An interventional procedure guide wire, catheter delivery device and interventional procedure system

Abstract

The application discloses an interventional operation guide wire, a delivery device of a guide tube and an interventional operation system. The delivery device comprises a base, a moving platform, a driving friction wheel and a driven friction wheel, a first driving mechanism comprising a first motor, the first motor having a first output shaft and being used for driving the driving friction wheel to rotate, a Y-direction transmission mechanism connected between the first driving mechanism and the moving platform, the Y-direction transmission mechanism comprising an electromagnetic clutch, the electromagnetic clutch having at least two working states of separation and combination, when the electromagnetic clutch is in the combined working state, the first motor drives the moving platform to move along the Y-axis, and when the electromagnetic clutch is in the separated working state, the moving platform is static along the Y-axis. The device can be compatible with guide wires and guide tubes with various diameters, and can realize the advancing, retreating and rotating of the guide wires and guide tubes.

Description

Technical Field

[0001] This invention belongs to the field of interventional surgical robots, and specifically relates to a delivery device for interventional surgical guidewires and catheters, as well as an interventional surgical system. Background Technology

[0002] Interventional surgical robots are an organic combination of interventional technology and robotics technology, which can assist physicians in remotely controlling the forward, backward, and rotation movements of catheters, guidewires, and other instruments during interventional surgery. However, existing interventional surgical robots only focus on a specific stage of the procedure, resulting in a low rate of robot-controlled operation during the surgery, leading to significant radiation exposure and physical exertion for medical staff.

[0003] Guidewire and catheter delivery devices are an important component of interventional surgical robots, and currently, there are several main design approaches:

[0004] Traditional technical approach 1: Design a linear drive module to guide the guidewire / catheter forward / backward, and design a separate rotating component to drive the rotation of the guidewire / catheter. This technical approach is usually designed for specific guidewire / catheter specifications, and the product is difficult to be compatible with other specifications of consumables. It also suffers from design complexity and numerous components, as shown in patent publication number CN107982623B.

[0005] Traditional technical route 2: This approach uses active and passive friction wheels to rotate and push the guidewire / catheter forward / backward, with an additional rotating component to drive the rotation of the guidewire / catheter. This approach is typically designed for specific guidewire / catheter specifications, making it difficult to incorporate products with other specifications. Furthermore, it usually employs axial clamping, resulting in cumbersome installation, as illustrated in patent application CN112022245A.

[0006] Traditional technical route 3: This method uses an active friction wheel and a passive friction wheel to rotate and push the guidewire forward / backward. Simultaneously, the relative up-and-down motion of these wheels twists the guidewire. Currently, products using this technical route typically have a fixed distance between the active and passive friction wheels, making it difficult to accommodate guidewires / catheters of other diameters. Furthermore, manual clamping is required, making it impossible to control the tightness of the guidewire / catheter during the procedure, as illustrated in patent application CN116407279A. Summary of the Invention

[0007] The purpose of this invention is to provide a delivery device for guidewires and catheters in interventional surgery, which can automatically or remotely clamp and release guidewires or catheters during surgery.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a delivery device for interventional surgical guidewires and catheters, comprising:

[0009] The base is configured with a three-dimensional coordinate system, wherein the X-axis and Y-axis are on the upper surface of the base, the Z-axis is perpendicular to the upper surface of the base, and the X-axis is parallel to the delivery direction of the guidewire or catheter.

[0010] A mobile platform, located above the base, is movable relative to the base along the Z-axis.

[0011] An active friction wheel and a passive friction wheel are provided. The active friction wheel is rotatably connected to the base and the passive friction wheel is rotatably connected to the moving platform, or the active friction wheel is rotatably connected to the moving platform and the passive friction wheel is rotatably connected to the base. The rotation of the active friction wheel drives the guide wire or the conduit to move along the X-axis between the circumferential surfaces of the active friction wheel and the passive friction wheel.

[0012] A first drive mechanism includes a first motor, the first motor having a first output shaft and the first motor being used to drive the active friction wheel to rotate.

