first main magnetic wheel and the first auxiliary magnetic wheel, as well as the clearance between the second main magnetic wheel and the second auxiliary magnetic wheel, can be adjusted by adjusting the position of the housing.

[0013] In one specific embodiment, the fixed base and the housing are detachably connected via a quick-release structure. The quick-release structure includes a connecting pin, which comprises a lower connecting rod at a lower portion, an upper connecting rod at an upper portion, and a positioning portion disposed between the lower and upper connecting rods. The diameter of the positioning portion is larger than the diameters of the lower and upper connecting rods. The lower connecting rod is detachably inserted into the upper part of the fixed base, and the upper connecting rod is detachably inserted into the bottom of the housing. The connecting pin has various specifications, each with a different thickness of its positioning portion. By changing the thickness of the positioning portion of the connecting pin, the installation height of the housing on the fixed base can be changed, thereby changing the installation height of the first and second auxiliary magnetic wheels, thus altering the clearance between the first main magnetic wheel and the first auxiliary magnetic wheel, and between the second main magnetic wheel and the second auxiliary magnetic wheel.

[0014] In another specific embodiment, the fixed base and the housing are detachably connected via a quick-release structure. The quick-release structure includes a connecting pin, which comprises a lower connecting rod at the bottom, an upper connecting rod at the top, and a positioning part disposed between the lower and upper connecting rods. The diameter of the positioning part is larger than the diameters of the lower and upper connecting rods. The lower connecting rod is detachably inserted into the upper part of the fixed base, and the upper connecting rod is detachably inserted into the bottom of the housing. The quick-release structure also includes one or more adjusting shims sleeved on the upper connecting rod and / or the lower connecting rod. By adding or removing the adjusting shims, the installation height of the housing on the fixed base can be changed, thereby changing the installation height of the first and second auxiliary magnetic wheels, thus altering the clearance between the first main magnetic wheel and the first auxiliary magnetic wheel, and between the second main magnetic wheel and the second auxiliary magnetic wheel.

[0015] Furthermore, both the first motor and the second motor are height-adjustable on the fixed base. That is, by adjusting the positions of the first motor and the second motor, the positions of the first main magnetic wheel and the second main magnetic wheel change, thereby adjusting the clearance between the first main magnetic wheel and the first auxiliary magnetic wheel, as well as the clearance between the second main magnetic wheel and the second auxiliary magnetic wheel.

[0016] Preferably, the first main magnetic wheel and the first auxiliary magnetic wheel are attracted to each other by opposite poles, and the second main magnetic wheel and the second auxiliary magnetic wheel are attracted to each other by opposite poles. Thus, when the first main magnetic wheel rotates, it drives the first auxiliary magnetic wheel to rotate, and when the second main magnetic wheel rotates, it drives the second auxiliary magnetic wheel to rotate.

[0017] Preferably, the central axis of the first main magnetic wheel is parallel to the central axis of the first auxiliary magnetic wheel, and the central axis of the second main magnetic wheel is parallel to the central axis of the second auxiliary magnetic wheel. This arrangement makes it easy to completely isolate the power component from the housing cavity, thus simplifying the overall structure of the drive device.

[0018] Due to the application of the above technical solution, the catheter driving device for vascular interventional surgery of the present invention has the following advantages compared with the prior art: The consumables required during the operation, such as the Y-type connecting valve, the first auxiliary magnetic wheel, and the second auxiliary magnetic wheel, are all housed within the housing. The bottom of the housing is sealed, thus isolating the Y-type connecting valve from the power component. The catheter is driven to rotate through the air-transmission connection between the first main magnetic wheel and the first auxiliary magnetic wheel, and the Y-type connecting valve is locked and opened through the air-transmission connection between the second main magnetic wheel and the second auxiliary magnetic wheel. This avoids leakage from the Y-type connecting valve that contaminates the motor and prevents motor blockage, thereby reducing mechanical failure and surgical risks. Furthermore, because of the air-transmission connection between the first main magnetic wheel and the first auxiliary magnetic wheel, and the air-transmission connection between the second main magnetic wheel and the second auxiliary magnetic wheel, there is no contact transmission noise or abrasive dust during transmission, which avoids contamination of the catheter and provides a comfortable surgical environment. Attached Figure Description

