Medical instrument delivery method and device and interventional operation robot

Abstract

The invention is suitable for the field of medical robots, and provides a medical instrument delivery method which comprises the steps that S1, in an initial state, a medical instrument is bent and clamped between a first delivery mechanism and a second delivery mechanism; the first delivery mechanism delivers the medical instrument in the axial direction, so that the bending degree of the medical instrument is gradually reduced; s2, whether the medical instrument between the first driving mechanism and the second driving mechanism is straightened or not is detected, and if yes, the second delivery mechanism is driven to move in the direction close to the first delivery mechanism and deliver the medical instrument; s3, when the second delivery mechanism moves to the first position, the first delivery mechanism is driven to loosen the medical instrument, and a channel allowing the second delivery mechanism to axially penetrate through is formed; and S4, driving the second delivery mechanism to move to a second position through the channel. The invention further provides a medical instrument delivery device and an interventional surgical robot. According to the invention, the effective delivery length of the medical instrument can be increased, and the diversity and compatibility of applicable operations are improved.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots and is applied to a master-slave type vascular interventional surgical robot, and in particular relates to a delivery method and device for medical equipment and an interventional surgical robot. Background Art

[0002] Vascular interventional surgery robots have good application prospects in the field of cardiovascular disease treatment due to their advantages in improving surgical accuracy and safety and reducing the burden of surgery on doctors. However, existing vascular interventional surgery robots include multiple functional mechanisms, such as clamping mechanisms, delivery mechanisms, rotation mechanisms, and detection mechanisms. These functional mechanisms themselves occupy a large space, which reduces the effective delivery length of medical devices and affects the delivery effect of medical devices. For example, during cerebrovascular interventional surgery, because the surgical lesion is far away from the interventional puncture point, longer medical devices need to be delivered. However, the medical devices installed on the vascular interventional surgery robot have insufficient effective delivery length, and the distal end of the medical device cannot be delivered to the lesion position, resulting in the failure of the surgery to proceed smoothly. Restricted by the effective delivery length of the medical device, the existing vascular interventional surgery robots are applicable to a single procedure and have poor compatibility. Summary of the invention

[0003] The purpose of the present invention is to provide a method, device and interventional surgical robot for delivering medical devices, aiming to solve the technical problem of the prior art vascular interventional surgical robots that the functional mechanisms occupy a large space, reduce the effective delivery length of the medical devices, and affect the delivery effect of the medical devices.

[0004] The present invention is achieved in that:

[0005] A first aspect of the present invention provides a method for delivering a medical device, a delivery device for delivering a medical device, the delivery device comprising a frame, a first delivery mechanism mounted on the frame, and a second delivery mechanism, and the specific steps include:

[0006] S1. In an initial state, the medical device is bent and clamped between the first delivery mechanism and the second delivery mechanism; the first delivery mechanism delivers the medical device axially, so that the bending degree of the medical device gradually decreases;

[0007] S2. Detecting whether the medical device between the first drive mechanism and the second drive mechanism is straightened, and if so, driving the second delivery mechanism to move toward the first delivery mechanism and deliver the medical device;

[0008] S3. When the second delivery mechanism moves to the first position, the first delivery mechanism is driven to release the medical device and form a channel for the second delivery mechanism to pass axially;

[0009] S4. Drive the second delivery mechanism to move through the channel to a second position.

[0010] Furthermore, the step S2 also includes the first delivery mechanism cooperating with the second delivery mechanism to deliver the medical device until the second delivery mechanism moves to the first position.

[0011] Furthermore, the first position is a safety critical position where the second delivery mechanism moves to the vicinity of the first delivery mechanism.

[0012] Further, the second position is a position where the second delivery mechanism at least partially moves to the channel; or, the second position is a position where the second delivery mechanism passes through the channel and moves to the other side of the first delivery mechanism.

[0013] A second aspect of the present invention provides a delivery device for medical devices, which is used to implement the above-mentioned delivery method for medical devices. The delivery device comprises: a frame, a first delivery mechanism installed on the frame, and a second delivery mechanism.

[0014] The first delivery mechanism comprises a clamping assembly with adjustable gap, when the clamping assembly is adjusted to a first gap, the first delivery mechanism clamps and delivers the distal end of the medical device; when the clamping assembly is adjusted to a second gap, the second gap forms a channel for the second delivery mechanism to pass axially;

[0015] The second delivery mechanism is used to install and deliver the proximal end of the medical device. When the clamping assembly is adjusted to the second gap, the second delivery mechanism at least partially moves into the channel; or, the second delivery mechanism moves through the channel to the other side of the first delivery mechanism.

