Multiwire delivery device and delivery system for vascular intervention

Abstract

This invention provides a multi-guidewire delivery device and system for vascular intervention. The device includes: a lead screw slide; a base plate fixed on the lead screw slide; an angiography catheter guide sleeve fixed on the base plate, through which the angiography catheter passes; a catheter translation motor located at one end of the lead screw slide; an angiography catheter rotation mechanism connected to the end of the angiography catheter to drive the angiography catheter to rotate; and a first guidewire delivery mechanism and a second guidewire delivery mechanism symmetrically arranged on the base plate. Both the first and second guidewire delivery mechanisms are equipped with a force feedback mechanism to obtain the contact force between the guidewire and the vessel wall during guidewire delivery. This invention can complete the entire surgical procedure of coordinated delivery of angiography catheter and guidewire, coordinated delivery of balloon catheter and treatment guidewire, and coordinated delivery of dual guidewires, and the guidewire delivery mechanism has a force feedback function.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically, to a multi-wire delivery device and delivery system for vascular intervention. Background Technology

[0002] Cardiovascular disease is the leading cause of death worldwide, accounting for approximately one-third of all deaths. Percutaneous coronary intervention (PCI) is the most common treatment for vascular diseases. Based on DSA angiography images and experience, interventional physicians deliver a guidewire and catheter from the patient's femoral or radial artery to the lesion site. Then, depending on the patient's condition, the guidewire is used to open the lesion or a balloon catheter is guided to implant a stent. During the procedure, physicians wear lead aprons to protect themselves from radiation. However, to allow for more flexible manipulation of surgical instruments, their faces and arms are still exposed to radiation. The long-term heavy-duty surgery and radiation exposure significantly increase the likelihood of physicians developing cervical spine problems and cancer.

[0003] The development of master-slave vascular interventional surgical robot systems has completely eliminated radiation exposure for doctors and reduced their workload. Interventional surgeons can monitor the position of surgical instruments in real-time through data and angiographic images outside the operating room, then operate the master hand to control the slave robot to deliver guidewires and catheters. Currently, several research institutions have developed multiple vascular interventional surgical robots. Although these robot systems have validated their functionality, most can only deliver a single guidewire and catheter. These robot systems have limitations when dealing with complex vascular lesions, such as bifurcation lesions. In some clinical scenarios, interventional surgeons will collaboratively deliver guidewires and catheters, or even operate two guidewires simultaneously. The surgeon needs to operate one guidewire into the stenosis of a branch vessel and then perform stent placement. However, the main vessel may also have stenosis, meaning that operating the guidewire only on the branch vessel will worsen the lesion in the main vessel. To avoid this problem, surgeons will place two guidewires simultaneously in the main vessel and the branch vessel. Therefore, multi-guidewire collaborative delivery is one of the important aspects of improving vascular interventional surgical robot systems.

[0004] Furthermore, surgical instruments such as guidewires generate contact forces as they move through blood vessels, and these forces can pose surgical risks when they reach a certain threshold. Experienced surgeons can adjust their procedures by sensing these contact forces with their hands. However, the master-slave control method can cause interventional physicians to lose their natural tactile feedback, posing a challenge to the safety of the procedure. The development of force feedback technology offers a feasible solution to this problem.

[0005] Research on existing vascular interventional robots has revealed that most are designed with lengthy structures to perform delivery and force feedback functions, increasing the workload for interventional surgeons. Therefore, developing a fully functional vascular interventional surgical robot capable of multi-guidewire delivery and force feedback has broad research and application prospects.

[0006] A search of existing technologies revealed Chinese invention patent CN202111186204.5, entitled "A Guidewire Twisting Device for a Minimally Invasive Vascular Interventional Surgery Robot," which can decouple the delivery and twisting movements of the guidewire. Its limitation is that it can only perform a single delivery and cannot complete a full surgical procedure.