[0013] The delivery device includes:

[0014] The Y-axis transmission mechanism is connected between the first drive mechanism and the mobile platform. It includes an electromagnetic clutch, which has at least two working states: disengaged and engaged. When the electromagnetic clutch is engaged, the first motor drives the mobile platform to move along the Y-axis. When the electromagnetic clutch is disengaged, the mobile platform is stationary along the Y-axis.

[0015] In another embodiment, when the active friction wheel is rotatably connected to the base and the passive friction wheel is rotatably connected to the moving platform, the first motor is fixedly mounted on the base, the electromagnetic clutch is sleeved on the first output shaft, and the Y-axis transmission mechanism includes a gear coaxially connected to the electromagnetic clutch and a rack mounted on the moving platform and meshing with the gear. When the electromagnetic clutch is in the engaged working state, the first output shaft drives the gear to rotate, thereby driving the rack to move along the Y-axis to realize the movement of the moving platform along the Y-axis; when the electromagnetic clutch is in the disengaged working state, the gear disengages from the first output shaft, and the moving platform remains stationary along the Y-axis.

[0016] In another embodiment, the first drive mechanism includes a first transmission shaft coaxial with and fixedly connected to the first output shaft, a first set screw connected to the first transmission shaft and the first output shaft to fix the two together, and the active friction wheel connected to the upper end of the first transmission shaft.

[0017] In another embodiment, the first drive mechanism includes a second drive shaft rotatably connected to the base, and at least two active friction wheels, one of which is connected to the upper end of the first drive shaft and the other is connected to the upper end of the second drive shaft.

[0018] In another embodiment, a first mounting seat in the shape of a hollow column is formed on the upper surface of the base, and the second drive shaft is rotatably connected to the first mounting seat.

[0019] In another embodiment, the first drive mechanism includes a first bearing connected between the lower end of the first drive shaft and the base, and between the upper and lower ends of the second bearing and the base.

[0020] In another embodiment, the first drive mechanism includes a timing pulley fixedly sleeved on the first drive shaft and the second drive shaft, and a timing belt wound around the timing pulley.

[0021] In another embodiment, the first drive mechanism includes a first motor mounting base mounted on the lower end surface of the base, the first motor being mounted on the first motor mounting base, and both the first output shaft and the first transmission shaft passing through the base.

[0022] In another embodiment, the delivery device includes a second drive mechanism for driving the moving platform to move along the Z-axis, thereby causing relative movement between the active friction wheel and the passive friction wheel in the Z-axis direction.

[0023] In another embodiment, a second mounting base in the shape of a hollow column is formed on the base, and the second driving mechanism includes a support rod whose lower end passes through the second mounting base and whose upper end passes through the moving platform, a limiting nut connected to the upper end of the support rod and abutting against the upper surface of the moving platform, and a spring for preventing the support rod from excessively descending.

[0024] In another embodiment, the support rod includes an upper section, a middle section, and a lower section. The diameter of the middle section is larger than the diameters of the upper and lower sections. The lower half of the second mounting base is provided with a boss. The spring is sleeved on the lower section and located between the boss and the middle section. The moving platform has an oblong hole with its major axis parallel to the Y-axis. The upper section passes through the oblong hole.

[0025] In another embodiment, the second drive mechanism includes a second motor fixed on the base, a third transmission shaft coaxial with and fixedly connected to the output shaft of the second motor, a screw, and a cross-slider coupling connected between the screw and the third transmission shaft. The upper end of the screw is threadedly connected to the moving platform, and the cross-slider coupling enables the screw to be radially offset along the third transmission shaft while being driven to rotate by the third transmission shaft.

[0026] In another embodiment, the second drive mechanism includes a second motor mounting base fixed to the lower end surface of the base, and the second motor is fixed to the second motor mounting base.

[0027] In another embodiment, the output shaft of the second motor is a second output shaft, and the second drive mechanism includes a second set screw for fixing the second output shaft and the third drive shaft.

[0028] In another embodiment, the passive friction wheel is rotatably connected to the moving platform via a fourth drive shaft, which is provided with a washer and a second bearing.