[0016] Furthermore, the clamping assembly includes a first clamping unit, a second clamping unit and a control mechanism, and the control mechanism controls the first clamping unit and / or the second clamping unit to move in a direction of reducing or increasing a distance so as to clamp or release the medical device.

[0017] Furthermore, an offset bracket is provided between the second delivery mechanism and the frame, and the offset bracket is used to adjust the installation position of the second delivery mechanism so that the second delivery mechanism is arranged corresponding to the channel.

[0018] Furthermore, it comprises at least one of the second delivery mechanisms, and the clamping assembly on the first delivery mechanism is arranged corresponding to the second delivery mechanism.

[0019] Furthermore, it comprises two second delivery mechanisms, which are symmetrically mounted on the upper and lower surfaces of the frame, and the first delivery mechanism is provided with two groups of clamping assemblies, which are arranged up and down and correspond to the two second delivery mechanisms.

[0020] A third aspect of the present invention provides an interventional surgical robot, comprising the above-mentioned medical instrument delivery device.

[0021] The beneficial effects of the present invention are as follows: the present invention combines the delivery characteristics of different stages, adopts a delivery method of bending first and then straightening, and improves the structures of the first delivery mechanism and the second delivery mechanism, so that a channel is formed when the first delivery mechanism releases the medical device, and the second delivery mechanism passes through the channel during the subsequent delivery process. The second delivery mechanism and the first delivery mechanism partially overlap or even exchange positions, so that the second delivery mechanism moves to a more forward position to increase the effective delivery length of the medical device, which is conducive to completing more surgeries and improving the diversity and compatibility of applicable procedures of interventional surgical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of a delivery method provided by an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of the assembly of the delivery device provided by the embodiment of the present invention Figure 1 ;

[0024] Figure 3 is a schematic diagram of the structure of the first delivery mechanism of the delivery device provided in an embodiment of the present invention Figure 1 ;

[0025] Figure 4 is a schematic diagram of the structure of the first delivery mechanism of the delivery device provided in an embodiment of the present invention Figure 2 ;

[0026] Figure 5 is an assembly diagram of a first delivery mechanism of a delivery device provided in an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the assembly of the delivery device provided by the embodiment of the present invention Figure 2 ;

[0028] Figure 7 Schematic diagram of the assembly of the delivery device provided by the embodiment of the present invention Figure 3 ;

[0029] Figure 8 It is a schematic diagram of the assembly of the interventional surgery robot provided in an embodiment of the present invention.

[0030] 100- delivery device,

[0031] 10-first delivery mechanism, 11-clamping assembly, 111-first clamping unit, 1111-housing, 1112-second slot, 1113-spring, 112-second clamping unit, 113-control mechanism, 1131-power assembly, 1132-insertion rod, 114-roller, 115-clamping block, 12-channel, 13-mounting frame, 131-first slot, 132-slider,

[0032] 20- Second delivery agency,

[0033] 31-frame, 32-offset bracket, 33-drive motor, 34-screw rod,

[0034] 40-medical devices, 41-catheters, 42-guidewires,

[0035] 50-Guide wire drive device,

[0036] 200-Interventional surgical robot. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection, or even a connection that can move relatively; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the description of the present invention, the terms "length", "diameter", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] The direction "far" used in the present invention is the direction toward the patient, and the direction "near" is the direction away from the patient. The terms "up" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" refer to the general direction of gravity. The term "front" refers to the side of the interventional surgical robot facing the user from the end device, and "forward" refers to the direction in which the guide wire or catheter is displaced into the body of the surgical patient. The term "backward" refers to the side of the interventional surgical robot facing away from the user from the end device, and "backward" refers to the direction in which the guide wire or catheter is displaced out of the body of the surgical patient. The term "inwardly" refers to the internal part of the feature. The term "outwardly" refers to the outside part of the feature. The term "rotation" includes "forward" and "reverse", wherein "forward" refers to the direction in which the guide wire or catheter is rotated into the body of the surgical patient, and "reverse" refers to the direction in which the guide wire or catheter is rotated out of the body of the surgical patient.

[0041] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the feature. In the description of the present invention, "multiple" or "plurality" means two or more.