[0019] Appendix Figure 1 This is a three-dimensional schematic diagram of the catheter driving device in the vascular interventional surgery of this embodiment;

[0020] Appendix Figure 2 This is a front view schematic diagram of the catheter driving device in the vascular interventional surgery of this embodiment;

[0021] Appendix Figure 3 This is a top view schematic diagram of the catheter driving device in the vascular interventional surgery of this embodiment;

[0022] Appendix Figure 4 For the appendix Figure 3 sectional view along line AA;

[0023] Appendix Figure 5 This is an exploded view of the catheter driving device in the vascular interventional procedure of this embodiment.

[0024] The components are as follows: 1. Fixed base frame; 11. Lower slot; 21. Housing; 22. Y-type connecting valve; 221. Main pipe; 222. Branch pipe; 223. Front interface; 224. Rear interface; 23. First auxiliary magnetic wheel; 24. Second auxiliary magnetic wheel; 25. Drive shaft; 31. First motor; 32. First main magnetic wheel; 33. Second motor; 34. Second main magnetic wheel; 4. Conduit; 5. Connecting pin; 51. Lower connecting rod; 52. Upper connecting rod; 53. Positioning part. Detailed Implementation

[0025] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, the directions such as "front," "rear," "left," "right," "up," and "down" are all in the context of... Figure 2 As shown, the left direction in the figure is "front", the right direction is "back", the upper direction is "up", the lower direction is "down", and the direction perpendicular to the viewpoint in the figure is "left" and "right". The above definitions of directions are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the invention.

[0027] like Figures 1-5 As shown, the catheter driving device for vascular interventional surgery of the present invention includes a fixed base frame 1, an execution component and a power component. The execution component and the power component are both mounted on the fixed base frame 1, and the power component is located below the execution component.

[0028] like Figures 1-5 As shown, the actuation components include a housing 21, a Y-type connecting valve 22, a first auxiliary magnetic wheel 23, and a second auxiliary magnetic wheel 24.

[0029] The housing 21 has a receiving cavity, and the bottom of the housing 21 is closed. The Y-type connecting valve 22, the first auxiliary magnetic wheel 23 and the second auxiliary magnetic wheel 24 are all disposed in the receiving cavity of the housing 21.

[0030] The Y-type connecting valve 22 includes a main pipe 221, a branch pipe 222, a front interface 223, and a rear interface 224. One end of the branch pipe 222 is disposed on and communicates with the main pipe 221. The front interface 223 is rotatably disposed at the front end of the main pipe 221, and one end of the catheter 4 is fixedly disposed on the front interface 223. The rotation of the catheter 4 is controlled by rotating the front interface 223 relative to the main pipe 221. The rear interface 224 is rotatably disposed at the rear end of the main pipe 221. By rotating the rear interface 224 relative to the main pipe 221, the Y-type connecting valve 22 is locked and opened. The opening degree when open can be adjusted, thereby adjusting the locking force to ensure that the locking force meets the surgical requirements. This prevents excessive resistance during the advancement of the catheter 4 to the lesion due to excessive locking force, or insufficient locking force during the surgery, which could lead to blood leakage.

[0031] The first auxiliary magnetic wheel 23 is sleeved on the front interface 223 and fixedly connected to the front interface 223. When the first auxiliary magnetic wheel 23 rotates, it drives the front interface 223 to rotate relative to the main pipe 221, thereby driving the conduit 4 to rotate.