[0007] Further searching revealed Chinese invention patent CN202110858609.2, entitled "Guidewire / Catheter Delivery Device for Vascular Intervention and its Usage Method and Vascular Interventional Surgical Robot," which enables independent rotation and axial movement of the guidewire / catheter. Its shortcomings include the inability to handle complex vascular lesions, the inability to deliver multiple guidewires and balloon catheters simultaneously, and the lack of force feedback functionality. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the purpose of this invention is to provide a multi-guidewire delivery device and delivery system for vascular intervention.

[0009] According to one aspect of the present invention, a multi-guidewire delivery device for vascular intervention is provided, comprising:

[0010] Lead screw slide table;

[0011] The base plate is fixed to the lead screw slide table;

[0012] An angiography catheter guide sleeve is fixed on the base plate, and the angiography catheter passes through the angiography catheter guide sleeve;

[0013] A catheter translation motor is located at one end of the lead screw slide, and the catheter translation motor drives the lead screw slide to move the angiography catheter.

[0014] An angiography catheter rotation mechanism is fixed on the base plate. The angiography catheter rotation mechanism is connected to the end of the angiography catheter and drives the angiography catheter to rotate.

[0015] A first guidewire delivery mechanism and a second guidewire delivery mechanism are symmetrically arranged on the base plate. The first guidewire delivery mechanism drives the first guidewire to perform translational and rotational movements, and the second guidewire delivery mechanism drives the second guidewire to perform translational and rotational movements.

[0016] Both the first guidewire delivery mechanism and the second guidewire delivery mechanism are equipped with a force feedback mechanism, which is used to obtain the contact force between the guidewire and the blood vessel wall during the guidewire delivery process.

[0017] Optionally, the first guidewire delivery mechanism or the second guidewire delivery mechanism includes:

[0018] A guidewire delivery base plate is fixed on the base plate, and the guidewire delivery base plate has a frame structure;

[0019] The guidewire clamping module is located inside the frame structure of the guidewire delivery base plate. A first hollow shaft and a second hollow shaft are fixed at its two ends respectively. The first hollow shaft passes through one end of the frame structure, and the second hollow shaft passes through the other end of the frame structure.

[0020] A guide wire rotating gear pair is fixed on the first hollow shaft;

[0021] A guide wire rotation motor is fixed on the guide wire delivery base plate, and the guide wire rotation motor is connected to the guide wire rotation gear pair.

[0022] Optionally, the force feedback mechanism includes a torque sensor base and a torque sensor, wherein the torque sensor base is fixed to the base plate and the torque sensor is disposed on the torque sensor base;

[0023] The first guidewire delivery mechanism or the second guidewire delivery mechanism further includes:

[0024] The guide wire translation gear pair is fixed on the second hollow shaft;

[0025] The guide wire translation motor is fixed on the torque sensor base;

[0026] One end of the torque sensor is connected to the guide wire translation gear pair, and the other end is connected to the guide wire translation motor via a synchronous belt.

[0027] Optionally, the guidewire clamping module includes:

[0028] A guide wire clamping module base is fixed on the base, and the guide wire clamping module base has a cavity inside;

[0029] A friction wheel connecting module is located above the base of the guide wire clamping module, and a first friction wheel is provided in the middle of the lower part of the friction wheel connecting module;

[0030] The second friction wheel is located inside the cavity of the guide wire clamping module base, and the second friction wheel meshes with the first friction wheel; the second friction wheel is connected to the guide wire translation gear pair through a bevel gear pair;

[0031] Guide rods are located on both sides of the first friction wheel, and the guide rods pass through the friction wheel connecting module along the width direction of the friction wheel connecting module;

[0032] A spring is sleeved on one end of the guide rod. The spring is used to adaptively adjust the clamping force between the second friction wheel and the first friction wheel to accommodate guide wires with different outer diameters.

[0033] Optionally, the angiography catheter rotation mechanism includes:

[0034] A connecting plate is fixed to the base plate;

[0035] The duct rotation motor is fixed on the connecting plate;

[0036] The first gear is fixed at the output end of the rotary motor of the conduit.

[0037] The Y-type valve is fixed above the connecting plate by the upper and lower cover plates;

[0038] The second gear is connected to the end of the Y-type valve.

[0039] Optionally, the end of the contrast catheter is connected to the Y-valve via a Luer connector.