[0029] In another embodiment, there are at least two passive friction wheels arranged in a direction parallel to the X-axis.

[0030] In another embodiment, the passive friction wheel and the active friction wheel correspond one-to-one, and the pairs of passive friction wheels and the active friction wheels are arranged in a direction parallel to the Y-axis.

[0031] In another embodiment, the mobile platform has a notch, through which the active friction wheel passes and is aligned with its corresponding passive friction wheel in the Y-axis direction.

[0032] In another embodiment, the Y-axis transmission mechanism includes a rack, with the side where the guide wire or conduit enters between the active friction wheel and the passive friction wheel being the upstream side, and the side where the guide wire or conduit moves out of between the active friction wheel and the passive friction wheel being the downstream side. The rack is fixed to the lower end face of the moving platform and is located upstream of the active friction wheel.

[0033] In another embodiment, the connection between the screw and the mobile platform is located downstream of the active friction wheel.

[0034] The present invention also provides an interventional surgical system comprising: a winding portion for providing a guidewire or catheter, and a delivery device for rotating and pushing the guidewire or catheter of the winding portion, wherein the delivery device is any of the delivery devices described above.

[0035] The beneficial effects of this invention are as follows: 1. It can realize a device compatible with guidewires and catheters of various diameters; it can realize interventional actions such as advancing, retracting and rotating of various guidewires and catheters; 2. It can automatically or remotely clamp and release guidewires during surgery; it can improve the mechanical operation coverage of interventional surgery by manipulating the machine to clamp / release guidewires and catheters; 3. This application can adopt top-down clamping, which improves the convenience of clamping. Attached Figure Description

[0036] Appendix Figure 1 This is a perspective view of the present invention;

[0037] Appendix Figure 2 This is a schematic diagram of the structure of the first drive mechanism;

[0038] Appendix Figure 3 This is a schematic diagram of the second drive mechanism;

[0039] Appendix Figure 4 Cross-sectional view of the present invention Figure 1 ;

[0040] Appendix Figure 5 Cross-sectional view of the present invention Figure 2 ;

[0041] Appendix Figure 6 This is a schematic diagram of the installation and verification sensor of the present invention;

[0042] Appendix Figure 7 This is a schematic diagram of the installation and verification sensor and trigger of the present invention;

[0043] Appendix Figure 8 A schematic diagram (starting position) showing the relative positions of the sensor and trigger for verification;

[0044] Appendix Figure 9 A schematic diagram for verifying the relative positions of the sensor and the trigger (when the trigger rotates synchronously by 90°);

[0045] Appendix Figure 10 A schematic diagram for verifying the relative positions of the sensor and the trigger (when the trigger rotates synchronously by 180°);

[0046] Appendix Figure 11 A schematic diagram for verifying the relative positions of the sensor and the trigger (when the trigger rotates synchronously by 270°);

[0047] In the attached diagram: 1. Base, 2. First drive mechanism, 3. Second drive mechanism, 4. Guide wire or guide tube, 5. First motor, 6. First motor mounting base, 7. Electromagnetic clutch, 8. Gear, 9. Synchronous belt, 10. Synchronous belt pulley, 11. Active friction wheel, 12. First transmission shaft, 13. First set screw, 14. First bearing, 15. Second transmission shaft, 16. Second motor, 17. Second motor mounting base, 18. Third transmission shaft, 19. Cross-slider coupling, 20. Screw, 21. Moving platform, 22. Fourth transmission shaft, 23. Passive friction wheel, 24. Washer, 25. Second bearing, 26. Rack, 27. Support rod, 27a. Upper section of rod, 27b. Middle section of rod, 27c. Lower section of rod, 28. Nut, 29. Spring, 30. First guide cylinder, 31. Second guide cylinder, 31a. Boss, 33. Second set screw. Detailed Implementation

[0048] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings:

[0049] The interventional surgical system includes a delivery device for rotating and pushing a guidewire or catheter 4.

[0050] like Figure 1 As shown, the interventional surgical guidewire and catheter delivery device includes: a base 1, a moving platform 21, an active friction wheel 11, a passive friction wheel 23, a first drive mechanism 2, a Y-axis transmission mechanism, and a second drive mechanism 3.