[0032] The second auxiliary magnetic wheel 24 is fixedly connected to the rear interface 224. When the second auxiliary magnetic wheel 24 rotates, it drives the rear interface 224 to rotate relative to the main pipe 221, causing the Y-type connecting valve 22 to lock and open. The degree of opening when it is open can be adjusted, thereby adjusting the magnitude of the locking force.

[0033] In this embodiment, a drive shaft 25 coaxially arranged with the main pipe 221 is fixedly provided on the rear interface 224, and the second auxiliary magnetic wheel 24 is sleeved on the drive shaft 25 and fixedly connected to the drive shaft 25.

[0034] The central axis of the first auxiliary magnetic wheel 23, the central axis of the main tube 221, and the central axis of the second auxiliary magnetic wheel 24 extend in the same straight line direction.

[0035] like Figure 4 and Figure 5 As shown, the power assembly includes a first motor 31, a first main magnetic wheel 32, a second motor 33, and a second main magnetic wheel 34. The entire power assembly is located outside the accommodating cavity of the housing 21 and is completely isolated from the Y-type connecting valve 22 inside the accommodating cavity of the housing 21 through the bottom of the housing 21. This prevents liquid leakage from the Y-type connecting valve 22 during surgery from contaminating the motor and affecting its normal operation.

[0036] The first motor 31 is mounted on the fixed base 1. The first main magnetic wheel 32 is coaxially fixed with the motor shaft of the first motor 31, and the first motor 31 drives the first main magnetic wheel 32 to rotate. The first main magnetic wheel 32 is connected to the first auxiliary magnetic wheel 23 via a non-contact transmission. When the first main magnetic wheel 32 rotates, the magnetic force between the first main magnetic wheel 32 and the first auxiliary magnetic wheel 23 drives the first auxiliary magnetic wheel 23 to rotate, thereby driving the front interface 223 to rotate and driving the catheter 4 to rotate. Because the first main magnetic wheel 32 and the second auxiliary magnetic wheel 23 are connected via a non-contact transmission, no noise or abrasive dust is generated, which can avoid contaminating the catheter 4 and provide a comfortable surgical environment. Moreover, if abnormal loads are generated during the transmission process, the first main magnetic wheel 32 and the second auxiliary magnetic wheel 23 will rotate independently to achieve torque limit function, thereby preventing the first motor 31 from stalling.

[0037] Preferably, the central axis of the first main magnetic wheel 32 is parallel to the central axis of the first auxiliary magnetic wheel 23, with the first main magnetic wheel 32 located directly below the first auxiliary magnetic wheel 23. The first main magnetic wheel 32 and the first auxiliary magnetic wheel 23 attract each other with opposite poles, so that when the first main magnetic wheel 32 rotates, it drives the first auxiliary magnetic wheel 23 to rotate, and the two rotate in opposite directions.

[0038] The second motor 33 is mounted on the fixed base 1. The second main magnetic wheel 34 is coaxially fixed with the motor shaft of the second motor 33, and the second motor 33 drives the second main magnetic wheel 34 to rotate. The second main magnetic wheel 34 is connected to the second auxiliary magnetic wheel 24 through a non-contact transmission. When the second main magnetic wheel 34 rotates, the magnetic force between the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24 drives the second auxiliary magnetic wheel 24 to rotate, thereby driving the rear interface 224 to rotate, causing the Y-type connecting valve 22 to lock and open. The opening degree can be adjusted, thereby adjusting the locking force. Because the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24 are connected through a non-contact transmission, no noise or abrasive dust is generated, which can avoid contaminating the catheter 4 and provide a comfortable surgical environment. Furthermore, if abnormal loads are generated during the transmission process, the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24 will rotate independently to achieve torque limit function, thereby avoiding the stall of the second motor 33.