[0040] According to another aspect of the present invention, a multi-guidewire delivery system for vascular intervention is provided, the system comprising: a master device, a control device, and the aforementioned multi-guidewire delivery device for vascular intervention;

[0041] The control device sends drive signals to control the operation of the catheter translation motor, the angiography catheter rotation mechanism, the first guidewire delivery mechanism, and the second guidewire delivery mechanism, respectively, based on the angiography image and the contact force.

[0042] The master hand device is controlled to perform corresponding operations according to the drive signal.

[0043] Optionally, the guidewire is disposed on the first guidewire delivery mechanism or the second guidewire delivery mechanism, and the control device issues a drive signal to deliver the angiography catheter and the guidewire to the main branch of the vascular bifurcation lesion based on the angiography image and the contact force.

[0044] Optionally, two treatment guidewires are respectively disposed on the first guidewire delivery mechanism and the second guidewire delivery mechanism, and the control device sends a drive signal to deliver the two treatment guidewires to the two branches of the vascular bifurcation lesion according to the angiographic image and contact force.

[0045] Optionally, the master device includes a first master device and a second master device, wherein the first master device is used to perform catheter delivery operations and the second master device is used to perform dual guidewire delivery operations.

[0046] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0047] 1. This invention, through the coordinated action of the catheter translation motor, the angiography catheter rotation mechanism, the first guidewire delivery mechanism, and the second guidewire delivery mechanism, can realize the complete process of vascular interventional surgery, including the translation and rotation of the angiography catheter, the translation and rotation of the guidewire and the treatment guidewire, and the translation and rotation of the balloon catheter, thereby reproducing the complete surgical process.

[0048] 2. This invention can deliver two guidewires simultaneously while keeping the device size small, thus solving the problem of complex vascular lesions.

[0049] 3. The present invention integrates a force feedback mechanism on the two guidewire delivery mechanisms, which can collect the contact force between the two guidewires and the blood vessel wall in real time during delivery and transmit it to the master end, thereby realizing master-slave force feedback. Attached Figure Description

[0050] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0051] Figure 1 This is a schematic diagram of the structure of a multi-guidewire delivery device for vascular intervention in one embodiment of the present invention;

[0052] Figure 2 This is a front view schematic diagram of the first guidewire delivery mechanism in one embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the structure of the first guidewire delivery mechanism in one embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram of the guide wire clamping module in one embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the structure of the angiography catheter rotation mechanism in one embodiment of the present invention;

[0056] Figure 6 This is a block diagram of a multi-guidewire delivery system for vascular intervention according to an embodiment of the present invention;

[0057] The corresponding reference numerals in the figure are: 1-screw slide, 2-angiography catheter, 3-angiography catheter guide cannula, 4-angiography catheter rotation mechanism, 5-first guidewire delivery mechanism, 6-first guidewire, 7-second guidewire, 8-catheter translation motor, 9-second guidewire delivery mechanism, 10-base plate, 51-guidewire rotation motor, 52-first hollow shaft, 53-guidewire delivery base plate, 54a-first guidewire rotation gear, 54b-second guidewire rotation gear, 55-guidewire clamping module, 56a-first guidewire translation gear, 56b-second guidewire translation gear, 56c-third guidewire translation gear, 57-second hollow shaft. 58-Mandrel, 59-Torque sensor, 510-Torque sensor base, 511a-First bevel gear, 511b-Second bevel gear, 512-Guide wire translation motor, 551-Guide wire clamping module base, 552a-First guide rod, 552b-Second guide rod, 553a-Second friction wheel, 553b-First friction wheel, 554-Friction wheel connecting module, 555a-First spring, 555b-Second spring, 41a-First gear, 41b-Second gear, 42-Upper cover plate, 43-Y-type valve, 44-Lower cover plate, 45-Conduit rotation motor, 46-Connecting plate. Detailed Implementation

[0058] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0059] It should be noted that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that illustrated or described herein.