[0051] The base 1 is the supporting part of the entire device. It can be fixedly installed on the interventional robot or installed on the slide of the interventional robot and move with the slide rail. A three-dimensional coordinate system is set on the base 1, where the X-axis and Y-axis are on the upper end surface of the base 1, the Z-axis is perpendicular to the upper end surface of the base 1, and the X-axis is parallel to the delivery direction of the guidewire or catheter 4. The moving platform 21 is located above the base 1 and can move relative to the base 1 along the Z-axis. The active friction wheel 11 and the passive friction wheel 23 have two configuration methods: Method 1: the active friction wheel 11 is rotatably connected to the base 1 and the passive friction wheel 23 is rotatably connected to the moving platform 21; or Method 2: the active friction wheel 11 is rotatably connected to the moving platform 21 and the passive friction wheel 23 is rotatably connected to the base 1. In this invention, Method 1 is used. The rotation of the active friction wheel 11 drives the guidewire or catheter 4 to move along the X-axis between the circumferential surfaces of the active friction wheel 11 and the passive friction wheel 23.

[0052] Specifically, such as Figure 2As shown, the first drive mechanism 2 includes a first motor 5, which has a first output shaft and is used to drive the active friction wheel 11 to rotate. Based on the above configuration, the delivery device also includes a Y-axis transmission mechanism, which is connected between the first drive mechanism 2 and the moving platform 21. The mechanism includes an electromagnetic clutch 7, which has at least two working states: disengagement and engagement. When the electromagnetic clutch 7 is in the engaged working state, the first motor 5 drives the moving platform 21 to move along the Y-axis. When the electromagnetic clutch 7 is in the disengaged working state, the moving platform 21 is stationary along the Y-axis. When the active friction wheel 11 is rotatably connected to the base 1 and the passive friction wheel 23 is rotatably connected to the moving platform 21, the first motor 5 is fixedly installed on the base 1, the electromagnetic clutch 7 is sleeved on the first output shaft, and the Y-axis transmission mechanism includes a gear 8 coaxially connected to the electromagnetic clutch 7 and a rack 26 installed on the moving platform 21 and meshing with the gear 8. When the electromagnetic clutch 7 is in the engaged working state, the first output shaft drives the gear 8 to rotate, thereby driving the rack 26 to move along the Y-axis to realize the movement of the moving platform 21 along the Y-axis; when the electromagnetic clutch 7 is in the disengaged working state, the gear 8 disengages from the first output shaft, and the moving platform 21 remains stationary along the Y-axis.

[0053] The first drive mechanism 2 includes a first drive shaft 12 coaxial with and fixedly connected to the first output shaft, a first set screw 13 connected to the first drive shaft 12 and the first output shaft to fix the two together, and an active friction wheel 11 connected to the upper end of the first drive shaft 12, which improves the connection stability of the first drive shaft 12 and the first output shaft. In order to deliver the guide wire or conduit 4 more stably, the first drive mechanism 2 also includes a second drive shaft 15 rotatably connected to the base 1, and at least two active friction wheels 11, one of which is connected to the upper end of the first drive shaft 12 and the other is connected to the upper end of the second drive shaft 15.

[0054] The electromagnetic clutch 7 can serve as a guide mechanism for the first drive shaft 12. To improve the transmission stability of the second drive shaft 15, a hollow columnar first mounting seat 30 is formed on the upper surface of the base 1. The first mounting seat 30 and the base 1 are integrally formed, and the second drive shaft 15 is rotatably connected to the first mounting seat 30.

[0055] The first drive mechanism 2 includes a first bearing 14 connecting the lower end of the first transmission shaft 12 and the base 1, and the upper and lower ends of the second bearing 25 and the base 1, which improves the stability of the operation of the active friction wheel 11. To improve the synchronization of the two active friction wheels 11, the first drive mechanism 2 includes a synchronous pulley 10 fixedly sleeved on the first transmission shaft 12 and the second transmission shaft 15, and a synchronous belt 9 wound around the synchronous pulley 10. To improve the overall stability of the device, the first drive mechanism 2 includes a first motor mounting base 6 mounted on the lower end surface of the base 1, a first motor 5 mounted on the first motor mounting base 6, and both the first output shaft and the first transmission shaft 12 passing through the base 1.