[0039] Preferably, the central axis of the second main magnetic wheel 34 is parallel to the central axis of the second auxiliary magnetic wheel 24, with the second main magnetic wheel 34 located directly below the second auxiliary magnetic wheel 24. The second main magnetic wheel 34 and the second auxiliary magnetic wheel 24 are attracted to each other by their opposite poles, so that when the second main magnetic wheel 34 rotates, it drives the second auxiliary magnetic wheel 24 to rotate, and the two rotate in opposite directions.

[0040] Preferably, the first main magnetic wheel 32 and the second main magnetic wheel 34 have the same polarity, and the first auxiliary magnetic wheel 23 and the second auxiliary magnetic wheel 24 have the same polarity.

[0041] In the design of each magnetic wheel in this application, the magnitude of the torque transmitted is initially calculated based on the resistance of the catheter 4 during rotation and the distance between the main magnetic wheel and the auxiliary magnetic wheel. Then, the appropriate magnetic wheel is determined by combining the safety requirements during the operation.

[0042] The execution component is detachably mounted on the fixed base 1, which facilitates the replacement of the entire execution component during surgery.

[0043] The preferred actuator is detachably connected to the fixed base frame 1 via a quick-release structure, which reduces the time required to replace the actuator.

[0044] The quick-release structure includes a connecting pin 5, one end of which is connected to the fixed base frame 1, and the other end of which is connected to the housing 21. At least one end of the connecting structure at both ends of the connecting pin 5 is detachable.

[0045] Specifically, such as Figure 5 As shown, the connecting pin 5 includes a lower connecting rod 51 located at the bottom, an upper connecting rod 52 located at the top, and a positioning part 53 disposed between the lower connecting rod 51 and the upper connecting rod 52. The diameter of the positioning part 53 is larger than the diameter of the lower connecting rod 51 and the diameter of the upper connecting rod 52, respectively. The upper part of the fixed base frame 1 is provided with a lower slot 11 that matches the lower connecting rod 51 and extends in the vertical direction, and the lower connecting rod 51 is detachably inserted into the lower slot 11. The bottom of the housing 21 is provided with an upper slot that matches the upper connecting rod 52 and extends in the vertical direction, and the upper connecting rod 51 is detachably inserted into the upper slot. This connection method allows the entire actuator assembly to only move upward relative to the fixed base frame 1 to be detached from the fixed base frame 1, or move downward to be installed on the fixed base frame 1.

[0046] The clearance between the first main magnetic wheel 32 and the first auxiliary magnetic wheel 23, and the clearance between the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24 can all be adjusted. This allows for adjustment of the torque transmitted between the first main magnetic wheel 32 and the first auxiliary magnetic wheel 23, and between the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24. Consequently, the locking degree of the Y-type connecting valve 22 and the rotational torque of the catheter 4 can be adjusted to prevent the catheter 4 from puncturing blood vessels and causing secondary damage.

[0047] In one specific embodiment, the connecting pin 5 can be configured with various specifications. In the various specifications of the connecting pin 5, the thickness of the positioning part 53 is different. Thus, by replacing different connecting pins 5, the height of the housing 21 on the fixed base frame 1 can be changed, thereby changing the clearance between the first main magnetic wheel 32 and the first auxiliary magnetic wheel 23, and the clearance between the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24.

[0048] In another specific embodiment, the quick-release structure may also include adjusting shims. One or more adjusting shims may be provided. When the fixed base frame 1 and the housing 21 are connected by the connecting pin 5, one or more adjusting shims may be fitted on the lower connecting rod 51 and / or the upper connecting rod 52 to adjust the height of the housing 21 on the fixed base frame 1, thereby changing the clearance between the first main magnetic wheel 32 and the first auxiliary magnetic wheel 23, and the clearance between the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24.

[0049] In another specific embodiment, the installation height of the housing 21 on the fixed base frame 1 remains unchanged. The height of the first motor 31 and the second motor 32 on the fixed base frame 1 can be adjusted up and down to change the clearance between the first main magnetic wheel 32 and the first auxiliary magnetic wheel 23, and the clearance between the second main magnetic wheel 34 and the second auxiliary magnetic wheel 24.