[0060] Reference Figure 1An embodiment of the present invention provides a multi-guidewire delivery device for vascular intervention, comprising: a lead screw slide 1, a base plate 10, an angiography catheter guide sleeve 3, a catheter translation motor 8, an angiography catheter rotation mechanism 4, and a first guidewire delivery mechanism 5 and a second guidewire delivery mechanism 9 symmetrically arranged on the base plate 10. The base plate 10 is fixed to the lead screw slide 1; the angiography catheter guide sleeve 3 is fixed to the base plate 10, and an angiography catheter 2 passes through the angiography catheter guide sleeve 3; the catheter translation motor 8 is located at one end of the lead screw slide 1, and the catheter translation motor 8 drives the lead screw slide 1 to move the base plate 10 along the lead screw slide 1. The angiography catheter 2 is moved to translate, completing the translational movement of the angiography catheter 2 in the forward and backward directions; the angiography catheter rotation mechanism 4 is fixed on the base plate 10 and is connected to the end of the angiography catheter 2, and the angiography catheter rotation mechanism 4 drives the angiography catheter 2 to rotate; the first guidewire delivery mechanism 5 drives the first guidewire 6 to perform translational and rotational movements, and the second guidewire delivery mechanism 9 drives the second guidewire 7 to perform translational and rotational movements; both the first guidewire delivery mechanism 5 and the second guidewire delivery mechanism 9 are equipped with force feedback mechanisms, which are used to obtain the contact force between the guidewire and the blood vessel wall during the guidewire delivery process.

[0061] The first guidewire delivery mechanism 5 and the second guidewire delivery mechanism 9 have the same structure and independently drive the first guidewire 6 and the second guidewire 7 to complete the translational and rotational movements of the first guidewire 6 and the second guidewire 7. The first guidewire 6 and the second guidewire 7 can be guiding guidewires or therapeutic guidewires. In some embodiments, refer to... Figure 2 and Figure 3 Taking the first guide wire delivery mechanism 5 as an example, the first guide wire delivery mechanism 5 includes a guide wire delivery base plate 53, a guide wire clamping module 55, a guide wire rotating gear pair, and a guide wire rotating motor 51. The guide wire delivery base plate 53 is fixed on the base plate 10 and has a frame structure. The guide wire clamping module 55 is located inside the frame structure of the guide wire delivery base plate 53, and a first hollow shaft 52 and a second hollow shaft 57 are fixed at its two ends respectively. The first hollow shaft 52 passes through one end of the frame structure, and the second hollow shaft 57 passes through the other end of the frame structure. The guide wire rotating gear pair is fixed on the first hollow shaft 52 and includes a first guide wire rotating gear 54a and a second guide wire rotating gear 54b that mesh with each other. The first guide wire rotating gear 54a is connected to the first hollow shaft 52, and the second guide wire rotating gear 54b is connected to the guide wire rotating motor 51. The guide wire rotating motor 51 is fixed on the guide wire delivery base plate 53 and is connected to the guide wire rotating gear pair. The guide wire rotation motor 51 transmits power through the second guide wire rotation gear 54b, thereby driving the first guide wire 6 on the guide wire clamping module 55 to rotate.

[0062] In some embodiments, the force feedback mechanism includes a torque sensor base 510 and a torque sensor 58. The torque sensor base 510 is fixed to the base plate 10, and the torque sensor 58 is disposed on the torque sensor base 510. The first guide wire delivery mechanism 5 or the second guide wire delivery mechanism 9 further includes a guide wire translation gear pair and a guide wire translation motor 512. The guide wire translation gear pair is fixed to the second hollow shaft 57 and includes a first guide wire translation gear 56a, a second guide wire translation gear 56b, and a third guide wire translation gear 56c. The first guidewire translation gear 56b and the third guidewire translation gear 56c mesh with the first guidewire translation gear 56a, which is connected to the second hollow shaft 57. The guidewire translation motor 512 is fixed to the torque sensor base 510. One end of the torque sensor 58 is connected to the guidewire translation gear pair, specifically, to the second guidewire translation gear 56b and the third guidewire translation gear 56c in sequence, and the other end is connected to the guidewire translation motor 512 via a synchronous belt 59 for power transmission. After the first guidewire 6 is clamped, the force on the end of the guidewire is transmitted to the torque sensor 58, and then transmitted to the master hand device outside the operating room via TCP / IP, realizing the master-slave force feedback function. Thus, the first guidewire delivery mechanism 5 can realize the translation, rotation, and force measurement functions of the first guidewire 6. By setting two guidewire delivery modules with force feedback function, simultaneous delivery of two guidewires or coordinated delivery of guidewire / balloon catheter can be realized, which can be used for the treatment of complex vascular lesions.

