A medical instrument delivery apparatus and interventional procedure robot

Abstract

The application belongs to the technical field of medical devices, and relates to a medical device delivery device and an interventional operation robot. The medical device delivery device comprises a driving mechanism and a guide wire tail end fixing mechanism. The guide wire tail end fixing mechanism is used for clamping or releasing the guide wire. When assembled, after the guide wire is controlled to be separated from the driving mechanism, the head end of a rapid exchange balloon is controlled to pass into the guide wire tail end, the guide wire tail end passes out of the rapid exchange port of the rapid exchange balloon, the rapid exchange port of the rapid exchange balloon passes through the guide wire tail end fixing mechanism, the guide wire tail end fixing mechanism is controlled to clamp the guide wire, and the rapid exchange balloon is controlled to move along the guide wire in a direction away from the guide wire tail end fixing mechanism. When the rapid exchange balloon is assembled or disassembled, the guide wire is fixed through the guide wire tail end fixing mechanism, displacement of the guide wire is avoided, stability of the guide wire is improved, operation difficulty is reduced, and efficiency and accuracy of the operation are improved.

Description

Technical Field

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

[0002] During assembly of the rapid exchange balloon, the guidewire must first be disengaged from the drive mechanism. Then, the head end of the rapid exchange balloon is inserted into the tail end of the guidewire, and the tail end of the guidewire exits the rapid exchange port of the rapid exchange balloon. Next, the rapid exchange balloon is moved away from the drive mechanism along the guidewire. Finally, the rapid exchange balloon is entered into the drive mechanism, and the guidewire is also entered into the drive mechanism.

[0003] During the installation of a rapid exchange balloon, to ensure safety, the tip of the guidewire needs to be fixed, meaning the tip of the guidewire cannot be displaced. However, the guidewire is not fixed during installation, and whether the tip of the guidewire moves depends on the operator's control. Therefore, the installation of a rapid exchange balloon has high requirements and is very difficult. Summary of the Invention

[0004] This application provides a medical device delivery device and an interventional surgical robot to solve the problems of high installation requirements and difficulty in the prior art for rapid balloon exchange.

[0005] To address the aforementioned technical problems, this application provides a medical device delivery device, which employs the following technical solution: A medical device delivery device includes: a drive mechanism and a guidewire tail-end fixing mechanism; the guidewire tail-end fixing mechanism is used to clamp or release the guidewire; The guidewire tail end fixing mechanism includes a fixing frame and a clamping device movably disposed on the fixing frame. The clamping device is configured to form or close a channel between the clamping device and the fixing frame through which the guidewire and the rapid exchange port of the rapid exchange balloon can pass. The distance between the driving mechanism and the guidewire tail fixing mechanism is greater than the distance between the head end of the rapid exchange balloon and the rapid exchange port. The clamping device includes a reset assembly and a movable plate; the reset assembly is disposed on the fixed frame and connected to the movable plate, and is used to drive the movable plate to move on the fixed frame; the movable plate abuts against the inner wall of one side of the fixed frame to clamp the guide wire; The device is configured such that, during assembly, after the guidewire disengages from the drive mechanism, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guidewire, and the tail end of the guidewire exits the rapid exchange port of the rapid exchange balloon; the movable plate is controlled to move on the fixed frame, forming the channel between the movable plate and the fixed frame; the rapid exchange port of the rapid exchange balloon is controlled to pass through the channel, and the guidewire is controlled to enter the channel; the reset assembly drives the movable plate to move on the fixed frame, causing the movable plate to abut against the inner wall of one side of the fixed frame to close the channel and clamp the guidewire located therein; the rapid exchange balloon is controlled to move along the guidewire in a direction away from the guidewire tail end fixing mechanism.