[0042] The guidewires here include but are not limited to guide guidewires, micro guidewires, stents and other guiding and supporting interventional medical devices, and catheters include but are not limited to guide catheters, micro catheters, angiography catheters, multi-functional tubes (also called intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters and other therapeutic interventional medical devices.

[0043] As attached Figure 1 As shown, a delivery method of a medical device provided by an embodiment of the present invention is a delivery device for delivering a medical device, the delivery device includes a frame, a first delivery mechanism installed on the frame, and a second delivery mechanism, and the specific steps include:

[0044] S1. In the initial state, the first delivery mechanism and the second delivery mechanism are sequentially installed on the frame along the axial direction of the medical device. In this embodiment, the first delivery mechanism and the second delivery mechanism are preferably movably installed on the frame, and the initial positions of the first delivery mechanism and the second delivery mechanism are adjusted by controlling the first delivery mechanism and the second delivery mechanism to move on the frame along the axial direction of the medical device. In other embodiments, the first delivery mechanism can also be fixedly installed at a designated position of the frame, and only the second delivery mechanism can be movably installed on the frame. The first delivery mechanism clamps the distal end of the medical device, and the second delivery mechanism clamps the proximal end of the medical device. The spacing between the first delivery mechanism and the second delivery mechanism is less than the length of the medical device clamped between the first delivery mechanism and the second delivery mechanism, and the medical device is bent and clamped between the first delivery mechanism and the second delivery mechanism, and the medical device located between the first delivery mechanism and the second delivery mechanism is in a relaxed state. The bending and clamping of the medical device in the initial state shortens the installation distance of the first delivery mechanism and the second delivery mechanism, which is conducive to reducing the occupied space of the delivery device.

[0045] The first delivery mechanism delivers the medical device along the axial direction of the medical device, so that the bending degree of the medical device is gradually reduced. In this process, the first delivery mechanism can remain stationary on the frame, and the medical device can be delivered by driving the distal end of the medical device forward through the delivery element on the first delivery mechanism, such as a roller; the first delivery mechanism can also move relative to the frame and clamp the distal end of the medical device to deliver the medical device. When the first delivery mechanism delivers the medical device, the second delivery mechanism clamps the proximal end of the medical device and remains stationary;

[0046] S2. Detect whether the medical device between the first drive mechanism and the second drive mechanism is straightened. If not, the first drive mechanism continues to deliver the medical device; if so, it means that the medical device between the first drive mechanism and the second drive mechanism has been straightened, and the medical device between the first delivery mechanism and the second delivery mechanism is in a taut state. In order to prevent the medical device from being broken, the second delivery mechanism is driven to move in the direction close to the first delivery mechanism and deliver the proximal end of the medical device. In this process, the second delivery mechanism is driven to move relative to the frame, and the second delivery mechanism clamps the proximal end of the medical device and moves forward. In view of the fact that the medical device is in a straightened state at this time, the second delivery mechanism clamps the proximal end of the medical device and moves forward to drive the entire medical device forward. In this embodiment, preferably, the detection mechanism is used to detect whether the medical device between the first drive mechanism and the second drive mechanism is straightened. Of course, in other embodiments, other methods can also be used to detect whether the medical device between the first drive mechanism and the second drive mechanism is straightened, which is not limited here.

[0047] Because the delivered medical device has a certain length, in order to deliver the medical device more smoothly, this embodiment preferably also includes that the first delivery mechanism cooperates with the second delivery mechanism to deliver the medical device, that is, when the medical device is in a straightened state, the first delivery mechanism continues to deliver the distal end of the medical device, and the second delivery mechanism synchronously delivers the proximal end of the medical device until the second delivery mechanism moves to the first position. The preferred first position of this embodiment is the safety critical position where the second delivery mechanism moves to the vicinity of the first delivery mechanism. At the first position, the second delivery mechanism maintains a safety distance from the first delivery mechanism. When the second delivery mechanism exceeds the first position, the second delivery mechanism continues to move forward, and there is a risk of collision with the first delivery mechanism. There are many ways to determine whether the second delivery mechanism has moved to the first position, and no specific restrictions are made here. For example, the sensor detects the dynamic distance between the second delivery mechanism and the first delivery mechanism in real time. When the dynamic distance is equal to the safety distance, it is determined that the second delivery mechanism has moved to the first position; identify the initial distance between the second delivery mechanism and the first delivery mechanism before moving, and the dynamic distance of the second delivery mechanism, calculate the difference between the initial distance and the dynamic distance, and when the difference is equal to the safety distance, determine that the second delivery mechanism has moved to the first position;