[0063] In some implementations, refer to Figure 4The guide wire clamping module 55 includes: a guide wire clamping module base 551, a friction wheel connecting module 554, a second friction wheel 553a, a guide rod, and a spring. The guide wire clamping module base 551 is fixed on a base and has a cavity inside. The friction wheel connecting module 554 is located above the guide wire clamping module base 551. A first friction wheel 553b is located in the middle of the lower part of the friction wheel connecting module 554. The friction wheel connecting module 554 has a through hole for placing the upper and lower shafts of the first friction wheel 553b and connecting them as a whole. The second friction wheel 553a is located in the cavity of the guide wire clamping module base 551 and meshes with the first friction wheel 553b. In this configuration, the first friction wheel 553b acts as the driven friction wheel, and the second friction wheel 553a acts as the driving friction wheel; the two work together to clamp the guide wire. The second friction wheel 553a is connected to the guide wire translation gear pair via a bevel gear pair, which includes a first bevel gear 511a and a second bevel gear 511b. The first bevel gear 551a is connected to the second friction wheel 553a via a cylindrical pin, and the second bevel gear 511b is connected to the third guide wire translation gear 56c via a cylindrical pin. The torque sensor 58 transmits power to the bevel gear pair on the guide wire clamping module 55 via the first guide wire translation gear 56a and the second guide wire translation gear 56b, thereby driving the second friction wheel 553a on the guide wire clamping module 55. Specifically, the power of the second guide wire translation gear 56b is transmitted to the third guide wire translation gear 56c via the first guide wire translation gear 56a, further driving the second bevel gear 511b, then driving the first bevel gear 511a, and finally driving the second friction wheel 553a. The guide rods are located on both sides of the first friction wheel 553b, as follows: Figure 4The first guide rod 552a and the second guide rod 552b on both sides of the first friction wheel 553b are used to guide the movement of the friction wheel connecting module 554. The guide rods pass through the friction wheel connecting module 554 along the width direction of the friction wheel connecting module 554. Specifically, the friction wheel connecting module 554 is a rectangular frame with through holes on the left and right sides, which are used to pass through the first guide rod 552a and the second guide rod 552b, respectively. Springs are sleeved on one end of the guide rods, namely the first spring 555a and the second spring 555b. The two springs form a spring pair. The springs are used to adaptively adjust the clamping force between the second friction wheel 553a and the first friction wheel 553b to adapt to guide wires with different outer diameters. Specifically, the guide wire clamping module base 551 has through holes on both sides. The guide wire passes through the through hole on one side of the guide wire clamping module base 551. Then, the friction wheel connecting module 554 is moved back and forth along the guide rod, compressing the first spring 555a and the second spring 555b. When the friction wheel connecting module 554 is moved, the first friction wheel 553b moves accordingly, and a gap is created between the first friction wheel 553b and the second friction wheel 553a. The guide wire passes through this gap and then through the through hole on the other side of the guide wire clamping module base 551. The friction wheel connecting module 554 is released, and the guide wire is clamped under the elastic force of the first spring 555a and the second spring 555b.

[0064] In this embodiment of the invention, transmission components such as the guidewire rotary gear pair, the guidewire rotary motor 51, and the guidewire translation motor 512 can drive the guidewire to complete forward / backward and rotational movements. The guidewire clamping module 55 is connected to the transmission components through hollow shafts on both sides and bevel gear pairs, thereby clamping the guide / treatment guidewire for movement. Since the guidewire clamping module 55 achieves translational / rotational movement through bevel gear pairs and rotary gear pairs, the guidewire drive motor does not need to transmit power through conductive slip rings, enabling the guidewire to rotate at any angle and perform continuous translational movement. This embodiment of the invention has the advantages of simple structure and small mechanism size in achieving the function of simultaneous delivery of two guidewires, which helps to reduce coupling errors and transmission efficiency losses. This embodiment of the invention uses friction wheels to drive the guidewire, which can achieve continuous delivery of the guidewire over any distance.