[0006] Furthermore, the drive mechanism includes a guidewire delivery device, a quick-cross delivery device, and a catheter delivery device arranged sequentially at intervals; During assembly, after the guidewire is disengaged from the guidewire delivery device, the tip of the rapid exchange balloon is inserted into the tail of the guidewire, and the tail of the guidewire exits the rapid exchange port of the rapid exchange balloon. The rapid exchange port of the rapid exchange balloon passes through the guidewire tail-end fixing mechanism to clamp the guidewire. The portion of the rapid exchange balloon before the rapid exchange port enters the catheter delivery device, and the portion of the rapid exchange balloon after the rapid exchange port enters the rapid exchange delivery device. The guidewire tail-end fixing mechanism releases the guidewire, and the guidewire enters the guidewire delivery device. During disassembly, after the guidewire is disengaged from the guidewire delivery device, the guidewire tail-end fixing mechanism is controlled to clamp the guidewire; the rapid exchange balloon is controlled to move along the guidewire away from the catheter delivery device, so that the portion of the rapid exchange balloon before the rapid exchange port exits the catheter delivery device.

[0007] Furthermore, during disassembly, after the guidewire is disengaged from the drive mechanism, the clamping device is moved on the fixed frame to form a channel between the clamping device and the fixed frame. The guidewire is then controlled to enter the channel, and the clamping device is moved on the fixed frame to clamp the guidewire within the channel. The rapid exchange balloon is then controlled to move along the guidewire away from the drive mechanism, causing the portion of the rapid exchange balloon before the rapid exchange port to exit the drive mechanism.

[0008] Furthermore, the fixing frame is provided with a receiving groove, the reset component is located at the bottom of the receiving groove, the reset component drives the movable plate to slide in the receiving groove, and the movable plate abuts against one side of the receiving groove to clamp the guide wire.

[0009] Furthermore, the reset assembly includes a first elastic element and a connecting plate. The first elastic element is disposed on the fixed frame and connected to the connecting plate, and is used to drive the connecting plate to move the movable plate on the fixed frame.

[0010] Furthermore, a vertical plate is provided on one side of the fixing frame, and a receiving groove is provided on the vertical plate. The reset assembly is provided on the vertical plate, and one end of the movable plate is connected to the reset assembly. The reset assembly drives the end of the movable plate away from the reset assembly to rotate toward or away from the receiving groove. The end of the movable plate abuts against the receiving groove to clamp the guide wire.

[0011] Furthermore, the reset assembly includes a second elastic element and a connecting post. The connecting post is disposed on the upright plate. The two ends of the second elastic element are respectively connected to the connecting post and the movable plate. The end of the movable plate away from the second elastic element is rotatably connected to the upright plate.

[0012] To address the aforementioned technical problems, this application also provides an interventional surgical robot, which employs the following technical solution: An interventional surgical robot, including a medical device delivery device as described above.

[0013] Compared with the prior art, the embodiments of this application have the following advantages: When assembling or disassembling the rapid exchange balloon, the guidewire is fixed by the guidewire tail-end fixing mechanism to avoid guidewire displacement, increase guidewire stability, reduce operation difficulty, and thus improve the efficiency and accuracy of the operation. Attached Figure Description

[0014] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a perspective view of one embodiment of a medical device delivery device provided in this application; Figure 2 yes Figure 1 Top view; Figure 3 This is a perspective view of an embodiment of the guide wire tail-end fixing mechanism provided in this application; Figure 4 yes Figure 3 Top view; Figure 5 yes Figure 4 Sectional view at point AA; Figure 6 This is a perspective view of another embodiment of the guide wire tail fixing mechanism provided in this application; Figure 7 yes Figure 6 Top view; Figure 8 yes Figure 6 Enlarged view of point B in the middle.

[0016] Figure label: 10. Drive mechanism; 11. Guidewire delivery device; 12. Quick-change delivery device; 13. Catheter delivery device; 20. Guide wire tail end fixing mechanism; 21. Fixing frame; 211. Receiving groove; 2111. Limiting protrusion ring; 212. Vertical plate; 213. Receiving groove; 22. Clamping device; 221. Reset assembly; 2211. First elastic element; 2212. Connecting plate; 2213. Second elastic element; 2214. Connecting post; 222. Movable plate; 2221. Limiting groove; 2222. Fixing post; 2223. Connecting plate; a) Guidewire; b) Rapid exchange balloon. Detailed Implementation

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0018] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0020] This application provides a medical device delivery device, such as... Figure 1 and Figure 2As shown, the medical device delivery device includes: a drive mechanism 10 and a guidewire tail-end fixing mechanism 20; the guidewire tail-end fixing mechanism 20 is used to clamp or release the guidewire a.