[0048] S3. When the second delivery mechanism moves to the first position, the first delivery mechanism is driven to release the medical device and form a channel for the second delivery mechanism to pass axially. As described above, the first delivery mechanism and the second delivery mechanism simultaneously deliver the straightened medical device, which helps the smooth advancement of the medical device. When designing the first position, it is necessary to consider the delivery effect of the first delivery mechanism and the collision risk of the second delivery mechanism at the same time, and set the first position at a suitable position. After the first delivery mechanism releases the medical device, the distance between the clamping components of the first delivery mechanism continues to increase to form a channel. The channel should have enough space to meet the axial passage of the second delivery mechanism;

[0049] S4. Drive the second delivery mechanism to move to the second position through the channel. The preferred second position of this embodiment is the position where the second delivery mechanism at least partially moves to the channel; or, the second position is the position where the second delivery mechanism moves through the channel to the other side of the first delivery mechanism. In order to achieve the maximum effective delivery length of the medical device, the limit position of the second position is the farthest position that the second delivery mechanism can advance. In this way, the second delivery mechanism and the first delivery mechanism are partially overlapped, or even the positions of the second delivery mechanism and the first delivery mechanism are exchanged, which ensures that the distal end of the medical device advances to the limit position to the greatest extent, increases the effective delivery length of the medical device, facilitates the completion of more surgeries, and improves the diversity and compatibility of applicable procedures of interventional surgical robots.

[0050] As attached Figure 2As shown, a delivery device for a medical device provided in an embodiment of the present invention is used to implement the above-mentioned delivery method of the medical device. The delivery device 100 includes: a frame 31, a first delivery mechanism 10 installed on the frame 31, and a second delivery mechanism 20. The first delivery mechanism 10 and the second delivery mechanism 20 are used to cooperate in clamping the medical device 40. The first delivery mechanism 10 and the second delivery mechanism 20 are movably installed on the frame 31. In this embodiment, preferably, the frame 31 is provided with a screw rod 34 along the axial direction of the medical device 40, and the first delivery mechanism 10 and the second delivery mechanism 20 are respectively provided with a driving motor 33 corresponding to the screw rod 34. The nut built into the driving motor 33 cooperates with the screw rod 34 to realize the first delivery mechanism 10 and the second delivery mechanism 20 to move along the screw rod 34 respectively, so as to adjust the position of the first delivery mechanism 10 and the second delivery mechanism 20 relative to the frame 31. In other embodiments, the first delivery mechanism 10 can be fixedly installed on the frame 31, and only the second delivery mechanism 20 is movably installed on the frame 31.

[0051] As attached Figure 2 , 3 As shown, the first delivery mechanism 10 includes a mounting frame 13 and a clamping assembly 11 with an adjustable gap mounted on the mounting frame 13. The clamping assembly 11 can form a channel 12 for the second delivery mechanism 20 to pass axially. Correspondingly, a hollow portion is also provided on the mounting frame 13 to accommodate the passage of the second delivery mechanism 20.

[0052] As attached Figure 4 , 5 As shown, in this embodiment, preferably, the clamping assembly 11 includes a first clamping unit 111, a second clamping unit 112 and a control mechanism 113. The control mechanism 113 controls the first clamping unit 111 and / or the second clamping unit 112 to move in the direction of reducing or increasing the distance to clamp or release the medical device 40. In order to simplify the control method, in this embodiment, preferably, the first clamping unit 111 is movably mounted on the mounting frame 13, and the second clamping unit 112 is fixedly mounted on the mounting frame 13. The control mechanism 113 controls the first clamping unit 111 to move in a direction perpendicular to the axial direction of the medical device 40, that is, to move in a direction close to or away from the second clamping unit 112 to reduce or increase the distance between the first clamping unit 111 and the second clamping unit 112. Of course, in other embodiments, the second clamping unit 112 may be movably mounted on the mounting frame 13, and the first clamping unit 111 may be fixedly mounted on the mounting frame 13, or both the first clamping unit 111 and the second clamping unit 112 may be movably mounted on the mounting frame 13. The specific installation method is not limited herein, and the purpose of adjusting the distance between the first clamping unit 111 and the second clamping unit 112 by the control mechanism 113 is achieved.