[0065] In some implementations, refer to Figure 5 The angiography catheter rotation mechanism 4 includes: a connecting plate 46, a catheter rotation motor 45, a first gear 41a, a Y-type valve 43, and a second gear 41b. The connecting plate 46 is fixed on the base plate 10, and the catheter rotation motor 45 is fixed on the connecting plate 46. The first gear 41a is fixed at the output end of the catheter rotation motor 45. The Y-type valve 43 is fixed above the connecting plate 46 through an upper cover plate 42 and a lower cover plate 44. The angiography catheter 2 and the Y-type valve 43 are connected to the base plate 10 through the upper and lower cover plates 44 to facilitate the replacement of the angiography catheter 2. The end of the angiography catheter 2 is connected to the Y-type valve 43 through a Luer connector. The second gear 41b is connected to the end of the Y-type valve 43.

[0066] In this embodiment of the invention, the lead screw slide 1, the catheter translation motor 8, the gear pair, the Y-type valve 43 and its cover plate, the catheter rotation motor 45, the connecting plate 46 and the like constitute the angiography catheter delivery module. One end of the angiography catheter 2 is connected and fixed to the connecting plate 46 through the Y-type valve 43, the gear pair and the catheter rotation motor 45. The catheter translation motor 8, the gear pair and other catheter transmission components drive the angiography catheter 2 to complete forward / backward and rotational movements.

[0067] The multi-guidewire delivery device in the above embodiments of the present invention can achieve the following functions:

[0068] (1) Cooperative delivery function of angiography catheter 2 and guide wire: The angiography catheter delivery module is used to realize the translation and rotation function of angiography catheter 2, including the guide wire delivery module of the first guide wire delivery mechanism 5 and the second guide wire delivery mechanism 9 to realize the translation and rotation function of guide wire.

[0069] (2) Coordinated delivery function of treatment guidewire and balloon catheter: For general lesion treatment, the first guidewire delivery mechanism 5 on one side is used to realize the translation and rotation function of the treatment guidewire, and the second guidewire delivery mechanism 9 on the other side is used to realize the translation and rotation function of the balloon catheter.

[0070] (3) Cooperative delivery function of dual guidewires: For the treatment of complex lesions, the dual guidewire delivery module, including the first guidewire delivery mechanism 5 and the second guidewire delivery mechanism 9, can realize the translation and rotation functions of the two treatment guidewires respectively.

[0071] (4) Force feedback function: The force feedback mechanism can detect the contact force between the guidewire and the blood vessel wall during the delivery process, and then transmit it to the master end via TCP / IP to realize master-slave force feedback.

[0072] Based on the same inventive concept, this invention also provides a multi-guidewire delivery system for vascular intervention, the system comprising: a master hand device, a control device, and the aforementioned multi-guidewire delivery device for vascular intervention; the control device, based on the angiographic image and contact force, respectively sends drive signals to control the operation of the catheter translation motor 8, the angiographic catheter rotation mechanism 4, the first guidewire delivery mechanism 5, and the second guidewire delivery mechanism 9; and controls the master hand device to perform corresponding operations based on the drive signals.

[0073] In some embodiments, the guidewire is disposed on the first guidewire delivery mechanism 5 or the second guidewire delivery mechanism 9, and the control device sends a drive signal to deliver the angiography catheter 2 and the guidewire to the main branch of the vascular bifurcation lesion based on the angiography image and contact force.

[0074] In some embodiments, two treatment guidewires are respectively disposed on the first guidewire delivery mechanism 5 and the second guidewire delivery mechanism 9. The control device sends a drive signal to deliver the two treatment guidewires to the two branches of the vascular bifurcation lesion according to the angiographic image and contact force.