[0021] During assembly, after the guidewire a disengages from the drive mechanism 10, the head end of the rapid exchange balloon b is inserted into the tail end of the guidewire a, and the tail end of the guidewire a exits the rapid exchange port of the rapid exchange balloon b. The rapid exchange port of the rapid exchange balloon b passes through the guidewire tail end fixing mechanism 20, and the guidewire tail end fixing mechanism 20 clamps the guidewire a. The rapid exchange balloon b is then moved along the guidewire a in a direction away from the guidewire tail end fixing mechanism 20. Next, the rapid exchange balloon b is controlled to enter the drive mechanism 10, and the guidewire a is controlled to enter the drive mechanism 10.

[0022] During disassembly, after the guidewire a is disengaged from the drive mechanism 10, the guidewire tail-end fixing mechanism 20 clamps the guidewire a, and the rapid exchange balloon b is moved along the guidewire a toward the guidewire tail-end fixing mechanism 20, so that the rapid exchange balloon b is disengaged from the drive mechanism 10; the guidewire tail-end fixing mechanism 20 releases the guidewire a, and the rapid exchange balloon b is disengaged from the guidewire a; finally, the guidewire a is brought back into the drive mechanism 10.

[0023] The beneficial effects of the medical device delivery device provided in this application embodiment are as follows: When assembling or disassembling the rapid exchange balloon b, the guide wire a is fixed by the guide wire tail end fixing mechanism 20, which avoids displacement of the guide wire a, increases the stability of the guide wire a, reduces the difficulty of operation, and thus improves the efficiency and accuracy of the surgery.

[0024] Furthermore, the distance between the drive mechanism 10 and the guidewire tail fixing mechanism 20 is greater than the distance between the tip of the rapid exchange balloon b and the rapid exchange port.

[0025] In this embodiment, the distance between the drive mechanism 10 and the guidewire tail-end fixing mechanism 20 is limited to ensure that after the tip of the rapid exchange balloon b passes through the tail end of the guidewire a, the coaxial portion of the rapid exchange balloon b and the guidewire a (i.e., the portion between the tip of the rapid exchange balloon b and the rapid exchange port) is located in front of the guidewire tail-end fixing mechanism 20. This prevents the guidewire tail-end fixing mechanism 20 from clamping the rapid exchange balloon b, thus ensuring that the guidewire tail-end fixing mechanism 20 can clamp the guidewire a, increasing the reliability of the medical device delivery device, and thereby ensuring the stability of the guidewire a.

[0026] like Figure 1 and Figure 2 As shown, the drive mechanism 10 further includes a guidewire delivery device 11, a quick-cross delivery device 12, and a catheter delivery device 13 arranged sequentially at intervals. During assembly, after the guidewire a is disengaged from the guidewire delivery device 11, the tip of the rapid exchange balloon b is inserted into the tail end of the guidewire a, and the tail end of the guidewire a exits from the rapid exchange port of the rapid exchange balloon b. The rapid exchange port of the rapid exchange balloon b passes through the guidewire tail end fixing mechanism 20 to clamp the guidewire a. The portion of the rapid exchange balloon b before the rapid exchange port is controlled to enter the catheter delivery device 13, and the portion of the rapid exchange balloon b after the rapid exchange port is controlled to enter the rapid exchange delivery device 12. The guidewire tail end fixing mechanism 20 is controlled to release the guidewire a, and the guidewire a is controlled to enter the guidewire delivery device 11.

[0027] During disassembly, after the guidewire a is disengaged from the guidewire delivery device 11, the guidewire tail-end fixing mechanism 20 clamps the guidewire a; the rapid exchange balloon b is moved along the guidewire a in a direction away from the catheter delivery device 13, so that the portion of the rapid exchange balloon b before the rapid exchange port exits the catheter delivery device 13; the guidewire tail-end fixing mechanism 20 releases the guidewire a, and the rapid exchange balloon b is moved along the guidewire a in a direction away from the catheter delivery device 13 until the rapid exchange balloon b is disengaged from the guidewire a; the guidewire a is then controlled to enter the guidewire delivery device 11.