[0053] As attached Figure 4 , 5As shown, the preferred first clamping unit 111 of this embodiment includes a shell 1111 and a spring 1113, and a second slot 1112 is provided on the side of the shell 1111 facing the control mechanism 113. One end of the spring 1113 abuts against the extension section of the mounting frame 13, and the other end of the spring 1113 abuts against the upper surface of the shell 1111. A roller 114 for delivering the medical device 40 and a clamping block 115 for auxiliary clamping of the medical device 40 are provided at one end of the shell 1111 away from the spring 1113. The second clamping unit 112 is provided with a roller 114 and a clamping block 115 corresponding to the first clamping unit 111. At least one active roller 114 is provided on the first clamping unit 111 or the second clamping unit 112 to provide power for delivering the medical device 40.

[0054] The control mechanism 113 includes a power assembly 1131 and an insertion rod 1132. The power assembly 1131 is used to drive the insertion rod 1132 to move. The mounting frame 13 is provided with a first slot 131 corresponding to the insertion rod 1132. The first slot 131 is a through slot. The insertion rod 1132 is inserted into the second slot 1112 of the first clamping unit 111 through the first slot 131. When the power assembly 1131 drives the insertion rod 1132 to move up and down in the vertical direction, the housing 1111 of the first clamping unit 111 can be driven to move up and down to control the first clamping unit 111 to move toward or away from the second clamping unit 112. In this embodiment, preferably, the insertion rod 1132 moves upward to lift the first clamping unit 111 to increase the distance between the first clamping unit 111 and the second clamping unit 112, and the spring 1113 is compressed. When the force of the insertion rod 1132 is withdrawn, the spring 1113 is reset to reduce the distance between the first clamping unit 111 and the second clamping unit 112. As attached Figure 5 As shown, in order to better guide the insertion rod 1132 to move in the vertical direction, the preferred mounting frame 13 of this embodiment is provided with a slider 132 in the vertical direction, and the power component 1131 includes a mounting plate, and the mounting plate is provided with a slide groove corresponding to the slider 132, and the insertion rod 1132 is fixed on the mounting plate. The motor drives the rack on the mounting plate to move through the gear assembly, and guides the insertion rod 1132 to move in the first slot 131 through the cooperation of the slide groove and the slider 132. The insertion rod 1132 contacts the slot wall of the second slot 1112, driving the first clamping unit 111 to move.

[0055] As attached Figure 2 , Figure 4 As shown, when the clamping assembly 11 is adjusted to the first gap, the distance between the first clamping unit 111 and the second clamping unit 112 is the shortest, and the first delivery mechanism 10 clamps and delivers the distal end of the medical device 40. Figure 3 , Figure 7As shown, when the clamping assembly 11 is adjusted to the second gap, the distance between the first clamping unit 111 and the second clamping unit 112 is the longest, and the second gap forms a channel 12 for the second delivery mechanism 20 to pass axially.

[0056] As attached Figure 2 , Figure 3 , Figure 7 As shown, the second delivery mechanism 20 is used to install and deliver the proximal end of the medical device 40. The second delivery mechanism 20 delivers the medical device 40 along the axial direction of the medical device 40 in an integrally moving manner through the cooperation of the driving motor 33 and the screw 34, and can drive the medical device 40 to rotate. When the clamping assembly 11 is adjusted to the second gap, the second delivery mechanism 20 at least partially moves into the channel 12; or, the second delivery mechanism 20 passes through the channel 12 and moves to the other side of the first delivery mechanism 10. In order to achieve the second delivery mechanism 20 passing through the channel 12, an offset bracket 32 ​​is preferably provided between the second delivery mechanism 20 and the frame 31 in this embodiment. The offset bracket 32 ​​is used to adjust the installation position of the second delivery mechanism 20 so that the second delivery mechanism 20 is arranged corresponding to the channel 12. One end of the preferred offset bracket 32 ​​in this embodiment is fixedly mounted on the second delivery mechanism 20, and the other end is fixedly mounted on the driving motor 33. When the driving motor 33 moves relative to the screw 34 along the axial direction of the medical device 40, the second delivery mechanism 20 is driven to move through the offset bracket 32.