[0056] like Figure 3 As shown, the delivery device includes a second drive mechanism 3, which drives the moving platform 21 to move along the Z-axis, thereby causing relative movement between the active friction wheel 11 and the passive friction wheel 23 in the Z-axis direction. A hollow columnar second mounting seat 31 is formed on the base 1, and the second mounting seat 31 and the base 1 are integrally formed. The second drive mechanism 3 includes a support rod 27 whose lower end passes through the second mounting seat 31 and whose upper end passes through the moving platform 21, a limiting nut 28 connected to the upper end of the support rod 27 and abutting against the upper surface of the moving platform 21, and a spring 29 for preventing the support rod 27 from excessively descending. The support rod 27 includes an upper section 27a, a middle section 27b, and a lower section 27c. The diameter of the middle section is larger than the diameters of the upper and lower sections. The lower half of the second mounting base 31 is provided with a boss 31a. The spring 29 is sleeved on the lower section and located between the boss and the middle section. The moving platform 21 has an oblong hole, and the long axis of the oblong hole is parallel to the Y-axis. The upper section passes through the oblong hole.

[0057] To enable the mobile platform 21 to move along the Z-axis while also offsetting along the Y-axis, the second drive mechanism 3 includes a second motor 16 fixed on the base 1, a third transmission shaft 18 coaxial with and fixedly connected to the output shaft of the second motor 16, a screw 20, and a cross-slider coupling 19 connecting the screw 20 and the third transmission shaft 18. The upper end of the screw 20 is threadedly connected to the mobile platform 21, and the cross-slider coupling 19 enables the screw 20 to offset radially along the third transmission shaft 18 while being driven to rotate by the third transmission shaft 18.

[0058] The second drive mechanism 3 includes a second motor mounting base 17 fixed to the lower end face of the base 1, and a second motor 16 fixed to the second motor mounting base 17. The output shaft of the second motor 16 is a second output shaft, and the second drive mechanism 3 includes a second set screw 3333 for fixing the second output shaft and the third transmission shaft 18.

[0059] The passive friction wheel 23 is rotatably connected to the moving platform 21 via a fourth transmission shaft 22, which is equipped with a washer 24 and a second bearing 25. There are at least two passive friction wheels 23 arranged parallel to the X-axis. Each passive friction wheel 23 corresponds to one active friction wheel 11, and the paired passive friction wheels 23 and active friction wheels 11 are arranged parallel to the Y-axis. Misalignment of the active friction wheels 11 and passive friction wheels 23 prevents the guide wire or conduit 4 from bending. A notch is provided on the moving platform 21, through which the active friction wheel 11 passes and aligns with its corresponding passive friction wheel 23 in the Y-axis direction. The side where the guide wire or conduit 4 enters between the active friction wheel 11 and the passive friction wheel 23 is the upstream side; the side where the guide wire or conduit 4 exits between the active friction wheel 11 and the passive friction wheel 23 is the downstream side. The rack 26 is fixed to the lower end face of the moving platform 21 and is located upstream of the active friction wheel 11. The connection point between the screw 20 and the moving platform 21 is located downstream of the active friction wheel 11.

[0060] The guidewire or conduit is clamped by two or more pairs of active friction wheels 11 and passive friction wheels 23. The distance between the passive friction wheels 23 and the active friction wheels 11 is adjusted to accommodate guidewires or conduits of different diameters. When the active friction wheels 11 and passive friction wheels 23 are open, the guidewire / conduit can be placed and clamped from top to bottom, without needing to pass through it axially (x-axis) as in traditional methods. For a certain specification of guidewire / conduit, clamping occurs when the distance between the active friction wheels 11 and passive friction wheels 23 is slightly less than the guidewire / conduit diameter, and loosening occurs when the distance is greater than the guidewire / conduit diameter.