[0028] In the prior art, when the tip of the rapid exchange balloon b is close to the catheter delivery device 13, the portion of the guidewire a that passes through the rapid exchange port of the rapid exchange balloon b (i.e., the tail end of the guidewire a) is suspended in the air. If the portion of the rapid exchange balloon b before the rapid exchange port is to be controlled to enter the catheter delivery device 13, the tail end of the guidewire a needs to be kept stationary while the portion of the rapid exchange balloon b before the rapid exchange port is simultaneously controlled to enter the catheter delivery device 13, resulting in high installation requirements and difficulty for the rapid exchange balloon b.

[0029] In this embodiment, when the rapid exchange port of the rapid exchange balloon b passes through the guidewire tail-end fixing mechanism 20 and the tip of the rapid exchange balloon b approaches the catheter delivery device 13, the guidewire tail-end fixing mechanism 20 is controlled to clamp the guidewire a, and then the portion of the rapid exchange balloon b before the rapid exchange port is controlled to enter the catheter delivery device 13. In this embodiment, during assembly, the guidewire a is fixed by the guidewire tail-end fixing mechanism 20, so that the tail end of the guidewire a remains stationary, avoiding displacement of the guidewire a, thereby reducing the difficulty of operation and improving the efficiency and accuracy of the surgery.

[0030] like Figure 1 and Figure 2 As shown, the guide wire tail end fixing mechanism 20 further includes a fixing frame 21 and a clamping device 22, the clamping device 22 being movably mounted on the fixing frame 21.

[0031] During assembly, after the guide wire a is disengaged from the drive mechanism 10, the rapid exchange balloon b is inserted from the tail end of the guide wire a, and the tail end of the guide wire a exits from the rapid exchange port of the rapid exchange balloon b. The clamping device 22 is moved on the fixed frame 21 to form a channel between the clamping device 22 and the fixed frame 21. The rapid exchange port of the rapid exchange balloon b is controlled to pass through the channel, and the guide wire a is controlled to enter the channel. The clamping device 22 is moved on the fixed frame 21 to clamp the guide wire a in the channel.

[0032] During disassembly, after the guide wire a is disengaged from the drive mechanism 10, the clamping device 22 is moved on the fixed frame 21 to form a channel between the clamping device 22 and the fixed frame 21. The guide wire a is then controlled to enter the channel, and the clamping device 22 is controlled to move on the fixed frame 21 to clamp the guide wire a in the channel. The rapid exchange balloon b is then controlled to move along the guide wire a in a direction away from the drive mechanism 10, so that the portion of the rapid exchange balloon b before the rapid exchange port exits the drive mechanism 10.

[0033] In this embodiment, the cooperation between the fixing frame 21 and the clamping device 22 facilitates the clamping or release of the guide wire a by the guide wire tail fixing mechanism 20, thereby reducing the operational difficulty of the medical device delivery device.

[0034] Furthermore, the distance between the catheter delivery device 13 and the clamping device 22 is greater than the distance between the tip of the rapid exchange balloon b and the rapid exchange port.

[0035] like Figures 3 to 5 As shown, the clamping device 22 further includes a reset assembly 221 and a movable plate 222; the reset assembly 221 is disposed on the fixed frame 21 and connected to the movable plate 222, and is used to drive the movable plate 222 to move on the fixed frame 21; the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a.

[0036] During assembly, the movable plate 222 is controlled to move on the fixed frame 21, so that the channel is formed between the movable plate 222 and the fixed frame 21. After the guide wire a enters the channel, the reset component 221 drives the movable plate 222 to move on the fixed frame 21, so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a.

[0037] In this embodiment, the movable plate 222 abuts against the inner wall of one side of the fixed frame 21, which simplifies the structure of the clamping device 22 and makes it easier to clamp or release the guide wire a.

[0038] like Figures 3 to 5 As shown, the fixing frame 21 is further provided with a receiving groove 211, the reset component 221 is located at the bottom of the receiving groove 211, the reset component 221 drives the movable plate 222 to slide in the receiving groove 211, and the movable plate 222 abuts against one side of the receiving groove 211 to clamp the guide wire a.