[0057] The delivery device of this embodiment includes at least one second delivery mechanism 20, and the clamping assembly 11 on the first delivery mechanism 10 is arranged correspondingly to the second delivery mechanism 20, that is, one second delivery mechanism 20 cooperates with a group of clamping assemblies 11 to complete the delivery of a medical device 40. In order to adapt to more surgical procedures, such as the attached Figure 2 As shown, the preferred delivery device of this embodiment includes two second delivery mechanisms 20, which are symmetrically mounted on the upper and lower surfaces of the frame 31, and the first delivery mechanism 10 is provided with two groups of clamping components 11, which are arranged up and down and correspond to the two second delivery mechanisms 20. In other embodiments, two first delivery mechanisms 10 may also be provided, each of which is provided with a group of clamping components 11, and the two first delivery mechanisms 10 correspond to the two second delivery mechanisms 20, respectively.

[0058] When the medical device 40 is delivered by the delivery device 100 of this embodiment, the initial state is as follows: Figure 2 As shown, the medical device 40 is bent and clamped between the first delivery mechanism 10 and the second delivery mechanism 20. The distance between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10 is as shown in the attached Figure 4 The first delivery mechanism 10 delivers the medical device 40 along the axial direction of the medical device 40 through the roller 114, so that the bending degree of the medical device 40 is gradually reduced.

[0059] The delivery device 100 further includes a detection mechanism (not shown in the figure). During the delivery process, the detection mechanism is used to detect whether the medical device 40 between the first drive mechanism 10 and the second drive mechanism 20 is straightened. Of course, in other embodiments, other methods can be used to detect whether the medical device 40 between the first drive mechanism 10 and the second drive mechanism 20 is straightened, which is not limited here. Figure 6 As shown, the second delivery mechanism 20 is driven to move toward the first delivery mechanism 10 and deliver the proximal end of the medical device 40. At the same time, the first drive mechanism 10 cooperates to deliver the distal end of the medical device 40. It can be understood that the straightening here means that the medical device 40 is in a taut state. Due to the structural layout, even if the two ends of the medical device 40 clamped by the first drive mechanism 10 and the second drive mechanism 20 are not in the same straight line, if the medical device 40 is in a taut state, it can be regarded as the medical device 40 being straightened.

[0060] When it is detected that the second delivery mechanism 20 has moved to the first position, it indicates that the second delivery mechanism has moved to the safety critical position near the first delivery mechanism, and the first delivery mechanism 10 is driven to release the medical device 40. The distance between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10 is as shown in the attached figure. Figure 3 As shown, a passage 12 is formed for the second delivery mechanism 20 to pass axially. Figure 7 As shown, the second delivery mechanism 20 is driven to move at least partially to a position in the channel 12; or, the second delivery mechanism 20 is driven to move through the channel 12 to a position on the other side of the first delivery mechanism 10, and the second delivery mechanism 20 moves to a more forward position, thereby increasing the effective delivery length of the medical device 10.

[0061] As attached Figure 8As shown, an interventional surgical robot 200 provided by an embodiment of the present invention is used for delivering a catheter 41 and a guidewire 42. The interventional surgical robot 200 includes the above-mentioned delivery device 100, and also includes a guidewire driving device 50. The first driving mechanism 10 and the second delivery mechanism 20 of the delivery device 100 cooperate to deliver the catheter 41, and the guidewire driving device 50 delivers and rotates the guidewire 42. The guidewire 42 is inserted into the catheter 41, and the guidewire driving device 50 is correspondingly arranged with the second delivery mechanism 20. For example, this embodiment includes two second delivery mechanisms 20. Correspondingly, the interventional surgical robot 200 is provided with two guidewire driving devices 50, and the two guidewire driving devices 50 are staggeredly installed on the frame 31. In this embodiment, the guidewire driving device 50 is preferably movably installed on the frame 31. Specifically, the guidewire driving device 50 is provided with a driving motor 33 corresponding to the screw rod 34, and the nut built into the driving motor 33 cooperates with the screw rod 34 to realize the movement of the guidewire driving device 50 along the screw rod 34 to adjust the position of the guidewire driving device 50 relative to the frame 31.