[0075] In some embodiments, the master device includes a first master device and a second master device, the first master device being used to perform catheter delivery operations and the second master device being used to perform dual guidewire delivery operations.

[0076] like Figure 6 As shown, the master end of the multi-guidewire delivery system for vascular intervention consists of two master hand devices, which respectively perform catheter driving and dual guidewire driving operations. Each master hand device has a button; when pressed, a driving signal is activated, and the displacement and velocity of the master hand movement are acquired and then transmitted to the slave controller via TCP / IP. The slave end consists of six motors with controllers, representing six degrees of freedom. Furthermore, data acquired by the two torque sensors 58 at the guidewire is also transmitted via TCP / IP to the ARM at the master end, and finally to the master hand device, achieving master-slave force feedback.

[0077] In one specific implementation, refer to Figure 6 The working process of the above-mentioned multi-guidewire delivery system is as follows:

[0078] First, after assembling the multi-guidewire delivery system, the surgeon connects the end of the angiography catheter to the Y-valve of the angiography catheter module (angiography catheter delivery module) via a Luer connector, places the second gear 41b at the Y-valve, and finally places it on the lower cover plate 44 of the Y-valve, closing the upper cover plate of the Y-valve to achieve fixation and rapid disassembly of the angiography catheter. Next, the guidewire is passed through the first guidewire delivery mechanism (first guidewire module) or the second guidewire delivery mechanism (second guidewire module), and finally inserted into the angiography catheter.

[0079] After the above operations are completed, the surgeon operates the two master hand devices outside the operating room, namely master hand 1 and master hand 2 in the figure, to drive the guidewire and angiography catheter, respectively. The master hand devices and the delivery device (slave end) transmit data via TCP / IP protocol, including delivery position information and feedback force information. According to control commands, the progressively driven lead screw slide and the first or second guidewire delivery mechanism, guided by the angiographic image and force feedback, deliver the angiography catheter and guidewire to the main branch of the complex vascular bifurcation lesion.

[0080] The surgeon then enters the operating room, retrieves the guidewire, and places the two treatment guidewires at the two guidewire delivery mechanisms. Using the master device again, guided by angiographic images and force feedback, the surgeon remotely controls the two treatment guidewires to enter the two branches of the complex vascular bifurcation lesion, securing the passageway. Finally, the surgeon inflates the balloon stent through the surgical procedures established by the two treatment guidewires and the delivery catheters.

[0081] All treatment guidewires / balloon catheters and angiography catheters are withdrawn alternately, and then all devices are retrieved to complete the entire surgical treatment process for complex vascular lesions.

[0082] The multi-guidewire delivery device and delivery system described in the above embodiments of the present invention can be used to deliver surgical instruments such as angiography catheters, guidewires, treatment guidewires, and balloon catheters in interventional surgery for complex vascular lesions. It can completely replicate the entire vascular interventional procedure, enabling the coordinated delivery of angiography catheters and guidewires, balloon catheters and treatment guidewires, and dual guidewires, while ensuring the guidewire delivery mechanism has force feedback functionality. Furthermore, the device of the present invention has a small overall size, making it easy to place beside the operating table. Both guidewire delivery mechanisms have force sensing capabilities, enabling master-slave force feedback, thereby ensuring surgical safety.

[0083] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention. The above preferred features can be used in any combination without conflict.