[0039] In this embodiment, the receiving groove 211 restricts the movement space of the movable plate 222, preventing the movable plate 222 from shifting during sliding, thereby improving the stability of the clamping device 22.

[0040] like Figure 5 As shown, the reset assembly 221 further includes a first elastic element 2211 and a connecting plate 2212. The first elastic element 2211 is disposed on the fixed frame 21 and connected to the connecting plate 2212, and is used to drive the connecting plate 2212 to drive the movable plate 222 to slide on the fixed frame 21. During assembly, the movable plate 222 is controlled to move within the receiving groove 211, forming a channel between the movable plate 222 and the side wall of the receiving groove 211. Simultaneously, the movable plate 222 drives the first elastic member 2211 to move, causing the first elastic member 2211 to be compressed and deformed. Then, after the guide wire a enters the channel, the control of the movable plate 222 is released, so that under the elastic potential energy of the first elastic member 2211, the first elastic member 2211 drives the connecting plate 2212 and the movable plate 222 to move within the receiving groove 211, causing the movable plate 222 to abut against the inner wall of the receiving groove 211 to clamp the guide wire a.

[0041] In this embodiment, the simple structure of the first elastic element 2211 and the connecting plate 2212 is adopted, which reduces the production cost of the reset assembly 221 and achieves the purpose of clamping the guide wire a.

[0042] In this embodiment, the first elastic element 2211 is a spring.

[0043] like Figure 5 As shown, further, the inner wall of the receiving groove 211 is provided with a limiting protrusion ring 2111, and the movable plate 222 is provided with a limiting groove 2221 at one end near the reset assembly 221. A fixing post 2222 is provided in the limiting groove 2221. The limiting groove 2221 is sleeved with the limiting protrusion ring 2111, and the inner diameter of the limiting groove 2221 is larger than the outer diameter of the limiting protrusion ring 2111. The fixing post 2222 passes through the limiting protrusion ring 2111 and is connected to the reset assembly 221.

[0044] In this embodiment, the moving space of the fixed column 2222 is limited by the limiting protrusion ring 2111 and the limiting groove 2221, thereby achieving the purpose of limiting the moving plate 222.

[0045] like Figures 6 to 8 As shown, in another embodiment, a vertical plate 212 is provided on one side of the fixing frame 21, and a receiving groove 213 is provided on the vertical plate 212. The reset component 221 is provided on the vertical plate 212. One end of the movable plate 222 is connected to the reset component 221. The reset component 221 drives the end of the movable plate 222 away from the reset component 221 to rotate toward or away from the receiving groove 213. The end of the movable plate 222 abuts against the receiving groove 213 to clamp the guide wire a.

[0046] During assembly, the reset assembly 221 drives the movable plate 222 to rotate away from the reset assembly 221 towards the receiving groove 213, so that the end of the movable plate 222 separates from the receiving groove 213. After the guide wire a enters the receiving groove 213, the reset assembly 221 drives the movable plate 222 to rotate away from the reset assembly 221 towards the receiving groove 213, so that the end of the movable plate 222 abuts against the receiving groove 213 to clamp the guide wire a.

[0047] In this embodiment, another structure of the fixing frame 21 and the reset component 221 is provided. By rotating the end of the movable plate 222 away from the reset component 221 toward or away from the receiving groove 213, the end of the movable plate 222 abuts against or separates from the receiving groove 213, thereby realizing the clamping or release of the guide wire a.

[0048] like Figure 8 As shown, the reset assembly 221 further includes a second elastic member 2213 and a connecting post 2214. The connecting post 2214 is disposed on the upright plate 212. The two ends of the second elastic member 2213 are respectively connected to the connecting post 2214 and the movable plate 222. The end of the movable plate 222 away from the second elastic member 2213 is rotatably connected to the upright plate 212.

[0049] During assembly, the end of the movable plate 222 away from the reset assembly 221 is controlled to rotate away from the receiving groove 213, so that the end of the movable plate 222 is separated from the receiving groove 213. At the same time, the second elastic member 2213 is squeezed and deformed. Then, after the guide wire a enters the channel, the control of the movable plate 222 is released, so that under the elastic potential energy of the second elastic member 2213, the second elastic member 2213 drives the end of the movable plate 222 away from the reset assembly 221 to rotate towards the receiving groove 213, so that the end of the movable plate 222 abuts against the receiving groove 213 to clamp the guide wire a.