[0062] In the initial state, the catheter 41 is bent and clamped between the first delivery mechanism 10 and the second delivery mechanism 20. The proximal end of the guidewire 42 is installed in the guidewire driving device 50, and the distal end of the guidewire 42 is inserted into the catheter 41 and maintains the same bending posture as the catheter 41. The guidewire driving device 50 delivers the distal end of the guidewire 42 to the specified position. The first delivery mechanism 10 and the second delivery mechanism 20 cooperate to complete the delivery of the medical device 40 from the bent state to the straightened state, and adjust the distance between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10, as shown in the attached figure. Figure 3 As shown, a channel 12 is formed for the second delivery mechanism 20 to pass axially, and the second delivery mechanism 20 is driven to move at least partially to a position in the channel 12; or, the second delivery mechanism 20 is driven to move through the channel 12 to a position on the other side of the first delivery mechanism 10, so that the second delivery mechanism 20 moves to a more forward position. When the second delivery mechanism 20 moves to the other side of the first delivery mechanism 10, at an appropriate time, if it is necessary to keep the guide wire 42 stationary, the distance between the first clamping unit 111 and the second clamping unit 112 of the first delivery mechanism 10 can be adjusted again, as shown in the attached figure. Figure 4 As shown, the guide wire 42 is clamped between the first clamping unit 111 and the second clamping unit 112 to provide auxiliary clamping for the guide wire 42 .

[0063] Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, and all are within the protection scope of the present invention. In addition, all or part of the steps in the above method can be executed in a computer system such as a set of computer executable instructions, and although the steps are listed in the order of 1, 2, 3..., in some cases, the steps shown or described can be executed in a different order than here.

[0064] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims of the present invention.

Claims

1. A method for delivering a medical device, a delivery device for delivering a medical device, the delivery device comprising a frame, a first delivery mechanism mounted on the frame, and a second delivery mechanism, characterized in that: The specific steps include: S1. In an initial state, the medical device is bent and clamped between the first delivery mechanism and the second delivery mechanism; the first delivery mechanism delivers the medical device axially, so that the bending degree of the medical device gradually decreases; S2. Detecting whether the medical device between the first drive mechanism and the second drive mechanism is straightened, and if so, driving the second delivery mechanism to move toward the first delivery mechanism and deliver the medical device; S3. When the second delivery mechanism moves to the first position, the first delivery mechanism is driven to release the medical device and form a channel for the second delivery mechanism to pass axially; S4. Drive the second delivery mechanism to move through the channel to a second position.

2. The method for delivering a medical device according to claim 1, wherein: The step S2 also includes the first delivery mechanism cooperating with the second delivery mechanism to deliver the medical device until the second delivery mechanism moves to the first position.

3. The method for delivering a medical device according to claim 1 or 2, characterized in that: The first position is a safety critical position where the second delivery mechanism moves to the vicinity of the first delivery mechanism.

4. The method for delivering a medical device according to claim 1, wherein: The second position is a position where the second delivery mechanism is at least partially moved into the channel; or, the second position is a position where the second delivery mechanism is moved through the channel to the other side of the first delivery mechanism.

5. A medical device delivery device, used to implement the medical device delivery method according to any one of claims 1 to 4, characterized in that: The delivery device comprises: a frame, a first delivery mechanism installed on the frame, and a second delivery mechanism. The first delivery mechanism comprises a clamping assembly with adjustable gap, when the clamping assembly is adjusted to a first gap, the first delivery mechanism clamps and delivers the distal end of the medical device; when the clamping assembly is adjusted to a second gap, the second gap forms a channel for the second delivery mechanism to pass axially; The second delivery mechanism is used to install and deliver the proximal end of the medical device. When the clamping assembly is adjusted to the second gap, the second delivery mechanism at least partially moves into the channel; or, the second delivery mechanism moves through the channel to the other side of the first delivery mechanism.

6. The medical device delivery device according to claim 5, characterized in that: The clamping assembly includes a first clamping unit, a second clamping unit and a control mechanism. The control mechanism controls the first clamping unit and / or the second clamping unit to move in a direction of reducing or increasing a distance so as to clamp or release the medical device.

7. The medical device delivery device according to claim 5, characterized in that: An offset bracket is arranged between the second delivery mechanism and the frame, and the offset bracket is used to adjust the installation position of the second delivery mechanism so that the second delivery mechanism is arranged corresponding to the channel.

8. The medical device delivery device according to claim 5, characterized in that: At least one of the second delivery mechanisms is included, and the clamping assembly on the first delivery mechanism is arranged correspondingly to the second delivery mechanism.

9. The medical device delivery device according to claim 8, characterized in that: It comprises two second delivery mechanisms, which are symmetrically mounted on the upper and lower surfaces of the frame, and the first delivery mechanism is provided with two groups of clamping assemblies, which are arranged up and down and correspond to the two second delivery mechanisms.

10. An interventional surgery robot, characterized in that: A delivery device comprising the medical device according to any one of claims 5-9.

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