[0050] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A catheter driving device for vascular interventional surgery, comprising an actuation component for driving the catheter to rotate and a power component for providing power to the actuation component, characterized in that: The actuating component includes a housing with a bottom-closed accommodating cavity and a Y-type connecting valve disposed within the accommodating cavity of the housing. The Y-type connecting valve includes a main pipe, a front interface rotatably disposed at the front end of the main pipe, and a rear interface rotatably disposed at the rear end of the main pipe. One end of the conduit is fixedly disposed on the front interface. The actuating component also includes a first auxiliary magnetic wheel fixedly connected to the front interface and a second auxiliary magnetic wheel fixedly connected to the rear interface. Both the first auxiliary magnetic wheel and the second auxiliary magnetic wheel are disposed within the accommodating cavity of the housing. The power component is disposed outside the accommodating cavity of the housing and is isolated from the accommodating cavity of the housing. The power component includes a first main magnetic wheel that is electrically connected to the first auxiliary magnetic wheel, a first motor for driving the first main magnetic wheel to rotate, a second main magnetic wheel that is electrically connected to the second auxiliary magnetic wheel, and a second motor for driving the second main magnetic wheel to rotate. The drive device also includes a fixed base frame, on which both the first motor and the second motor are mounted. The fixed base frame is located below the housing. The fixed base frame and the housing are detachably connected by a quick-release structure. The quick-release structure includes a connecting pin, which includes a lower connecting rod at the bottom, an upper connecting rod at the top, and a positioning part between the lower connecting rod and the upper connecting rod. The diameter of the positioning part is larger than the diameters of the lower connecting rod and the upper connecting rod, respectively. The lower connecting rod is detachably inserted into the upper part of the fixed base frame, and the upper connecting rod is detachably inserted into the bottom of the housing. The connecting pins come in various specifications, and the thickness of the positioning part of each specification of the connecting pin is different. By replacing the connecting pins of different specifications, the height of the housing relative to the fixed base is changed, thereby synchronously adjusting the clearance between the first main magnetic wheel and the first auxiliary magnetic wheel, and the clearance between the second main magnetic wheel and the second auxiliary magnetic wheel, so as to adjust the magnitude of the torque transmitted between the first main magnetic wheel and the first auxiliary magnetic wheel, and the second main magnetic wheel and the second auxiliary magnetic wheel, and thus adjust the locking degree of the Y-type connecting valve and the rotational torque of the conduit; Alternatively, the quick-release structure may further include one or more adjusting shims fitted on the upper connecting rod and / or the lower connecting rod. When the fixed base and the housing are connected by the connecting pin, one or more adjusting shims are fitted on the lower connecting rod and / or the upper connecting rod to adjust the height of the housing relative to the fixed base, thereby synchronously adjusting the clearance between the first main magnetic wheel and the first auxiliary magnetic wheel, and the clearance between the second main magnetic wheel and the second auxiliary magnetic wheel, to adjust the magnitude of the torque transmitted between the first main magnetic wheel and the first auxiliary magnetic wheel, and between the second main magnetic wheel and the second auxiliary magnetic wheel, thereby adjusting the locking degree of the Y-type connecting valve and the rotational torque of the conduit.

2. The catheter driving device for vascular interventional surgery according to claim 1, characterized in that: The first main magnetic wheel and the first auxiliary magnetic wheel are attracted to each other by opposite poles, and the second main magnetic wheel and the second auxiliary magnetic wheel are attracted to each other by opposite poles.

3. The catheter driving device for vascular interventional surgery according to claim 1, characterized in that: The central axis of the first main magnetic wheel is parallel to the central axis of the first auxiliary magnetic wheel, and the central axis of the second main magnetic wheel is parallel to the central axis of the second auxiliary magnetic wheel.

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