[0061] The power transmission path for adjusting the distance between the friction wheels is as follows: first motor 5 – first drive shaft 12 – active part of electromagnetic clutch 7 – driven part of electromagnetic clutch 7 – gear 8 – rack 26 – moving platform 21. The moving platform 21 drives the passive friction wheel 23 to move along the y-axis via the first bearing 14 and the fourth drive shaft 22, thereby adjusting the distance between the passive friction wheel 23 and the active friction wheel 11. Compared with traditional technical solutions, the clamping solution of this patent can adjust the distance between the active friction wheel 11 and the passive friction wheel 23, thus being compatible with guidewires / catheters of different sizes. The electromagnetic clutch 7 and the motor communicate with the outside world through wiring harnesses, so the rotation and stop of the motor, as well as the connection and disconnection of the active and driven parts of the electromagnetic clutch 7, can be remotely controlled to control the clamping or loosening of the guidewire / catheter, so as to guide or switch other interventional instruments to pass coaxially, improve the mechanical operation coverage of interventional surgery, and make the device applicable to more types of surgery and surgical target locations.

[0062] The clamped guidewire / catheter is advanced or retracted by driving the active friction wheel 11 and the passive friction wheel 23 to roll. The power transmission path 1 for realizing the forward / retract function of the guidewire / catheter is: first motor 5 - first drive shaft 12 - active friction wheel 11 - guidewire / catheter, and the power transmission path 2 is: first motor 5 - first drive shaft 12 - synchronous pulley 10 (active friction wheel 11) - synchronous belt 9 - synchronous pulley 10 (passive friction wheel 23) - second drive shaft 15 - active friction wheel 11 - guidewire / catheter.

[0063] By driving the passive friction wheel 23 to move up and down relative to the active friction wheel 11 along the z-axis, the guidewire / conduit is subjected to circumferential friction torque and thus rotates. The power transmission path to achieve the twisting function of the guidewire / conduit is: second motor 16 — transmission shaft 3 — cross slider coupling 19 — screw 20 — moving platform 21. The moving platform 21 is designed with a corresponding screw hole at the connection between it and the screw 20, which converts the rotational motion of the screw 20 into the up and down linear motion of the moving platform 21. The moving platform 21 then drives the passive friction wheel 23 to move up and down along the z-axis through the first bearing 14 and the fourth transmission shaft 22.

[0064] like Figure 6-11As shown, in order to verify the feed rate of the guidewire and catheter, and simultaneously detect the rotational state of the active friction force 11, a calibration sensor can be installed inside the side wall of the notch opened on the moving platform 21. A trigger is installed on the synchronous pulley that is coaxially fixedly connected to the active friction force. When the trigger rotates to the position facing the calibration sensor, the calibration sensor receives the signal trigger interval of the two triggers spaced apart on the synchronous pulley, which can determine the rotational speed of the synchronous pulley. This speed can then be used to calculate the feed rate of the guidewire or catheter (currently calculated and generated by the guidewire or catheter supply end, which is not the focus of this application and will not be elaborated here). The signal is compared to the signal to verify the accuracy of the supply. Simultaneously, when the two synchronous pulleys rotate at different speeds due to damage to the synchronous belt or other reasons, the calibration sensor can also output a fault signal to remind maintenance. Specifically, the three sides forming the notch are considered as mounting surfaces. The side parallel to the X-axis is the second mounting surface 34b. The two sides perpendicular to the second mounting surface 34b are the first side 34a and the third side 34c. The first side 34a is located upstream of the third side 34c, closer to the first motor 5. The axis of the first drive shaft is parallel to the X-axis. A first calibration sensor 32a is mounted at a position opposite to the first side 34a in the direction of the first drive shaft. A second calibration sensor 32b is mounted at a position opposite to the second side 34b in the direction parallel to the Y-axis of the first drive shaft. A third calibration sensor 32c is mounted at a position opposite to the second side 34b in the direction parallel to the Y-axis of the second drive shaft. A fourth calibration sensor 32d is mounted at a position opposite to the third side 34c in the direction of the X-axis of the second drive shaft. The perpendicular line between the second calibration sensor 32b and the axis M of the first drive shaft is O. The perpendicular line from sensor 32c to the axis N of the second drive shaft is P. The line connecting the first calibration sensor 32a and the fourth calibration sensor 32d is Q. O is parallel to P and perpendicular to Q. The trigger on the synchronous pulley on the first drive shaft is the first trigger 35a, and the trigger on the synchronous pulley on the second drive shaft is the second trigger 35b. The rotation of the first trigger 35a on the synchronous pulley always leads the second trigger 35b by 90°, that is, the line connecting the axis of the first trigger 35a and the axis of its synchronous pulley is always perpendicular to the line connecting the axis of the second trigger 35b and its synchronous pulley. In this way, a trigger will always activate a calibration sensor every 90° rotation. By measuring the rotational speed, the accuracy of the supply of the delivery device can be verified. When the triggering interval is incorrect, it indicates that the two synchronous pulleys are rotating at different speeds due to damage to the synchronous belt or other reasons, and maintenance is required.