Claims

1. A multi-guidewire delivery device for vascular intervention, characterized in that, include: Lead screw slide table; The base plate is fixed to the lead screw slide table; An angiography catheter guide sleeve is fixed on the base plate, and the angiography catheter passes through the angiography catheter guide sleeve; A catheter translation motor is located at one end of the lead screw slide, and the catheter translation motor drives the lead screw slide to move the angiography catheter. An angiography catheter rotation mechanism is fixed on the base plate. The angiography catheter rotation mechanism is connected to the end of the angiography catheter and drives the angiography catheter to rotate. A first guidewire delivery mechanism and a second guidewire delivery mechanism are symmetrically arranged on the base plate. The first guidewire delivery mechanism drives the first guidewire to perform translational and rotational movements, and the second guidewire delivery mechanism drives the second guidewire to perform translational and rotational movements. Both the first guidewire delivery mechanism and the second guidewire delivery mechanism are equipped with a force feedback mechanism, which is used to obtain the contact force between the guidewire and the blood vessel wall during the guidewire delivery process; The first guidewire delivery mechanism or the second guidewire delivery mechanism includes: A guidewire delivery base plate is fixed on the base plate, and the guidewire delivery base plate has a frame structure; The guidewire clamping module is located inside the frame structure of the guidewire delivery base plate. A first hollow shaft and a second hollow shaft are fixed at its two ends respectively. The first hollow shaft passes through one end of the frame structure, and the second hollow shaft passes through the other end of the frame structure. A guide wire rotating gear pair is fixed on the first hollow shaft; A guide wire rotary motor is fixed on the guide wire delivery base plate, and the guide wire rotary motor is connected to the guide wire rotary gear pair; The force feedback mechanism includes a torque sensor base and a torque sensor. The torque sensor base is fixed to the base plate, and the torque sensor is disposed on the torque sensor base. The first guidewire delivery mechanism or the second guidewire delivery mechanism further includes: The guide wire translation gear pair is fixed on the second hollow shaft; The guide wire translation motor is fixed on the torque sensor base; One end of the torque sensor is connected to the guide wire translation gear pair, and the other end is connected to the guide wire translation motor via a synchronous belt. The guidewire clamping module includes: A guide wire clamping module base is fixed on the base, and the guide wire clamping module base has a cavity inside; A friction wheel connecting module is located above the base of the guide wire clamping module, and a first friction wheel is provided in the middle of the lower part of the friction wheel connecting module; The second friction wheel is located in the cavity of the guide wire clamping module base, and the second friction wheel meshes with the first friction wheel; the second friction wheel is connected to the guide wire translation gear pair through a bevel gear pair; Guide rods are located on both sides of the first friction wheel, and the guide rods pass through the friction wheel connecting module along the width direction of the friction wheel connecting module; A spring is sleeved on one end of the guide rod. The spring is used to adaptively adjust the clamping force between the second friction wheel and the first friction wheel to accommodate guide wires with different outer diameters.

2. The multi-guidewire delivery device for vascular intervention according to claim 1, characterized in that, The angiography catheter rotation mechanism includes: A connecting plate is fixed to the base plate; The duct rotation motor is fixed on the connecting plate; The first gear is fixed at the output end of the rotary motor of the conduit. The Y-type valve is fixed above the connecting plate by the upper and lower cover plates; The second gear is connected to the end of the Y-type valve.

3. The multi-guidewire delivery device for vascular intervention according to claim 2, characterized in that, The end of the angiography catheter is connected to the Y-type valve via a Luer connector.

4. A multi-guidewire delivery system for vascular intervention, characterized in that, include: The master device, the control device, and the multi-guidewire delivery device for vascular intervention as described in any one of claims 1-3; The control device sends drive signals to control the operation of the catheter translation motor, the angiography catheter rotation mechanism, the first guidewire delivery mechanism, and the second guidewire delivery mechanism, respectively, based on the angiography image and the contact force. The master hand device is controlled to perform corresponding operations according to the drive signal.

5. The multi-guidewire delivery system for vascular intervention according to claim 4, characterized in that, The guidewire is disposed on the first guidewire delivery mechanism or the second guidewire delivery mechanism. The control device sends a drive signal to deliver the angiography catheter and the guidewire to the main branch of the vascular bifurcation lesion based on the angiography image and the contact force.

6. The multi-guidewire delivery system for vascular intervention according to claim 4, characterized in that, Two treatment guidewires are respectively mounted on the first guidewire delivery mechanism and the second guidewire delivery mechanism. The control device sends a drive signal to deliver the two treatment guidewires to the two branches of the vascular bifurcation lesion based on the angiographic image and contact force.

7. The multi-guidewire delivery system for vascular intervention according to claim 4, characterized in that, The master device includes a first master device and a second master device, the first master device being used to perform catheter delivery operations, and the second master device being used to perform dual guidewire delivery operations.

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