[0050] In this embodiment, the second elastic element 2213 is fixed by the connecting post 2214 to avoid displacement of the second elastic element 2213 during assembly; the simple structure of the second elastic element 2213 and the connecting post 2214 reduces the production cost of the reset assembly 221 and achieves the clamping purpose of the guide wire a.

[0051] In this embodiment, the second elastic element 2213 is a spring.

[0052] like Figure 8 As shown, further, a connecting plate 2223 is provided at one end of the movable plate 222 near the receiving groove 213, and the end of the connecting plate 2223 away from the movable plate 222 is rotatably connected to the upright plate 212.

[0053] In this embodiment, the connecting plate 2223 can ensure that when the movable plate 222 rotates toward the receiving groove 213, the end of the movable plate 222 abuts against the receiving groove 213.

[0054] Specifically, in the medical device delivery device provided in this application, during assembly, after the guidewire a is controlled to detach from the guidewire delivery device 11, the head end of the rapid exchange balloon b is controlled to pass through the tail end of the guidewire a, and the tail end of the guidewire a passes through the rapid exchange port of the rapid exchange balloon b, so that the rapid exchange port of the rapid exchange balloon b passes through the guidewire tail end fixing mechanism 20.

[0055] The movable plate 222 is controlled to move on the fixed frame 21, forming the channel between the movable plate 222 and the fixed frame 21. After the guide wire a enters the channel, the reset assembly 221 drives the movable plate 222 to move on the fixed frame 21, so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a. The portion of the rapid exchange balloon b before the rapid exchange port is controlled to enter the catheter delivery device 13, and the portion of the rapid exchange balloon b after the rapid exchange port is controlled to enter the rapid exchange delivery device 12.

[0056] The movable plate 222 is controlled to move on the fixed frame 21, forming the channel between the movable plate 222 and the fixed frame 21. After the guide wire a is disengaged from the channel, the reset component 221 drives the movable plate 222 to move on the fixed frame 21, so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21, releasing the guide wire a. The guide wire tail fixing mechanism 20 is controlled to release the guide wire a, and the guide wire a is controlled to enter the guide wire delivery device 11.

[0057] Specifically, in the medical device delivery device provided in this application, during disassembly, after controlling the guide wire a to detach from the guide wire delivery device 11, the movable plate 222 is controlled to move on the fixed frame 21, so that the channel is formed between the movable plate 222 and the fixed frame 21. After controlling the guide wire a to enter the channel, the reset component 221 drives the movable plate 222 to move on the fixed frame 21, so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a.

[0058] The rapid exchange balloon b is controlled to move along the guidewire a in a direction away from the catheter delivery device 13, so that the portion of the rapid exchange balloon b before the rapid exchange port exits the catheter delivery device 13; the movable plate 222 is controlled to move on the fixed frame 21, so that the channel is formed between the movable plate 222 and the fixed frame 21, and after the guidewire a is controlled to disengage from the channel, the reset assembly 221 drives the movable plate 222 to move on the fixed frame 21, so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to release the guidewire a.

[0059] Control the rapid exchange balloon b to move along the guidewire a in a direction away from the catheter delivery device 13 until the rapid exchange balloon b disengages from the guidewire a; control the guidewire a to enter the guidewire delivery device 11.

[0060] This application also provides an interventional surgical robot, which includes the medical device delivery device described above.

[0061] In this application, when assembling or disassembling the rapid exchange balloon b, the guide wire a is fixed by the guide wire tail fixing mechanism 20 to prevent the guide wire a from shifting, thereby increasing the stability of the guide wire a, reducing the difficulty of operation, and thus improving the efficiency and accuracy of the surgery.