[0065] 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 of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A delivery device for interventional surgical guidewires and catheters, comprising: The base is configured with a three-dimensional coordinate system, wherein the X and Y axes are on the upper surface of the base, the Z axis is perpendicular to the upper surface of the base, and the X axis is parallel to the delivery direction of the guidewire or catheter. A mobile platform, located above the base, is movable relative to the base along the Z-axis. An active friction wheel and a passive friction wheel are provided. The active friction wheel is rotatably connected to the base and the passive friction wheel is rotatably connected to the moving platform, or the active friction wheel is rotatably connected to the moving platform and the passive friction wheel is rotatably connected to the base. The rotation of the active friction wheel drives the guide wire or the conduit to move along the X-axis between the circumferential surfaces of the active friction wheel and the passive friction wheel. A first drive mechanism includes a first motor, the first motor having a first output shaft and the first motor being used to drive the active friction wheel to rotate. The delivery device is characterized in that it comprises: The Y-axis transmission mechanism is connected between the first drive mechanism and the mobile platform. It includes an electromagnetic clutch, which has at least two working states: disengaged and engaged. When the electromagnetic clutch is engaged, the first motor drives the mobile platform to move along the Y-axis. When the electromagnetic clutch is disengaged, the mobile platform is stationary along the Y-axis. The second drive mechanism is used to drive the mobile platform to move along the Z-axis, thereby causing the active friction wheel and the passive friction wheel to move relative to each other in the Z-axis direction.

2. The delivery device for interventional surgical guidewires and catheters according to claim 1, characterized in that: When the active friction wheel is rotatably connected to the base and the passive friction wheel is rotatably connected to the moving platform, the first motor is fixedly installed on the base, the electromagnetic clutch is sleeved on the first output shaft, and the Y-axis transmission mechanism includes a gear coaxially connected to the electromagnetic clutch and a rack installed on the moving platform and meshing with the gear. When the electromagnetic clutch is in the engaged working state, the first output shaft drives the gear to rotate, thereby driving the rack to move along the Y-axis to realize the movement of the moving platform along the Y-axis; when the electromagnetic clutch is in the disengaged working state, the gear disengages from the first output shaft, and the moving platform remains stationary along the Y-axis.

3. The delivery device for interventional surgical guidewires and catheters according to claim 1, characterized in that: The first drive mechanism includes a first transmission shaft coaxial with and fixedly connected to the first output shaft, a first set screw connected to the first transmission shaft and the first output shaft to fix the two together, and the active friction wheel connected to the upper end of the first transmission shaft.

4. The delivery device for interventional surgical guidewires and catheters according to claim 3, characterized in that: The first drive mechanism includes a second drive shaft rotatably connected to the base, and at least two active friction wheels, one of which is connected to the upper end of the first drive shaft and the other is connected to the upper end of the second drive shaft.

5. The delivery device for interventional surgical guidewires and catheters according to claim 4, characterized in that: A hollow columnar first mounting seat is formed on the upper surface of the base, and the second drive shaft is rotatably connected to the first mounting seat.

6. The delivery device for interventional surgical guidewires and catheters according to claim 4, characterized in that: The first drive mechanism includes a first bearing connected between the lower end of the first drive shaft and the base, and between the upper and lower ends of the second bearing and the base.

7. The delivery device for interventional surgical guidewires and catheters according to claim 4, characterized in that: The first drive mechanism includes a synchronous pulley fixedly sleeved on the first drive shaft and the second drive shaft, and a synchronous belt wound around the synchronous pulley.

8. The delivery device for interventional surgical guidewires and catheters according to claim 4, characterized in that: The first drive mechanism includes a first motor mounting base mounted on the lower end surface of the base, the first motor being mounted on the first motor mounting base, and the first output shaft and the first transmission shaft both passing through the base.

9. The delivery device for interventional surgical guidewires and catheters according to claim 1, characterized in that: The base has a second mounting seat in the shape of a hollow column. The second drive mechanism includes a support rod whose lower end passes through the second mounting seat and whose upper end passes through the moving platform, a limiting nut connected to the upper end of the support rod and abutting against the upper surface of the moving platform, and a spring for preventing the support rod from excessively descending.

10. The delivery device for interventional surgical guidewires and catheters according to claim 9, characterized in that: The support rod includes an upper section, a middle section, and a lower section. The diameter of the middle section is larger than the diameters of the upper and lower sections. The lower half of the second mounting base has a boss. The spring is sleeved on the lower section and located between the boss and the middle section. The moving platform has an oblong hole with its major axis parallel to the Y-axis. The upper section passes through the oblong hole.

11. The delivery device for interventional surgical guidewires and catheters according to claim 1, characterized in that: The second drive mechanism includes a second motor fixed on the base, a third transmission shaft coaxial with and fixedly connected to the output shaft of the second motor, a screw, and a cross-slider coupling connected between the screw and the third transmission shaft. The upper end of the screw is threadedly connected to the moving platform. The cross-slider coupling enables the screw to be radially offset along the third transmission shaft while being driven to rotate by the third transmission shaft.

12. The delivery device for interventional surgical guidewires and catheters according to claim 11, characterized in that: The second drive mechanism includes a second motor mounting base fixed to the lower end surface of the base, and the second motor is fixed to the second motor mounting base.

13. The delivery device for interventional surgical guidewires and catheters according to claim 11, characterized in that: The output shaft of the second motor is a second output shaft, and the second drive mechanism includes a second set screw for fixing the second output shaft and the third transmission shaft.

14. The delivery device for interventional surgical guidewires and catheters according to claim 2, characterized in that: The passive friction wheel is rotatably connected to the moving platform via a fourth transmission shaft, which is equipped with a washer and a second bearing.

15. The delivery device for interventional surgical guidewires and catheters according to claim 2, characterized in that: The passive friction wheels are at least two in number and are arranged in a direction parallel to the X-axis.

16. The delivery device for interventional surgical guidewires and catheters according to claim 11, characterized in that: The passive friction wheel and the active friction wheel correspond one-to-one, and the pairs of passive friction wheels and the active friction wheels are arranged in a direction parallel to the Y-axis.

17. The delivery device for interventional surgical guidewires and catheters according to claim 16, characterized in that: The mobile platform has a notch, through which the active friction wheel passes and is aligned with its corresponding passive friction wheel in the Y-axis direction.

18. The delivery device for interventional surgical guidewires and catheters according to claim 17, characterized in that: The Y-axis transmission mechanism includes a rack, with the side where the guide wire or conduit enters between the active friction wheel and the passive friction wheel being the upstream side, and the side where the guide wire or conduit moves out of between the active friction wheel and the passive friction wheel being the downstream side. The rack is fixed to the lower end face of the moving platform and is located upstream of the active friction wheel.

19. The delivery device for interventional surgical guidewires and catheters according to claim 18, characterized in that: The connection between the screw and the mobile platform is located downstream of the active friction wheel.

20. An interventional surgical system comprising: A delivery device for rotating and pushing a guidewire or catheter, characterized in that: the delivery device is any one of the delivery devices described in claims 1-19.

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