[0062] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A medical device delivery device, characterized in that, include: A drive mechanism and a guide wire tail-end fixing mechanism; the guide wire tail-end fixing mechanism is used to clamp or release the guide wire. The guidewire tail end fixing mechanism includes a fixing frame and a clamping device movably disposed on the fixing frame. The clamping device is configured to form or close a channel between the clamping device and the fixing frame through which the guidewire and the rapid exchange port of the rapid exchange balloon can pass. The distance between the driving mechanism and the guidewire tail fixing mechanism is greater than the distance between the head end of the rapid exchange balloon and the rapid exchange port. The clamping device includes a reset assembly and a movable plate; the reset assembly is disposed on the fixed frame and connected to the movable plate, and is used to drive the movable plate to move on the fixed frame; the movable plate abuts against the inner wall of one side of the fixed frame to clamp the guide wire; The device is configured such that, during assembly, after the guidewire disengages from the drive mechanism, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guidewire, and the tail end of the guidewire exits the rapid exchange port of the rapid exchange balloon; the movable plate is controlled to move on the fixed frame, forming the channel between the movable plate and the fixed frame; the rapid exchange port of the rapid exchange balloon is controlled to pass through the channel, and the guidewire is controlled to enter the channel; the reset assembly drives the movable plate to move on the fixed frame, causing the movable plate to abut against the inner wall of one side of the fixed frame to close the channel and clamp the guidewire located therein; the rapid exchange balloon is controlled to move along the guidewire in a direction away from the guidewire tail end fixing mechanism.

2. The medical device delivery device according to claim 1, characterized in that, The drive mechanism includes a guidewire delivery device, a quick-cross delivery device, and a catheter delivery device arranged sequentially at intervals. During assembly, after the guidewire is disengaged from the guidewire delivery device, the tip of the rapid exchange balloon is inserted into the tail of the guidewire, and the tail of the guidewire exits the rapid exchange port of the rapid exchange balloon. The rapid exchange port of the rapid exchange balloon passes through the guidewire tail-end fixing mechanism to clamp the guidewire. The portion of the rapid exchange balloon before the rapid exchange port enters the catheter delivery device, and the portion of the rapid exchange balloon after the rapid exchange port enters the rapid exchange delivery device. The guidewire tail-end fixing mechanism releases the guidewire, and the guidewire enters the guidewire delivery device. During disassembly, after the guidewire is disengaged from the guidewire delivery device, the guidewire tail-end fixing mechanism is controlled to clamp the guidewire; the rapid exchange balloon is controlled to move along the guidewire away from the catheter delivery device, so that the portion of the rapid exchange balloon before the rapid exchange port exits the catheter delivery device.

3. The medical device delivery device according to claim 1, characterized in that, During disassembly, after the guidewire is disengaged from the drive mechanism, the clamping device is moved on the fixed frame to form a channel between the clamping device and the fixed frame. The guidewire is then controlled to enter the channel, and the clamping device is moved on the fixed frame to clamp the guidewire within the channel. The rapid exchange balloon is then controlled to move along the guidewire away from the drive mechanism, so that the portion of the rapid exchange balloon before the rapid exchange port exits the drive mechanism.

4. The medical device delivery device according to claim 1, characterized in that, The fixing frame is provided with a receiving groove, the reset component is located at the bottom of the receiving groove, the reset component drives the movable plate to slide in the receiving groove, and the movable plate abuts against one side of the receiving groove to clamp the guide wire.

5. The medical device delivery device according to claim 4, characterized in that, The reset assembly includes a first elastic element and a connecting plate. The first elastic element is disposed on the fixed frame and connected to the connecting plate, and is used to drive the connecting plate to move the movable plate on the fixed frame.

6. The medical device delivery device according to claim 1, characterized in that, A vertical plate is provided on one side of the fixed frame, and a receiving groove is provided on the vertical plate. The reset component is provided on the vertical plate, and one end of the movable plate is connected to the reset component. The reset component drives the end of the movable plate away from the reset component to rotate toward or away from the receiving groove. The end of the movable plate abuts against the receiving groove to clamp the guide wire.

7. The medical device delivery device according to claim 6, characterized in that, The reset assembly includes a second elastic element and a connecting post. The connecting post is disposed on the upright plate. The two ends of the second elastic element are respectively connected to the connecting post and the movable plate. The end of the movable plate away from the second elastic element is rotatably connected to the upright plate.

8. An interventional surgical robot, characterized in that, Includes the medical device delivery device as described in any one of claims 1 to 7.

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